+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.14 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters Centerline goodness : 0.257231 Centerline is valid? [0, False] SLAMing on 0.047628000000000004 meters Centerline goodness : 0.246078 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 0.99999671 0.00158144 -0.00202192 0.02210042] [-0.00158801 0.99999345 -0.00325088 -0.00155505] [ 0.00201676 0.00325408 0.99999267 -0.00186262] [ 0. 0. 0. 1. ]] SLAMing on 0.077628 meters Centerline goodness : 0.279604 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99996119e-01 2.07609230e-03 -1.85804032e-03 2.52092585e-02] [-2.08073419e-03 9.99994711e-01 -2.49983427e-03 1.68898386e-04] [ 1.85284060e-03 2.50369066e-03 9.99995149e-01 -4.87125077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10762800000000002 meters Centerline goodness : 0.214251 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99989609e-01 4.22410427e-03 -1.71402030e-03 2.73151549e-02] [-4.22451382e-03 9.99991049e-01 -2.35389401e-04 1.84581790e-03] [ 1.71301065e-03 2.42627858e-04 9.99998503e-01 -6.92313178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.137628 meters Centerline goodness : 0.201017 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99999324 0.00319329 -0.00182059 0.02965023] [-0.00319629 0.99999353 -0.00164839 0.00420718] [ 0.00181532 0.00165419 0.99999698 -0.00925156] [ 0. 0. 0. 1. ]] SLAMing on 0.16762800000000003 meters Centerline goodness : 0.200561 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99999661 0.0016564 -0.00201095 0.03267349] [-0.00166258 0.99999388 -0.00307724 0.00501268] [ 0.00200584 0.00308057 0.99999324 -0.0118235 ] [ 0. 0. 0. 1. ]] SLAMing on 0.19762800000000003 meters Centerline goodness : 0.214899 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99995907e-01 -2.68207134e-03 -9.96616355e-04 3.54196706e-02] [ 2.67554650e-03 9.99975350e-01 -6.49164592e-03 4.80198115e-03] [ 1.01400285e-03 6.48895285e-03 9.99978432e-01 -1.54206367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22762800000000002 meters Centerline goodness : 0.221445 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99992213e-01 -3.83185051e-03 -9.43909137e-04 3.70016506e-02] [ 3.82546145e-03 9.99970371e-01 -6.68000515e-03 3.19740062e-03] [ 9.69477951e-04 6.67634225e-03 9.99977243e-01 -1.61590835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.257628 meters Centerline goodness : 0.115949 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99989424e-01 -4.54416204e-03 -7.09038157e-04 3.79939790e-02] [ 4.53956583e-03 9.99969505e-01 -6.35459369e-03 9.64941702e-04] [ 7.37892838e-04 6.35130776e-03 9.99979558e-01 -1.65669259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.287628 meters Centerline goodness : 0.116507 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 9.99986553e-01 -5.16930973e-03 -4.14136948e-04 3.88327210e-02] [ 5.16664826e-03 9.99967503e-01 -6.18866003e-03 -1.35974907e-05] [ 4.46114590e-04 6.18643711e-03 9.99980764e-01 -1.70206449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.317628 meters Centerline goodness : 0.119504 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99968516e-01 -7.89514694e-03 -7.96509513e-04 4.95312386e-02] [ 7.89314158e-03 9.99965748e-01 -2.49016794e-03 7.19476939e-04] [ 8.16142472e-04 2.48380258e-03 9.99996582e-01 -1.68788826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.347628 meters Centerline goodness : 0.320993 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99965364e-01 -8.27795021e-03 -8.63945012e-04 5.12185655e-02] [ 8.27544779e-03 9.99961665e-01 -2.86095996e-03 1.55489222e-03] [ 8.87594777e-04 2.85371134e-03 9.99995534e-01 -1.78266222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.377628 meters Centerline goodness : 0.332020 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99985853e-01 -5.22973025e-03 -9.71265928e-04 5.31552816e-02] [ 5.23041286e-03 9.99986075e-01 7.01597276e-04 9.70005889e-04] [ 9.67583239e-04 -7.06667473e-04 9.99999282e-01 -1.84435674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.407628 meters Centerline goodness : 0.119608 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.02 [[ 0.99999064 -0.00409432 -0.0013974 0.05727192] [ 0.00409692 0.99998987 0.00186409 0.00121854] [ 0.00138976 -0.00186979 0.99999729 -0.02103545] [ 0. 0. 0. 1. ]] SLAMing on 0.437628 meters Centerline goodness : 0.121143 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.02 [[ 0.99999251 -0.00322302 -0.00214123 0.08121053] [ 0.00321471 0.99998734 -0.00387223 0.00344975] [ 0.00215369 0.00386531 0.99999021 -0.02410806] [ 0. 0. 0. 1. ]] SLAMing on 0.467628 meters Centerline goodness : 0.121330 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.03 [[ 0.99998737 -0.00442818 -0.00237824 0.08419843] [ 0.00441748 0.99998018 -0.00448641 0.00418856] [ 0.00239806 0.00447585 0.99998711 -0.02574577] [ 0. 0. 0. 1. ]] SLAMing on 0.497628 meters Centerline goodness : 0.101655 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.03 [[ 0.99997727 -0.00615686 -0.00274961 0.08795701] [ 0.00614254 0.99996768 -0.00518636 0.00484987] [ 0.00278146 0.00516935 0.99998277 -0.02757557] [ 0. 0. 0. 1. ]] SLAMing on 0.527628 meters Centerline goodness : 0.851386 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.03 [[ 0.99996053 -0.00827135 -0.00324532 0.09220825] [ 0.00825166 0.99994774 -0.00603555 0.00592991] [ 0.00329507 0.00600853 0.99997652 -0.02934719] [ 0. 0. 0. 1. ]] SLAMing on 0.557628 meters Centerline goodness : 0.852002 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.03 [[ 0.99984353 -0.0171267 -0.00442527 0.11212985] [ 0.01710792 0.99984463 -0.0042475 0.00776307] [ 0.00449733 0.00417112 0.99998119 -0.03015682] [ 0. 0. 0. 1. ]] SLAMing on 0.587628 meters Centerline goodness : 0.849127 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99980159 -0.01929909 -0.00493278 0.11646629] [ 0.01927371 0.99980103 -0.00514141 0.00879458] [ 0.00503102 0.00504532 0.99997462 -0.03175538] [ 0. 0. 0. 1. ]] SLAMing on 0.6176280000000001 meters Centerline goodness : 0.847073 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99976878 -0.0208613 -0.00521392 0.11966915] [ 0.0208312 0.99976641 -0.00576136 0.00942812] [ 0.00533289 0.00565141 0.99996981 -0.03295386] [ 0. 0. 0. 1. ]] SLAMing on 0.647628 meters Centerline goodness : 0.845377 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99974263 -0.02204167 -0.0053697 0.12205695] [ 0.02200889 0.99973923 -0.006089 0.00997634] [ 0.00550251 0.00596925 0.99996704 -0.0336068 ] [ 0. 0. 0. 1. ]] SLAMing on 0.677628 meters Centerline goodness : 0.836690 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 0.99972638 -0.02175744 -0.00858927 0.15169795] [ 0.02174027 0.99976147 -0.00208752 0.00732154] [ 0.00863264 0.00190022 0.99996093 -0.02825021] [ 0. 0. 0. 1. ]] SLAMing on 0.707628 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 0.99969896 -0.02289015 -0.00883367 0.15396734] [ 0.02286381 0.99973387 -0.00307156 0.0118558 ] [ 0.00890163 0.00286867 0.99995626 -0.02894216] [ 0. 0. 0. 1. ]] SLAMing on 0.7376280000000001 meters Centerline goodness : 0.833673 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.03 [[ 9.99744712e-01 -2.05869576e-02 -9.31067120e-03 1.56775973e-01] [ 2.05918687e-02 9.99787872e-01 4.31908773e-04 1.33123822e-02] [ 9.29980445e-03 -6.23522630e-04 9.99956561e-01 -2.88386262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7676280000000001 meters Centerline goodness : 0.831740 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.03 [[ 0.9998214 -0.01845538 -0.00406989 0.1787283 ] [ 0.01844482 0.99982646 -0.00261645 0.02303703] [ 0.00411747 0.00254092 0.9999883 -0.03370437] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters Centerline goodness : 0.829503 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.03 [[ 9.99853844e-01 -1.65009665e-02 -4.47317733e-03 1.81877924e-01] [ 1.65011118e-02 9.99863847e-01 -4.43204112e-06 2.67772020e-02] [ 4.47264143e-03 -6.93810058e-05 9.99989995e-01 -3.43836670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.827628 meters Centerline goodness : 0.829505 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.03 [[ 0.99988407 -0.0144384 -0.00483546 0.18479544] [ 0.01445099 0.99989225 0.00258004 0.03064591] [ 0.00479768 -0.00264962 0.99998498 -0.03488722] [ 0. 0. 0. 1. ]] SLAMing on 0.8576280000000001 meters Centerline goodness : 0.827199 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.04 [[ 0.99990956 -0.01241763 -0.00516424 0.18774787] [ 0.01244443 0.99990909 0.00519118 0.03472133] [ 0.00509931 -0.00525498 0.99997319 -0.03537543] [ 0. 0. 0. 1. ]] SLAMing on 0.8876280000000001 meters Centerline goodness : 0.827199 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.04 [[ 0.99990956 -0.01241763 -0.00516424 0.18774787] [ 0.01244443 0.99990909 0.00519118 0.03472133] [ 0.00509931 -0.00525498 0.99997319 -0.03537543] [ 0. 0. 0. 1. ]] SLAMing on 0.917628 meters Centerline goodness : 0.827437 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.04 [[ 0.99993022 -0.01041122 -0.00558238 0.19091997] [ 0.01045424 0.99991546 0.00773247 0.03882456] [ 0.0055014 -0.00779029 0.99995452 -0.03585701] [ 0. 0. 0. 1. ]] SLAMing on 0.947628 meters Centerline goodness : 0.830515 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.04 [[ 9.99964529e-01 -8.36235336e-03 -1.00581588e-03 2.15706478e-01] [ 8.36665532e-03 9.99955530e-01 4.35174482e-03 5.07160674e-02] [ 9.69380322e-04 -4.36000577e-03 9.99990025e-01 -4.15333388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.977628 meters Centerline goodness : 0.830010 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.04 [[ 0.99995963 -0.00886434 -0.00146806 0.2186704 ] [ 0.00886981 0.99995358 0.00376439 0.05680893] [ 0.00143462 -0.00377726 0.99999184 -0.04203919] [ 0. 0. 0. 1. ]] SLAMing on 1.0076280000000002 meters Centerline goodness : 0.832168 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.04 [[ 0.9999504 -0.00979864 -0.00178577 0.22171572] [ 0.00980378 0.99994775 0.00289594 0.0626938 ] [ 0.0017573 -0.00291331 0.99999421 -0.04279359] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters Centerline goodness : 0.828484 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.04 [[ 0.99992188 -0.01203058 -0.00339016 0.23233172] [ 0.01204812 0.99991388 0.00520375 0.07018702] [ 0.00332726 -0.00524419 0.99998071 -0.04192102] [ 0. 0. 0. 1. ]] SLAMing on 1.067628 meters Centerline goodness : 0.832455 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.04 [[ 0.99990061 -0.01364431 -0.00355143 0.23511173] [ 0.01366052 0.9998962 0.00458077 0.07304855] [ 0.00348856 -0.00462883 0.9999832 -0.04197652] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters Centerline goodness : 0.833283 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.04 [[ 0.99987617 -0.01527384 -0.00378981 0.23789798] [ 0.01528934 0.99987472 0.00409559 0.07537216] [ 0.00372678 -0.00415302 0.99998443 -0.04189817] [ 0. 0. 0. 1. ]] SLAMing on 1.127628 meters Centerline goodness : 0.834594 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:-0.04 [[ 0.99970743 -0.02342179 -0.00603883 0.25384916] [ 0.02345138 0.99971309 0.00487566 0.08118214] [ 0.0059229 -0.00501585 0.99996988 -0.04027915] [ 0. 0. 0. 1. ]] SLAMing on 1.157628 meters Centerline goodness : 0.836344 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.04 [[ 0.99965474 -0.02546545 -0.00647342 0.25787861] [ 0.02549501 0.9996647 0.00452605 0.08305191] [ 0.00635599 -0.00468953 0.9999688 -0.0407021 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1876280000000001 meters Centerline goodness : 0.837593 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.04 [[ 0.99959574 -0.02754504 -0.00704499 0.26206954] [ 0.0275751 0.99961088 0.00420651 0.08462118] [ 0.00692638 -0.00439907 0.99996634 -0.04091181] [ 0. 0. 0. 1. ]] SLAMing on 1.2176280000000002 meters Centerline goodness : 0.839045 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.04 [[ 0.99953197 -0.02968519 -0.00739185 0.26591784] [ 0.02971319 0.99955159 0.00370639 0.08601376] [ 0.00727851 -0.00392429 0.99996581 -0.04136284] [ 0. 0. 0. 1. ]] SLAMing on 1.2476280000000002 meters Centerline goodness : 0.841770 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.04 [[ 0.99946954 -0.03163699 -0.00772852 0.26943797] [ 0.0316628 0.99949335 0.0032408 0.08717217] [ 0.00762208 -0.00348379 0.99996488 -0.04164497] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters Centerline goodness : 0.848418 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.04 [[ 0.99923341 -0.03791244 -0.00975927 0.28187754] [ 0.03794358 0.9992753 0.00302574 0.0919251 ] [ 0.00963748 -0.00339372 0.9999478 -0.0409771 ] [ 0. 0. 0. 1. ]] SLAMing on 1.307628 meters Centerline goodness : 0.796960 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.04 [[ 0.9991681 -0.03954906 -0.0099489 0.28547279] [ 0.03956767 0.99921548 0.00168105 0.09573568] [ 0.00987461 -0.00207331 0.9999491 -0.04272956] [ 0. 0. 0. 1. ]] SLAMing on 1.337628 meters Centerline goodness : 0.804601 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.04 [[ 0.99908798 -0.04094733 -0.01210486 0.29754114] [ 0.04101485 0.99914404 0.00538297 0.10282946] [ 0.01187408 -0.00587454 0.99991224 -0.04251136] [ 0. 0. 0. 1. ]] SLAMing on 1.367628 meters Centerline goodness : 0.808538 Centerline is valid? [False, False] Translation: X:0.30, Y:0.11, Z:-0.04 [[ 0.99917764 -0.03860187 -0.01240721 0.30051397] [ 0.03870473 0.99921737 0.00816018 0.10556312] [ 0.0120825 -0.00863368 0.99988973 -0.0434636 ] [ 0. 0. 0. 1. ]] SLAMing on 1.397628 meters Centerline goodness : 0.810177 Centerline is valid? [False, False] Translation: X:0.30, Y:0.11, Z:-0.04 [[ 0.99924447 -0.0365967 -0.01308309 0.30442487] [ 0.03673423 0.99927063 0.01043124 0.10834578] [ 0.0126918 -0.01090396 0.99986 -0.04485389] [ 0. 0. 0. 1. ]] SLAMing on 1.4276280000000001 meters Centerline goodness : 0.814431 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.05 [[ 0.99930124 -0.03487951 -0.0134335 0.30810797] [ 0.03504368 0.99931149 0.01218579 0.11150932] [ 0.01299922 -0.01264804 0.99983551 -0.04691792] [ 0. 0. 0. 1. ]] SLAMing on 1.4576280000000001 meters Centerline goodness : 0.826093 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.05 [[ 0.99943485 -0.03165741 -0.01130403 0.32945174] [ 0.03175163 0.9994617 0.00825475 0.11898098] [ 0.01103662 -0.00860901 0.99990203 -0.04992397] [ 0. 0. 0. 1. ]] SLAMing on 1.4876280000000002 meters Centerline goodness : 0.830772 Centerline is valid? [False, False] Translation: X:0.34, Y:0.12, Z:-0.05 [[ 9.99573283e-01 -2.76984709e-02 -9.27608326e-03 3.42791744e-01] [ 2.77027264e-02 9.99616151e-01 3.30556679e-04 1.23287077e-01] [ 9.26336673e-03 -5.87388422e-04 9.99956922e-01 -5.37416891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5176280000000002 meters Centerline goodness : 0.842574 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.06 [[ 0.99960038 -0.02634561 -0.01024595 0.34756236] [ 0.02636505 0.99965082 0.00176664 0.12530856] [ 0.01019582 -0.00203607 0.99994595 -0.05622209] [ 0. 0. 0. 1. ]] SLAMing on 1.547628 meters Centerline goodness : 0.849089 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.06 [[ 0.99963818 -0.0244722 -0.01116335 0.35159925] [ 0.02451715 0.99969177 0.00390717 0.12626346] [ 0.01106429 -0.00417945 0.99993005 -0.05801526] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters Centerline goodness : 0.882364 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 9.99715637e-01 -2.23410820e-02 -8.33790245e-03 3.71327828e-01] [ 2.23339810e-02 9.99750120e-01 -9.43803190e-04 1.30257780e-01] [ 8.35690456e-03 7.57316252e-04 9.99964794e-01 -6.08620895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607628 meters Centerline goodness : 0.874726 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 0.99977738 -0.01913104 -0.00889948 0.37327051] [ 0.01915774 0.9998122 0.00292438 0.1295573 ] [ 0.00884187 -0.00309423 0.99995612 -0.06101059] [ 0. 0. 0. 1. ]] SLAMing on 1.637628 meters Centerline goodness : 0.878461 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.06 [[ 0.99976435 -0.0193132 -0.00991163 0.37632472] [ 0.01933517 0.9998108 0.00212521 0.13170174] [ 0.00986871 -0.00231635 0.99994862 -0.06224363] [ 0. 0. 0. 1. ]] SLAMing on 1.667628 meters Centerline goodness : 0.884827 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.07 [[ 0.99988021 -0.01409731 -0.00639019 0.39118292] [ 0.01407589 0.9998952 -0.00338468 0.13442989] [ 0.00643723 0.00329432 0.99997385 -0.06744102] [ 0. 0. 0. 1. ]] SLAMing on 1.6976280000000001 meters Centerline goodness : 0.895430 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.07 [[ 9.99910416e-01 -1.12451315e-02 -7.25994983e-03 3.94592340e-01] [ 1.12455337e-02 9.99936767e-01 1.45815834e-05 1.33344111e-01] [ 7.25932679e-03 -9.62222877e-05 9.99973646e-01 -6.89765693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7276280000000002 meters Centerline goodness : 0.910126 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99993232 -0.008424 -0.00802384 0.3978092 ] [ 0.00845161 0.99995846 0.00341345 0.13204238] [ 0.00799475 -0.00348104 0.99996198 -0.07052541] [ 0. 0. 0. 1. ]] SLAMing on 1.7576280000000002 meters Centerline goodness : 0.900923 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99992645 -0.00843626 -0.00871315 0.39997761] [ 0.00846493 0.99995886 0.00325832 0.13235627] [ 0.00868531 -0.00333183 0.99995673 -0.0714468 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7876280000000002 meters Centerline goodness : 0.916038 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99992775 -0.00805064 -0.00892621 0.40284791] [ 0.00808779 0.99995875 0.00413368 0.13078272] [ 0.00889256 -0.00420558 0.99995162 -0.07297103] [ 0. 0. 0. 1. ]] SLAMing on 1.817628 meters Centerline goodness : 0.915810 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:-0.07 [[ 0.99991439 -0.00864048 -0.00982609 0.40622477] [ 0.00867675 0.99995568 0.00365442 0.12989562] [ 0.00979408 -0.00373937 0.99994505 -0.07465971] [ 0. 0. 0. 1. ]] SLAMing on 1.847628 meters Centerline goodness : 0.926101 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:-0.08 [[ 0.99990447 -0.00896378 -0.01052155 0.40875133] [ 0.00900344 0.99995252 0.00372784 0.12841678] [ 0.01048763 -0.00382222 0.9999377 -0.07568135] [ 0. 0. 0. 1. ]] SLAMing on 1.877628 meters Centerline goodness : 0.930646 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:-0.08 [[ 0.99988681 -0.00996054 -0.01127668 0.41375724] [ 0.01000548 0.9999422 0.0039359 0.12431927] [ 0.01123683 -0.00404828 0.99992867 -0.07827493] [ 0. 0. 0. 1. ]] SLAMing on 1.907628 meters Centerline goodness : 0.929750 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.99986658 -0.01098556 -0.01208889 0.41731504] [ 0.01102744 0.99993341 0.00340302 0.12238225] [ 0.0120507 -0.00353588 0.99992114 -0.08016478] [ 0. 0. 0. 1. ]] SLAMing on 1.9376280000000001 meters Centerline goodness : 0.934027 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.99985486 -0.01145829 -0.01260815 0.41946522] [ 0.01150677 0.99992665 0.00377961 0.11960625] [ 0.01256392 -0.00392414 0.99991337 -0.08084305] [ 0. 0. 0. 1. ]] SLAMing on 1.9676280000000002 meters Centerline goodness : 0.936404 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.9998286 -0.01283925 -0.01333898 0.42285702] [ 0.01287938 0.99991277 0.00292715 0.11721495] [ 0.01330023 -0.00309844 0.99990675 -0.08260154] [ 0. 0. 0. 1. ]] SLAMing on 1.9976280000000002 meters Centerline goodness : 0.938722 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:-0.08 [[ 0.99980522 -0.01458568 -0.01329594 0.42620419] [ 0.01463244 0.99988707 0.00342648 0.11087702] [ 0.01324447 -0.00362036 0.99990573 -0.08368617] [ 0. 0. 0. 1. ]] SLAMing on 2.0276280000000004 meters Centerline goodness : 0.942393 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:-0.09 [[ 0.99977294 -0.01594829 -0.01413229 0.42967993] [ 0.01598554 0.99986903 0.00252669 0.10906946] [ 0.01409014 -0.00275203 0.99989694 -0.08532777] [ 0. 0. 0. 1. ]] SLAMing on 2.0576280000000002 meters Centerline goodness : 0.942897 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:-0.09 [[ 0.999828 -0.01574038 -0.00980844 0.44312426] [ 0.01566327 0.9998462 -0.00788954 0.11007678] [ 0.00993112 0.00773455 0.99992077 -0.09047551] [ 0. 0. 0. 1. ]] SLAMing on 2.0876280000000005 meters Centerline goodness : 0.943725 Centerline is valid? [False, False] Translation: X:0.45, Y:0.11, Z:-0.09 [[ 0.99974193 -0.02027776 -0.01024182 0.44690108] [ 0.02016571 0.99973693 -0.01092797 0.10587182] [ 0.01046072 0.01071861 0.99988784 -0.09197887] [ 0. 0. 0. 1. ]] SLAMing on 2.1176280000000003 meters Centerline goodness : 0.950306 Centerline is valid? [False, True] Translation: X:0.45, Y:0.10, Z:-0.09 [[ 0.99970421 -0.02167437 -0.01103244 0.45028212] [ 0.02155222 0.99970641 -0.01107219 0.10187968] [ 0.01126919 0.01083114 0.99987784 -0.09329148] [ 0. 0. 0. 1. ]] SLAMing on 2.1476280000000005 meters Centerline goodness : 0.946962 Centerline is valid? [True, False] Translation: X:0.45, Y:0.10, Z:-0.09 [[ 0.99964769 -0.02380394 -0.01174169 0.4538502 ] [ 0.02366391 0.99964886 -0.01192382 0.09792227] [ 0.0120214 0.01164177 0.99985997 -0.09490989] [ 0. 0. 0. 1. ]] SLAMing on 2.1776280000000003 meters Centerline goodness : 0.952256 Centerline is valid? [False, True] Translation: X:0.47, Y:0.09, Z:-0.09 [[ 0.9993841 -0.0330242 -0.01186679 0.46680783] [ 0.03291287 0.99941348 -0.00945772 0.08934264] [ 0.01217216 0.00906132 0.99988486 -0.09287053] [ 0. 0. 0. 1. ]] SLAMing on 2.2076280000000006 meters Centerline goodness : 0.956304 Centerline is valid? [True, True] Translation: X:0.50, Y:0.08, Z:-0.09 [[ 0.9992004 -0.03891934 -0.00915627 0.49880588] [ 0.03896422 0.99922919 0.00477616 0.07878868] [ 0.00896333 -0.0051291 0.99994667 -0.08864806] [ 0. 0. 0. 1. ]] SLAMing on 2.2376280000000004 meters Centerline goodness : 0.956742 Centerline is valid? [True, True] Translation: X:0.52, Y:0.08, Z:-0.09 [[ 0.99915014 -0.03918314 -0.0127941 0.52433648] [ 0.03904558 0.99917874 -0.01083021 0.07943583] [ 0.01320796 0.01032146 0.9998595 -0.09090015] [ 0. 0. 0. 1. ]] SLAMing on 2.267628 meters Centerline goodness : 0.959608 Centerline is valid? [True, True] Translation: X:0.55, Y:0.08, Z:-0.10 [[ 0.99908897 -0.04158996 -0.00956593 0.55278285] [ 0.04140022 0.99895728 -0.01924532 0.07848041] [ 0.01035637 0.01883176 0.99976903 -0.09941928] [ 0. 0. 0. 1. ]] SLAMing on 2.2976280000000004 meters Centerline goodness : 0.963207 Centerline is valid? [True, True] Translation: X:0.57, Y:0.05, Z:-0.09 [[ 0.99893514 -0.04569793 -0.00634772 0.57328005] [ 0.04578762 0.99884176 0.01478644 0.05455899] [ 0.00566466 -0.01506135 0.99987053 -0.08639706] [ 0. 0. 0. 1. ]] SLAMing on 2.3276280000000003 meters Centerline goodness : 0.963727 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:-0.10 [[ 0.99914794 -0.04004034 -0.01000853 0.61010674] [ 0.03984457 0.99902429 -0.01904931 0.06614212] [ 0.01076151 0.01863429 0.99976845 -0.09531402] [ 0. 0. 0. 1. ]] SLAMing on 2.3576280000000005 meters Centerline goodness : 0.966854 Centerline is valid? [True, True] Translation: X:0.64, Y:0.05, Z:-0.09 [[ 0.99918943 -0.03951817 -0.00766845 0.64342124] [ 0.03956101 0.99920192 0.00551807 0.05248615] [ 0.00744427 -0.00581697 0.99995537 -0.08634466] [ 0. 0. 0. 1. ]] SLAMing on 2.3876280000000003 meters Centerline goodness : 0.967262 Centerline is valid? [True, True] Translation: X:0.66, Y:0.04, Z:-0.08 [[ 0.99924474 -0.03812404 -0.00751695 0.66004067] [ 0.03821701 0.99918953 0.01263864 0.04377757] [ 0.00702902 -0.01291637 0.99989187 -0.08402585] [ 0. 0. 0. 1. ]] SLAMing on 2.4176280000000006 meters Centerline goodness : 0.969447 Centerline is valid? [True, True] Translation: X:0.69, Y:0.05, Z:-0.09 [[ 0.99949435 -0.03090935 -0.00746082 0.69119556] [ 0.03089987 0.99952153 -0.00138254 0.04592794] [ 0.00749998 0.0011513 0.99997121 -0.08733076] [ 0. 0. 0. 1. ]] SLAMing on 2.4476280000000004 meters Centerline goodness : 0.970129 Centerline is valid? [True, True] Translation: X:0.72, Y:0.04, Z:-0.09 [[ 0.99965098 -0.02489484 -0.00884149 0.72200471] [ 0.02485552 0.9996808 -0.00452888 0.04469375] [ 0.00895142 0.00430754 0.99995066 -0.08779504] [ 0. 0. 0. 1. ]] SLAMing on 2.4776280000000006 meters Centerline goodness : 0.972501 Centerline is valid? [True, True] Translation: X:0.75, Y:0.04, Z:-0.08 [[ 0.99976397 -0.02003684 -0.00839817 0.75036745] [ 0.02009161 0.99977709 0.00648871 0.03801026] [ 0.00826628 -0.00665591 0.99994368 -0.0805055 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5076280000000004 meters Centerline goodness : 0.975691 Centerline is valid? [True, True] Translation: X:0.79, Y:0.05, Z:-0.09 [[ 0.99986326 -0.01440345 -0.00812365 0.78588924] [ 0.01427714 0.99977951 -0.01539793 0.04525257] [ 0.00834364 0.01527984 0.99984844 -0.08620037] [ 0. 0. 0. 1. ]] SLAMing on 2.537628 meters Centerline goodness : 0.977696 Centerline is valid? [True, True] Translation: X:0.81, Y:0.04, Z:-0.08 [[ 9.99898060e-01 -1.27036119e-02 -6.51831443e-03 8.14194282e-01] [ 1.27080673e-02 9.99919043e-01 6.42568270e-04 3.61611986e-02] [ 6.50962379e-03 -7.25337945e-04 9.99978549e-01 -7.98264570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5676280000000005 meters Centerline goodness : 0.978696 Centerline is valid? [True, True] Translation: X:0.84, Y:0.04, Z:-0.08 [[ 0.99988386 -0.01278792 -0.00829026 0.84299287] [ 0.01276302 0.9999139 -0.00304975 0.03592377] [ 0.00832854 0.00294359 0.99996098 -0.08234426] [ 0. 0. 0. 1. ]] SLAMing on 2.5976280000000003 meters Centerline goodness : 0.979564 Centerline is valid? [True, True] Translation: X:0.87, Y:0.03, Z:-0.08 [[ 0.99986594 -0.01395992 -0.00855736 0.8729848 ] [ 0.01397175 0.99990151 0.00132473 0.03044249] [ 0.00853802 -0.00144412 0.99996251 -0.08050536] [ 0. 0. 0. 1. ]] SLAMing on 2.6276280000000005 meters Centerline goodness : 0.982577 Centerline is valid? [True, True] Translation: X:0.90, Y:0.02, Z:-0.08 [[ 0.99985597 -0.01562291 -0.00663055 0.90250496] [ 0.01566886 0.99985318 0.00693569 0.02470203] [ 0.00652122 -0.00703859 0.99995396 -0.07609196] [ 0. 0. 0. 1. ]] SLAMing on 2.6576280000000003 meters Centerline goodness : 0.983329 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.08 [[ 0.99981357 -0.01749174 -0.00817754 0.93133812] [ 0.01748025 0.99984612 -0.00147423 0.02424869] [ 0.00820207 0.00133101 0.99996548 -0.07855785] [ 0. 0. 0. 1. ]] SLAMing on 2.6876280000000006 meters Centerline goodness : 0.984342 Centerline is valid? [True, True] Translation: X:0.97, Y:0.02, Z:-0.08 [[ 0.99958289 -0.02589564 -0.01278544 0.96519142] [ 0.02585289 0.99965964 -0.00349753 0.01690128] [ 0.01287166 0.00316553 0.99991215 -0.0763194 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7176280000000004 meters Centerline goodness : 0.986482 Centerline is valid? [True, True] Translation: X:1.00, Y:0.01, Z:-0.07 [[ 0.99938115 -0.03380279 -0.00973116 1.00238433] [ 0.03391403 0.99935855 0.01150313 0.00701999] [ 0.00933608 -0.01182603 0.99988648 -0.06933149] [ 0. 0. 0. 1. ]] SLAMing on 2.7476280000000006 meters Centerline goodness : 0.986286 Centerline is valid? [True, True] Translation: X:1.02, Y:0.02, Z:-0.08 [[ 0.99922516 -0.03630762 -0.01519316 1.02315573] [ 0.03598859 0.99913635 -0.02076953 0.01676712] [ 0.01593413 0.02020665 0.99966884 -0.08107304] [ 0. 0. 0. 1. ]] SLAMing on 2.7776280000000004 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.03, Z:-0.03 [[ 0.99868845 -0.04788688 0.01811729 1.06828656] [ 0.04587309 0.99405372 0.09875659 -0.03128549] [-0.0227387 -0.09779597 0.99494668 -0.02864227] [ 0. 0. 0. 1. ]] SLAMing on 2.8076280000000002 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:1.10, Y:0.01, Z:-0.07 [[ 9.98826940e-01 -4.62779791e-02 1.42510902e-02 1.09772251e+00] [ 4.62907330e-02 9.98927849e-01 -5.66209063e-04 7.23331329e-03] [-1.42096079e-02 1.22523828e-03 9.99898288e-01 -7.10538611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8376280000000005 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:1.12, Y:0.01, Z:-0.07 [[ 9.98388562e-01 -5.41433556e-02 1.69934222e-02 1.12430774e+00] [ 5.41625689e-02 9.98531905e-01 -6.72099700e-04 5.31387621e-03] [-1.69320845e-02 1.59142405e-03 9.99855375e-01 -7.29033929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8676280000000003 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:1.15, Y:0.00, Z:-0.07 [[ 9.98180397e-01 -5.77156527e-02 1.74584817e-02 1.15221337e+00] [ 5.77364197e-02 9.98331625e-01 -6.87401417e-04 3.61586169e-03] [-1.73896806e-02 1.69414085e-03 9.99847353e-01 -7.32273842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8976280000000005 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:1.18, Y:0.00, Z:-0.07 [[ 9.98052999e-01 -5.95360360e-02 1.85922386e-02 1.18051374e+00] [ 5.95598141e-02 9.98224474e-01 -7.27336320e-04 2.18079053e-03] [-1.85159249e-02 1.83327047e-03 9.99826885e-01 -7.30558910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9276280000000003 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:1.21, Y:0.00, Z:-0.07 [[ 9.97886285e-01 -6.21941609e-02 1.88374275e-02 1.20753673e+00] [ 6.22189584e-02 9.98062255e-01 -7.32620959e-04 2.64162895e-03] [-1.87553606e-02 1.90311752e-03 9.99822292e-01 -7.36546826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9576280000000006 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:1.24, Y:0.00, Z:-0.07 [[ 9.97889036e-01 -6.23086647e-02 1.83057860e-02 1.23540268e+00] [ 6.23320449e-02 9.98055216e-01 -7.08867506e-04 3.27627614e-03] [-1.82260166e-02 1.84840819e-03 9.99832184e-01 -7.41099991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9876280000000004 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:1.26, Y:0.00, Z:-0.08 [[ 9.97887628e-01 -6.26720402e-02 1.71025793e-02 1.26381998e+00] [ 6.26924359e-02 9.98032677e-01 -6.58499490e-04 4.61666495e-03] [-1.70276635e-02 1.72931085e-03 9.99853523e-01 -7.52317310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0176280000000006 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:1.29, Y:0.01, Z:-0.08 [[ 9.97944348e-01 -6.22188876e-02 1.53586831e-02 1.29235428e+00] [ 6.22352331e-02 9.98061336e-01 -5.88139511e-04 5.92030483e-03] [-1.52923144e-02 1.54278172e-03 9.99881875e-01 -7.60356437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0476280000000004 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:1.32, Y:0.01, Z:-0.08 [[ 9.98074613e-01 -6.06160860e-02 1.31437266e-02 1.31996831e+00] [ 6.06278832e-02 9.98160312e-01 -5.00593776e-04 9.45234568e-03] [-1.30892022e-02 1.29650626e-03 9.99913492e-01 -7.73057174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:1.35, Y:0.01, Z:-0.08 [[ 9.98061482e-01 -6.08318874e-02 1.31437996e-02 1.34851792e+00] [ 6.08436780e-02 9.98147183e-01 -4.98668148e-04 8.49084873e-03] [-1.30891117e-02 1.29741858e-03 9.99913492e-01 -7.77563746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1076280000000005 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:1.38, Y:0.01, Z:-0.08 [[ 9.98144310e-01 -5.96989504e-02 1.19987969e-02 1.37671668e+00] [ 5.97086681e-02 9.98215743e-01 -4.52977248e-04 1.20559161e-02] [-1.19503457e-02 1.16856884e-03 9.99927909e-01 -7.81382620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:1.40, Y:0.01, Z:-0.08 [[ 9.98223852e-01 -5.83913096e-02 1.18150940e-02 1.40474247e+00] [ 5.84006099e-02 9.98293129e-01 -4.43379101e-04 1.34622246e-02] [-1.17690376e-02 1.13260029e-03 9.99930101e-01 -7.82204103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1676280000000006 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:1.43, Y:0.02, Z:-0.08 [[ 9.98317567e-01 -5.67879475e-02 1.17117011e-02 1.43291993e+00] [ 5.67969455e-02 9.98385655e-01 -4.36853416e-04 1.53573001e-02] [-1.16679863e-02 1.10130729e-03 9.99931320e-01 -7.86298762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1976280000000004 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:1.46, Y:0.02, Z:-0.08 [[ 9.98590541e-01 -5.12600505e-02 1.37600104e-02 1.46065392e+00] [ 5.12718973e-02 9.98684601e-01 -5.09346803e-04 2.07228738e-02] [-1.37158013e-02 1.21413074e-03 9.99905197e-01 -7.90896073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2276280000000006 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:1.49, Y:0.02, Z:-0.08 [[ 9.98785578e-01 -4.72635745e-02 1.39112758e-02 1.48854711e+00] [ 4.72752700e-02 9.98881768e-01 -5.12895729e-04 2.24865152e-02] [-1.38714785e-02 1.16993218e-03 9.99903102e-01 -7.91198104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2576280000000004 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:1.52, Y:0.02, Z:-0.08 [[ 9.98986473e-01 -4.28554387e-02 1.37636803e-02 1.51635021e+00] [ 4.28664298e-02 9.99080685e-01 -5.04403372e-04 2.40147673e-02] [-1.37294107e-02 1.09389198e-03 9.99905149e-01 -7.95133052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2876280000000007 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:1.54, Y:0.03, Z:-0.08 [[ 9.99178485e-01 -3.81116380e-02 1.37788893e-02 1.54417674e+00] [ 3.81221625e-02 9.99272960e-01 -5.01873671e-04 2.55872789e-02] [-1.37497443e-02 1.02674243e-03 9.99904941e-01 -7.96712232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3176280000000005 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:1.57, Y:0.03, Z:-0.08 [[ 9.99366354e-01 -3.29107364e-02 1.35563456e-02 1.57261459e+00] [ 3.29204074e-02 9.99457856e-01 -4.90801694e-04 2.71666909e-02] [-1.35328435e-02 9.36771119e-04 9.99907988e-01 -8.00126116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3476280000000003 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:1.60, Y:0.03, Z:-0.08 [[ 9.99629682e-01 -2.32659412e-02 1.41136353e-02 1.59935219e+00] [ 2.32754185e-02 9.99728962e-01 -5.07591461e-04 3.12171573e-02] [-1.40980004e-02 8.35904260e-04 9.99900269e-01 -8.14008265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3776280000000005 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:1.63, Y:0.03, Z:-0.08 [[ 9.99703222e-01 -1.97724974e-02 1.42308162e-02 1.62750604e+00] [ 1.97817487e-02 9.99804192e-01 -5.09612467e-04 3.21474811e-02] [-1.42179534e-02 7.90971656e-04 9.99898607e-01 -8.19449358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4076280000000003 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:1.66, Y:0.03, Z:-0.08 [[ 9.99749965e-01 -1.67167979e-02 1.48511287e-02 1.65703356e+00] [ 1.67264840e-02 9.99859963e-01 -5.28238883e-04 3.20217661e-02] [-1.48402185e-02 7.76513972e-04 9.99889576e-01 -8.24259868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4376280000000006 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:1.69, Y:0.03, Z:-0.08 [[ 9.99778669e-01 -1.43664544e-02 1.53693743e-02 1.68760715e+00] [ 1.43765431e-02 9.99896503e-01 -5.46130116e-04 3.12670131e-02] [-1.53599377e-02 7.66967714e-04 9.99881735e-01 -8.26917673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4676280000000004 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:1.72, Y:0.03, Z:-0.08 [[ 9.99803493e-01 -1.27052352e-02 1.52168136e-02 1.71931601e+00] [ 1.27149324e-02 9.99919016e-01 -5.40688920e-04 2.95245903e-02] [-1.52087117e-02 7.34063428e-04 9.99884071e-01 -8.34056995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4976280000000006 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:1.75, Y:0.03, Z:-0.08 [[ 9.99804966e-01 -1.25948559e-02 1.52118506e-02 1.75144054e+00] [ 1.26045417e-02 9.99920413e-01 -5.41019117e-04 2.75510571e-02] [-1.52038258e-02 7.32652005e-04 9.99884147e-01 -8.41280522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5276280000000004 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:1.78, Y:0.03, Z:-0.08 [[ 9.99815122e-01 -1.30191464e-02 1.41500588e-02 1.78333214e+00] [ 1.30275823e-02 9.99915010e-01 -5.04159831e-04 2.57328509e-02] [-1.41422925e-02 6.88407678e-04 9.99899756e-01 -8.49756087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000007 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:1.81, Y:0.02, Z:-0.09 [[ 9.99799674e-01 -1.52086240e-02 1.30119137e-02 1.81478661e+00] [ 1.52159534e-02 9.99884123e-01 -4.64465105e-04 2.29039446e-02] [-1.30033421e-02 6.62360734e-04 9.99915234e-01 -8.68795415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5876280000000005 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:1.85, Y:0.02, Z:-0.09 [[ 9.99788811e-01 -1.65666774e-02 1.21605052e-02 1.84557059e+00] [ 1.65731883e-02 9.99862561e-01 -4.34830870e-04 2.01311240e-02] [-1.21516301e-02 6.36277381e-04 9.99925964e-01 -8.74960529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6176280000000003 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:1.88, Y:0.02, Z:-0.09 [[ 9.99765058e-01 -1.81580719e-02 1.18369303e-02 1.87506632e+00] [ 1.81643537e-02 9.99834925e-01 -4.23393487e-04 1.71931567e-02] [-1.18272883e-02 6.38304203e-04 9.99929851e-01 -8.81288612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6476280000000005 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:1.90, Y:0.01, Z:-0.09 [[ 9.99734370e-01 -2.01088627e-02 1.12615848e-02 1.90348615e+00] [ 2.01146782e-02 9.99797598e-01 -4.03368484e-04 1.41004239e-02] [-1.12511942e-02 6.29784493e-04 9.99936505e-01 -8.85193331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6776280000000003 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:1.93, Y:0.01, Z:-0.09 [[ 9.99693035e-01 -2.23904473e-02 1.06067910e-02 1.93115591e+00] [ 2.23957120e-02 9.99749113e-01 -3.77824883e-04 1.10072527e-02] [-1.05956702e-02 6.15255540e-04 9.99943675e-01 -8.87995834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7076280000000006 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:1.96, Y:0.01, Z:-0.09 [[ 9.99628164e-01 -2.53208456e-02 1.01187180e-02 1.95898573e+00] [ 2.53257611e-02 9.99679187e-01 -3.57931005e-04 7.52684145e-03] [-1.01064087e-02 6.14062149e-04 9.99948740e-01 -8.91705707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7376280000000004 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:1.99, Y:0.00, Z:-0.09 [[ 9.99398347e-01 -3.31979520e-02 1.00419581e-02 1.98577223e+00] [ 3.32031542e-02 9.99448561e-01 -3.51724466e-04 1.53940063e-03] [-1.00247440e-02 6.84937534e-04 9.99949516e-01 -8.96181819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7676280000000006 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.00, Z:-0.09 [[ 9.99243512e-01 -3.77805277e-02 9.22148963e-03 2.01356547e+00] [ 3.77851091e-02 9.99285836e-01 -3.23036522e-04 -1.92660978e-03] [-9.20269948e-03 6.71227140e-04 9.99957429e-01 -8.94091488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7976280000000004 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.01, Z:-0.09 [[ 9.98793646e-01 -4.83259016e-02 8.70971851e-03 2.04013063e+00] [ 4.83303600e-02 9.98831360e-01 -3.02019433e-04 -8.60388291e-03] [-8.68494462e-03 7.22598922e-04 9.99962024e-01 -8.94248543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8276280000000007 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.01, Z:-0.09 [[ 9.98509324e-01 -5.39359357e-02 8.36931391e-03 2.06742005e+00] [ 5.39402406e-02 9.98544124e-01 -2.89327935e-04 -1.30371184e-02] [-8.34152405e-03 7.40339446e-04 9.99964935e-01 -8.90419438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8576280000000005 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.02, Z:-0.09 [[ 9.98192462e-01 -5.94777370e-02 8.61436728e-03 2.09527596e+00] [ 5.94825023e-02 9.98229304e-01 -2.97807836e-04 -1.72571401e-02] [-8.58140092e-03 8.09673659e-04 9.99962851e-01 -8.87661243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8876280000000003 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.02, Z:-0.09 [[ 9.97852004e-01 -6.49055490e-02 8.86841030e-03 2.12301658e+00] [ 6.49107910e-02 9.97891024e-01 -3.04228098e-04 -2.13592818e-02] [-8.82996095e-03 8.79230145e-04 9.99960629e-01 -8.84662602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9176280000000006 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.02, Z:-0.09 [[ 9.97519440e-01 -6.98204830e-02 8.94804657e-03 2.14978982e+00] [ 6.98259862e-02 9.97559141e-01 -3.03708287e-04 -2.49527257e-02] [-8.90500059e-03 9.27761096e-04 9.99959919e-01 -8.84142271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9476280000000004 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.03, Z:-0.09 [[ 9.97015928e-01 -7.66680653e-02 9.01376935e-03 2.17694685e+00] [ 7.66739171e-02 9.97056176e-01 -3.04939861e-04 -2.98988503e-02] [-8.96385525e-03 9.95150903e-04 9.99959329e-01 -8.83929536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9776280000000006 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.03, Z:-0.09 [[ 9.96829854e-01 -7.89783964e-02 9.62572606e-03 2.20429064e+00] [ 7.89851687e-02 9.96875738e-01 -3.24857705e-04 -3.20442244e-02] [-9.56999603e-03 1.08411746e-03 9.99953619e-01 -8.86384630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007628 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.03, Z:-0.09 [[ 9.96710384e-01 -8.03848665e-02 1.03287385e-02 2.23224672e+00] [ 8.03927233e-02 9.96763206e-01 -3.47078659e-04 -3.41643991e-02] [-1.02674066e-02 1.17629232e-03 9.99946597e-01 -8.87147215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628000000001 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.04, Z:-0.09 [[ 9.96680502e-01 -8.05196335e-02 1.20235392e-02 2.25875271e+00] [ 8.05302416e-02 9.96752086e-01 -3.99973122e-04 -3.79673508e-02] [-1.19522821e-02 1.36690393e-03 9.99927635e-01 -8.76835709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067628000000001 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.04, Z:-0.09 [[ 9.96785529e-01 -7.92198405e-02 1.19509664e-02 2.28661114e+00] [ 7.92302201e-02 9.96856266e-01 -3.96831789e-04 -3.93177281e-02] [-1.18819588e-02 1.34243388e-03 9.99928506e-01 -8.76013370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.04, Z:-0.09 [[ 9.96935143e-01 -7.74123452e-02 1.12982035e-02 2.31477110e+00] [ 7.74214791e-02 9.96998383e-01 -3.72659157e-04 -4.01124921e-02] [-1.12354422e-02 1.24624064e-03 9.99936104e-01 -8.91103703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1276280000000005 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.04, Z:-0.09 [[ 9.97107698e-01 -7.52909245e-02 1.03689418e-02 2.34328155e+00] [ 7.52984818e-02 9.97160982e-01 -3.39830349e-04 -4.04296864e-02] [-1.03139180e-02 1.11961303e-03 9.99946183e-01 -9.01447124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628000000001 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.04, Z:-0.09 [[ 9.97339817e-01 -7.21049155e-02 1.06850631e-02 2.37115531e+00] [ 7.21127316e-02 9.97396427e-01 -3.47530666e-04 -4.09802850e-02] [-1.06321851e-02 1.11713526e-03 9.99942853e-01 -9.01308071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187628 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.04, Z:-0.09 [[ 9.97604912e-01 -6.83624255e-02 1.05365144e-02 2.39831700e+00] [ 6.83697861e-02 9.97659991e-01 -3.39550497e-04 -4.18082941e-02] [-1.04886463e-02 1.05911648e-03 9.99944432e-01 -9.08116013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.04, Z:-0.09 [[ 9.98123539e-01 -6.04853788e-02 9.53522464e-03 2.42541877e+00] [ 6.04910427e-02 9.98168693e-01 -3.06452807e-04 -4.20846984e-02] [-9.49922680e-03 8.82673441e-04 9.99954492e-01 -9.08896235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247628000000001 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.04, Z:-0.09 [[ 9.98321645e-01 -5.73979404e-02 7.70513371e-03 2.45338172e+00] [ 5.74015519e-02 9.98351141e-01 -2.48209212e-04 -4.22721518e-02] [-7.67818233e-03 6.90079261e-04 9.99970284e-01 -9.30240474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.04, Z:-0.09 [[ 9.98551453e-01 -5.32145003e-02 7.95063591e-03 2.48135611e+00] [ 5.32181984e-02 9.98582875e-01 -2.54149794e-04 -4.29105218e-02] [-7.92584441e-03 6.76900165e-04 9.99968361e-01 -9.24440627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.307628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.04, Z:-0.09 [[ 9.98936085e-01 -4.55509056e-02 7.19818558e-03 2.50839510e+00] [ 4.55537251e-02 9.98961864e-01 -2.28141290e-04 -4.37955373e-02] [-7.18032085e-03 5.55802734e-04 9.99974067e-01 -9.31554534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.04, Z:-0.09 [[ 9.99063180e-01 -4.25803414e-02 7.72503159e-03 2.53638317e+00] [ 4.25834941e-02 9.99092882e-01 -2.44012619e-04 -4.41363806e-02] [-7.70763393e-03 5.72742860e-04 9.99970132e-01 -9.41039936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.04, Z:-0.09 [[ 9.99197195e-01 -3.92247595e-02 8.14759685e-03 2.56470445e+00] [ 3.92281388e-02 9.99230248e-01 -2.55294897e-04 -4.49211490e-02] [-8.13131134e-03 5.74705005e-04 9.99966775e-01 -9.43793682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.05, Z:-0.09 [[ 9.99282696e-01 -3.68923883e-02 8.54668024e-03 2.59233831e+00] [ 3.68960060e-02 9.99319075e-01 -2.65950010e-04 -4.57730642e-02] [-8.53104906e-03 5.81097609e-04 9.99963441e-01 -9.49775575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.05, Z:-0.09 [[ 9.99430845e-01 -3.27183641e-02 8.21557637e-03 2.61936357e+00] [ 3.27215408e-02 9.99464475e-01 -2.52509792e-04 -4.80907941e-02] [-8.20291502e-03 5.21192391e-04 9.99966220e-01 -9.47086736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.05, Z:-0.10 [[ 9.99458258e-01 -3.18613106e-02 8.24905244e-03 2.64695210e+00] [ 3.18644856e-02 9.99492166e-01 -2.53707317e-04 -4.98001361e-02] [-8.23677984e-03 5.16421686e-04 9.99965944e-01 -9.50536719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.05, Z:-0.09 [[ 9.99454842e-01 -3.19071204e-02 8.48258191e-03 2.67547712e+00] [ 3.19104594e-02 9.99490698e-01 -2.58542693e-04 -5.12371160e-02] [-8.47001236e-03 5.29084832e-04 9.99963989e-01 -9.48386284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:-0.09 [[ 9.99432322e-01 -3.23485659e-02 9.41294366e-03 2.70372174e+00] [ 3.23526694e-02 9.99476475e-01 -2.83957364e-04 -5.27542072e-02] [-9.39883013e-03 5.88330022e-04 9.99955657e-01 -9.49071522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:-0.10 [[ 9.99364049e-01 -3.38507369e-02 1.12082542e-02 2.73066582e+00] [ 3.38566000e-02 9.99426645e-01 -3.33722796e-04 -5.53929143e-02] [-1.11905312e-02 7.12983944e-04 9.99937130e-01 -9.50374167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:-0.10 [[ 9.99327096e-01 -3.49018679e-02 1.12789951e-02 2.75757970e+00] [ 3.49078573e-02 9.99390479e-01 -3.34534090e-04 -5.70349897e-02] [-1.12604444e-02 7.28034530e-04 9.99936334e-01 -9.51952538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.06, Z:-0.10 [[ 9.99272968e-01 -3.63796697e-02 1.14041926e-02 2.78539350e+00] [ 3.63858810e-02 9.99337758e-01 -3.37577605e-04 -5.90021396e-02] [-1.13843593e-02 7.52283772e-04 9.99934913e-01 -9.59733504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.06, Z:-0.10 [[ 9.99219344e-01 -3.81687546e-02 1.01905875e-02 2.81188002e+00] [ 3.81737766e-02 9.99271071e-01 -2.98680758e-04 -6.27615036e-02] [-1.01717590e-02 6.87460804e-04 9.99948030e-01 -9.67773903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6676280000000006 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.10 [[ 9.99173255e-01 -3.98101465e-02 8.24369295e-03 2.84031861e+00] [ 3.98134923e-02 9.99207099e-01 -2.42094352e-04 -6.50475394e-02] [-8.22751871e-03 5.70104408e-04 9.99965991e-01 -9.87636140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628000000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:-0.10 [[ 9.99163925e-01 -4.00436299e-02 8.24375597e-03 2.86888845e+00] [ 4.00469658e-02 9.99197770e-01 -2.39920003e-04 -6.57722772e-02] [-8.22753531e-03 5.69856825e-04 9.99965991e-01 -9.92138074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.07, Z:-0.10 [[ 9.99155804e-01 -4.01360661e-02 8.76220601e-03 2.89712273e+00] [ 4.01398194e-02 9.99194041e-01 -2.52832353e-04 -6.84010983e-02] [-8.74499633e-03 6.04332279e-04 9.99961579e-01 -9.85023016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.07, Z:-0.10 [[ 9.99124888e-01 -4.11447337e-02 7.52123408e-03 2.92522253e+00] [ 4.11475196e-02 9.99153059e-01 -2.15970121e-04 -7.28434126e-02] [-7.50597801e-03 5.25261249e-04 9.99971692e-01 -9.91908788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787628000000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:-0.10 [[ 9.99074083e-01 -4.26096447e-02 5.94928386e-03 2.95364743e+00] [ 4.26114099e-02 9.99091707e-01 -1.70214319e-04 -7.51884353e-02] [-5.93662739e-03 4.23564088e-04 9.99982288e-01 -1.01913438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.08, Z:-0.10 [[ 9.99066525e-01 -4.28373878e-02 5.57108819e-03 2.98029091e+00] [ 4.28389264e-02 9.99081979e-01 -1.57097321e-04 -7.83161536e-02] [-5.55924418e-03 3.95610112e-04 9.99984469e-01 -1.01051744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.847628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.08, Z:-0.10 [[ 9.98996377e-01 -4.46112900e-02 4.00892642e-03 3.00679211e+00] [ 4.46120978e-02 9.99004378e-01 -1.12251696e-04 -8.12782755e-02] [-3.99992735e-03 2.90985655e-04 9.99991958e-01 -1.03559065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8776280000000005 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.09, Z:-0.10 [[ 9.98848596e-01 -4.78787075e-02 3.01846557e-03 3.03373699e+00] [ 4.78791832e-02 9.98853131e-01 -8.55066370e-05 -8.77266772e-02] [-3.01090984e-03 2.29929851e-04 9.99995441e-01 -1.03593832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.09, Z:-0.10 [[ 9.98767110e-01 -4.94989754e-02 3.75658780e-03 3.06177247e+00] [ 4.94997222e-02 9.98774132e-01 -1.06030186e-04 -9.14633246e-02] [-3.74673433e-03 2.91849516e-04 9.99992938e-01 -1.02274824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.09, Z:-0.10 [[ 9.98651530e-01 -5.17683060e-02 3.89409623e-03 3.08888600e+00] [ 5.17691165e-02 9.98659074e-01 -1.07560392e-04 -9.49909917e-02] [-3.88330632e-03 3.09009272e-04 9.99992412e-01 -1.02025253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967628 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.10, Z:-0.10 [[ 9.98500348e-01 -5.45764782e-02 4.29693217e-03 3.11570131e+00] [ 5.45774825e-02 9.98509532e-01 -1.16729491e-04 -9.83978706e-02] [-4.28415704e-03 3.51070178e-04 9.99990761e-01 -1.02568047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.10, Z:-0.10 [[ 9.98318529e-01 -5.77231640e-02 5.30571072e-03 3.14327991e+00] [ 5.77247427e-02 9.98332526e-01 -1.44768797e-04 -1.01821046e-01] [-5.28850707e-03 4.50796159e-04 9.99985914e-01 -1.01178922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.11, Z:-0.10 [[ 9.98138161e-01 -6.06472999e-02 6.48975759e-03 3.17009966e+00] [ 6.06496991e-02 9.98159098e-01 -1.73345789e-04 -1.05263527e-01] [-6.46729762e-03 5.66624892e-04 9.99978926e-01 -1.00906389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.11, Z:-0.10 [[ 9.98016496e-01 -6.22902085e-02 9.11061670e-03 3.19803119e+00] [ 6.22949831e-02 9.98057752e-01 -2.40951919e-04 -1.06771326e-01] [-9.07791268e-03 8.08019703e-04 9.99958468e-01 -9.92558386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0876280000000005 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.11, Z:-0.10 [[ 9.98066314e-01 -6.13109053e-02 1.02276993e-02 3.22598025e+00] [ 6.13168361e-02 9.98118317e-01 -2.67026671e-04 -1.07362128e-01] [-1.01920823e-02 8.93640487e-04 9.99947660e-01 -9.96432998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.11, Z:-0.10 [[ 9.98151268e-01 -5.98302736e-02 1.06950728e-02 3.25346895e+00] [ 5.98366345e-02 9.98208145e-01 -2.75466230e-04 -1.08652691e-01] [-1.06594276e-02 9.14914130e-04 9.99942768e-01 -9.96628216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.147628000000001 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.11, Z:-0.10 [[ 9.98240959e-01 -5.85330010e-02 9.42734564e-03 3.28044770e+00] [ 5.85378675e-02 9.98285160e-01 -2.40872333e-04 -1.09491676e-01] [-9.39708027e-03 7.92305339e-04 9.99955533e-01 -1.01233774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.11, Z:-0.10 [[ 0.99862486 -0.052001 0.00665429 3.30979033] [ 0.05204384 0.99862406 -0.00643558 -0.10659745] [-0.00631048 0.00677304 0.99995715 -0.10367466] [ 0. 0. 0. 1. ]] SLAMing on 5.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.11, Z:-0.10 [[ 0.99880589 -0.04822261 0.00783406 3.33782643] [ 0.04817737 0.99882158 0.00586399 -0.11099604] [-0.00810761 -0.00547956 0.99995212 -0.09862122] [ 0. 0. 0. 1. ]] SLAMing on 5.237628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.11, Z:-0.10 [[ 9.99107688e-01 -4.16091978e-02 7.24583666e-03 3.36525495e+00] [ 4.16115952e-02 9.99133846e-01 -1.80356223e-04 -1.06546469e-01] [-7.23205617e-03 4.81706111e-04 9.99973732e-01 -1.02431905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.11, Z:-0.10 [[ 9.99186315e-01 -3.95838909e-02 7.73451209e-03 3.39351145e+00] [ 3.95865635e-02 9.99216126e-01 -1.92695527e-04 -1.06652597e-01] [-7.72082157e-03 4.98721487e-04 9.99970070e-01 -1.02745178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2976280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.11, Z:-0.10 [[ 9.99214387e-01 -3.86728544e-02 8.66137640e-03 3.42120166e+00] [ 3.86761462e-02 9.99251775e-01 -2.12810464e-04 -1.07502643e-01] [-8.64666576e-03 5.47631937e-04 9.99962467e-01 -1.02584403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.11, Z:-0.10 [[ 9.99212584e-01 -3.85563092e-02 9.36076228e-03 3.44894104e+00] [ 3.85601208e-02 9.99256256e-01 -2.26986150e-04 -1.09104046e-01] [-9.34504852e-03 5.87759541e-04 9.99956161e-01 -1.02077277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.11, Z:-0.10 [[ 9.99215221e-01 -3.84257386e-02 9.61270387e-03 3.47554544e+00] [ 3.84297153e-02 9.99261279e-01 -2.29255172e-04 -1.11037454e-01] [-9.59679347e-03 5.98488730e-04 9.99953771e-01 -1.01861936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.11, Z:-0.11 [[ 0.99923233 -0.03858783 0.00676257 3.50495881] [ 0.03863278 0.99923137 -0.00664716 -0.11076999] [-0.00650087 0.00690331 0.99995504 -0.10584214] [ 0. 0. 0. 1. ]] SLAMing on 5.4176280000000006 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.12, Z:-0.10 [[ 0.99919379 -0.03942056 0.00760148 3.53309163] [ 0.03937434 0.99920568 0.00613726 -0.11663163] [-0.00783738 -0.00583301 0.99995227 -0.1030821 ] [ 0. 0. 0. 1. ]] SLAMing on 5.447628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.12, Z:-0.10 [[ 9.99229371e-01 -3.85350374e-02 7.46420498e-03 3.56014002e+00] [ 3.85374055e-02 9.99257143e-01 -1.73637351e-04 -1.15390594e-01] [-7.45196903e-03 4.61154635e-04 9.99972127e-01 -1.04852269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.12, Z:-0.11 [[ 9.99228076e-01 -3.85975520e-02 7.31307345e-03 3.58777189e+00] [ 3.85998221e-02 9.99254735e-01 -1.69466054e-04 -1.16627101e-01] [-7.30108230e-03 4.51618573e-04 9.99973245e-01 -1.05750090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.12, Z:-0.11 [[ 9.99231986e-01 -3.84972014e-02 7.30784742e-03 3.61610013e+00] [ 3.84994506e-02 9.99258607e-01 -1.67292207e-04 -1.17970147e-01] [-7.29598915e-03 4.48511834e-04 9.99973283e-01 -1.06516197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.12, Z:-0.11 [[ 9.99260658e-01 -3.76669401e-02 7.70315402e-03 3.64390545e+00] [ 3.76693968e-02 9.99290241e-01 -1.74023921e-04 -1.21807023e-01] [-7.69113169e-03 4.64068423e-04 9.99970315e-01 -1.06326136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.12, Z:-0.11 [[ 9.99316813e-01 -3.59828971e-02 8.43432001e-03 3.67137330e+00] [ 3.59857491e-02 9.99352286e-01 -1.86585922e-04 -1.23210562e-01] [-8.42214307e-03 4.89973773e-04 9.99964413e-01 -1.05823133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.12, Z:-0.11 [[ 9.99357850e-01 -3.46318220e-02 9.19375178e-03 3.69979024e+00] [ 3.46351507e-02 9.99400003e-01 -2.03052074e-04 -1.24198308e-01] [-9.18120349e-03 5.21348663e-04 9.99957716e-01 -1.06183885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6276280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.13, Z:-0.11 [[ 9.99399157e-01 -3.34142715e-02 9.20932924e-03 3.72763891e+00] [ 3.34175362e-02 9.99441458e-01 -2.00806396e-04 -1.25375846e-01] [-9.19747564e-03 5.08438836e-04 9.99957573e-01 -1.06586240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.12, Z:-0.11 [[ 9.99528806e-01 -2.92180457e-02 9.40599571e-03 3.75592135e+00] [ 2.92212402e-02 9.99572948e-01 -2.02346112e-04 -1.24942116e-01] [-9.39606670e-03 4.77105628e-04 9.99955742e-01 -1.07661677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.687628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.13, Z:-0.11 [[ 9.99597300e-01 -2.67523103e-02 9.46321460e-03 3.78280490e+00] [ 2.67553993e-02 9.99641990e-01 -1.99948238e-04 -1.25026930e-01] [-9.45447760e-03 4.53059804e-04 9.99955203e-01 -1.08477291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.13, Z:-0.11 [[ 9.99652895e-01 -2.47350076e-02 9.07018879e-03 3.81103267e+00] [ 2.47377623e-02 9.99693956e-01 -1.91626822e-04 -1.25832722e-01] [-9.06267302e-03 4.15936482e-04 9.99958847e-01 -1.08844523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.747628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.13, Z:-0.11 [[ 9.99736412e-01 -2.16227856e-02 7.71767694e-03 3.83946976e+00] [ 2.16246758e-02 9.99766146e-01 -1.61547986e-04 -1.27587401e-01] [-7.71237902e-03 3.28397666e-04 9.99970205e-01 -1.09656853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.13, Z:-0.11 [[ 9.99751669e-01 -2.11892047e-02 6.90056519e-03 3.86626161e+00] [ 2.11906902e-02 9.99775442e-01 -1.42213162e-04 -1.28328052e-01] [-6.89600223e-03 2.88405585e-04 9.99976181e-01 -1.09918375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.807628 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.13, Z:-0.11 [[ 9.99797759e-01 -1.83974171e-02 8.12254934e-03 3.89425425e+00] [ 1.83993711e-02 9.99830703e-01 -1.65896701e-04 -1.26640232e-01] [-8.11812215e-03 3.15312949e-04 9.99966998e-01 -1.12040124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8376280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.13, Z:-0.11 [[ 9.99808076e-01 -1.74991257e-02 8.80861925e-03 3.92146057e+00] [ 1.75013548e-02 9.99846824e-01 -1.76034464e-04 -1.27396956e-01] [-8.80418953e-03 3.30163450e-04 9.99961188e-01 -1.10374711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.13, Z:-0.11 [[ 9.99796239e-01 -1.83621147e-02 8.38526413e-03 3.94999585e+00] [ 1.83641666e-02 9.99831350e-01 -1.67769733e-04 -1.28518558e-01] [-8.38076935e-03 3.21723936e-04 9.99964829e-01 -1.10365050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.13, Z:-0.11 [[ 9.99773819e-01 -1.93749870e-02 8.77044415e-03 3.97705746e+00] [ 1.93772380e-02 9.99812229e-01 -1.71755323e-04 -1.29600590e-01] [-8.76546956e-03 3.41663459e-04 9.99961524e-01 -1.11195291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.13, Z:-0.11 [[ 9.99746201e-01 -2.08244240e-02 8.59520315e-03 4.00553270e+00] [ 2.08266396e-02 9.99783088e-01 -1.68342322e-04 -1.30510432e-01] [-8.58983312e-03 3.47308795e-04 9.99963046e-01 -1.11923280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.13, Z:-0.11 [[ 9.99718507e-01 -2.23588532e-02 7.93648018e-03 4.03254225e+00] [ 2.23607668e-02 9.99749955e-01 -1.52450477e-04 -1.31703667e-01] [-7.93108709e-03 3.29873347e-04 9.99968494e-01 -1.12299883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.13, Z:-0.11 [[ 9.99689032e-01 -2.37072510e-02 7.73342088e-03 4.06109439e+00] [ 2.37091111e-02 9.99718888e-01 -1.48927797e-04 -1.32098580e-01] [-7.72771625e-03 3.32234019e-04 9.99970086e-01 -1.13154297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.13, Z:-0.11 [[ 9.99695531e-01 -2.33811402e-02 7.88469196e-03 4.08947602e+00] [ 2.33830457e-02 9.99726568e-01 -1.49568110e-04 -1.31524425e-01] [-7.87903896e-03 3.33890683e-04 9.99968904e-01 -1.13603576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.13, Z:-0.11 [[ 9.99708500e-01 -2.26953079e-02 8.23634786e-03 4.11724623e+00] [ 2.26973436e-02 9.99742370e-01 -1.53755355e-04 -1.31119739e-01] [-8.23073641e-03 3.40653753e-04 9.99966069e-01 -1.13669633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.13, Z:-0.11 [[ 9.99747084e-01 -2.10134365e-02 8.01274796e-03 4.14421642e+00] [ 2.10152822e-02 9.99779144e-01 -1.46215739e-04 -1.31759880e-01] [-8.00790580e-03 3.14568919e-04 9.99967887e-01 -1.13659179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.13, Z:-0.11 [[ 9.99750139e-01 -2.09330692e-02 7.83999484e-03 4.17221536e+00] [ 2.09348354e-02 9.99780832e-01 -1.43267721e-04 -1.32416582e-01] [-7.83527754e-03 3.07360926e-04 9.99969257e-01 -1.14388742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.13, Z:-0.11 [[ 9.99753037e-01 -2.09818388e-02 7.32310593e-03 4.20052544e+00] [ 2.09833688e-02 9.99779816e-01 -1.32142565e-04 -1.32823188e-01] [-7.31872091e-03 2.85773363e-04 9.99973177e-01 -1.14971185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1676280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.13, Z:-0.12 [[ 9.99747307e-01 -2.11804497e-02 7.53063942e-03 4.22907722e+00] [ 2.11820566e-02 9.99775626e-01 -1.33676717e-04 -1.33000701e-01] [-7.52611841e-03 2.93157368e-04 9.99971635e-01 -1.15645420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628000000001 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.13, Z:-0.12 [[ 9.99728239e-01 -2.17780147e-02 8.31665546e-03 4.25725169e+00] [ 2.17799726e-02 9.99762778e-01 -1.44909033e-04 -1.32850221e-01] [-8.31152673e-03 3.26006180e-04 9.99965406e-01 -1.18393810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.13, Z:-0.12 [[ 9.99733809e-01 -2.10848194e-02 9.36706057e-03 4.28518234e+00] [ 2.10872425e-02 9.99777627e-01 -1.59985616e-04 -1.33183621e-01] [-9.36160431e-03 3.57468507e-04 9.99956115e-01 -1.16572453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.13, Z:-0.12 [[ 9.99739999e-01 -2.04501633e-02 1.00858462e-02 4.31175186e+00] [ 2.04528996e-02 9.99790803e-01 -1.68220457e-04 -1.33767920e-01] [-1.00802961e-02 3.74461519e-04 9.99949122e-01 -1.16963484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287628000000001 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.13, Z:-0.12 [[ 9.99736253e-01 -2.06242188e-02 1.01027612e-02 4.33951145e+00] [ 2.06269691e-02 9.99787227e-01 -1.68105404e-04 -1.34513707e-01] [-1.00971446e-02 3.76450411e-04 9.99948952e-01 -1.18656316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628000000001 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.14, Z:-0.12 [[ 9.99755902e-01 -1.98402988e-02 9.72106136e-03 4.36795555e+00] [ 1.98427833e-02 9.99803100e-01 -1.59182096e-04 -1.36250469e-01] [-9.71598906e-03 3.52036154e-04 9.99952737e-01 -1.19801416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.14, Z:-0.12 [[ 9.99775606e-01 -1.86622287e-02 1.00229047e-02 4.39620424e+00] [ 1.86647814e-02 9.99825785e-01 -1.61197909e-04 -1.36755825e-01] [-1.00181502e-02 3.48237062e-04 9.99949756e-01 -1.18766553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3776280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.14, Z:-0.12 [[ 9.99804853e-01 -1.67395677e-02 1.04901256e-02 4.42301307e+00] [ 1.67422158e-02 9.99859826e-01 -1.64670118e-04 -1.35988445e-01] [-1.04858986e-02 3.40265929e-04 9.99944964e-01 -1.19876028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407628000000001 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.13, Z:-0.12 [[ 9.99854522e-01 -1.37343836e-02 1.01144338e-02 4.45145487e+00] [ 1.37366882e-02 9.99905635e-01 -1.58412630e-04 -1.34649868e-01] [-1.01113037e-02 2.97328408e-04 9.99948835e-01 -1.23739534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628000000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.13, Z:-0.12 [[ 9.99878035e-01 -1.23728091e-02 9.53038320e-03 4.48016215e+00] [ 1.23747681e-02 9.99923419e-01 -1.46610090e-04 -1.34339941e-01] [-9.52783937e-03 2.64528491e-04 9.99954574e-01 -1.24086584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.14, Z:-0.12 [[ 9.99897938e-01 -1.12142971e-02 8.85173435e-03 4.50939456e+00] [ 1.12159247e-02 9.99937091e-01 -1.34257334e-04 -1.35493518e-01] [-8.84967189e-03 2.33524018e-04 9.99960814e-01 -1.22665023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.14, Z:-0.12 [[ 9.99906435e-01 -1.19085588e-02 6.73110976e-03 4.53836033e+00] [ 1.19094994e-02 9.99929074e-01 -9.96857308e-05 -1.38183681e-01] [-6.72944524e-03 1.79840552e-04 9.99977341e-01 -1.23516071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.14, Z:-0.12 [[ 9.99890960e-01 -1.29093197e-02 7.17061223e-03 4.56641759e+00] [ 1.29104234e-02 9.99916651e-01 -1.07648597e-04 -1.39418653e-01] [-7.16862489e-03 2.00212499e-04 9.99974285e-01 -1.24133528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628000000001 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.14, Z:-0.13 [[ 9.99862302e-01 -1.49217918e-02 7.26067877e-03 4.59315819e+00] [ 1.49229519e-02 9.99888641e-01 -1.05628909e-04 -1.40100005e-01] [-7.25829405e-03 2.13965124e-04 9.99973635e-01 -1.26420823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5876280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.14, Z:-0.12 [[ 9.99830528e-01 -1.58661778e-02 9.33703278e-03 4.62081750e+00] [ 1.58681310e-02 9.99874084e-01 -1.35142711e-04 -1.41609299e-01] [-9.33371291e-03 2.83281067e-04 9.99956400e-01 -1.23990181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.14, Z:-0.12 [[ 9.99827741e-01 -1.60408032e-02 9.33707855e-03 4.64938344e+00] [ 1.60427336e-02 9.99871298e-01 -1.31882825e-04 -1.41930739e-01] [-9.33376135e-03 2.81652370e-04 9.99956400e-01 -1.24428881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.14, Z:-0.12 [[ 9.99749511e-01 -1.80726608e-02 1.32020760e-02 4.67680655e+00] [ 1.80766529e-02 9.99836587e-01 -1.83108485e-04 -1.43770260e-01] [-1.31966093e-02 4.21711963e-04 9.99912832e-01 -1.23756003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.14, Z:-0.12 [[ 9.99720991e-01 -1.89525769e-02 1.40975074e-02 4.70459974e+00] [ 1.89571753e-02 9.99820278e-01 -1.92615835e-04 -1.44514973e-01] [-1.40913232e-02 4.59811013e-04 9.99900607e-01 -1.23390340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.14, Z:-0.12 [[ 9.99711991e-01 -1.87564039e-02 1.49710342e-02 4.73188714e+00] [ 1.87615003e-02 9.99823968e-01 -2.00025489e-04 -1.44991963e-01] [-1.49646470e-02 4.80846942e-04 9.99887908e-01 -1.23956647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.15, Z:-0.12 [[ 9.99726583e-01 -1.79620442e-02 1.49707466e-02 4.76021470e+00] [ 1.79670240e-02 9.99838560e-01 -1.98191456e-04 -1.45319789e-01] [-1.49647698e-02 4.67117032e-04 9.99887912e-01 -1.24942457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.14, Z:-0.13 [[ 9.99804431e-01 -1.39984501e-02 1.39693695e-02 4.78869847e+00] [ 1.40023870e-02 9.99901945e-01 -1.84055139e-04 -1.44662062e-01] [-1.39654232e-02 3.79623661e-04 9.99902407e-01 -1.26227960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7976280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.15, Z:-0.13 [[ 9.99804189e-01 -1.40156814e-02 1.39694171e-02 4.81886645e+00] [ 1.40195685e-02 9.99901705e-01 -1.80364351e-04 -1.45021283e-01] [-1.39655160e-02 3.76174234e-04 9.99902407e-01 -1.26691657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.14, Z:-0.13 [[ 9.99877119e-01 -9.70872566e-03 1.23079905e-02 4.84807235e+00] [ 9.71141473e-03 9.99952831e-01 -1.58732707e-04 -1.44687297e-01] [-1.23058688e-02 2.78241202e-04 9.99924241e-01 -1.28112826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.15, Z:-0.13 [[ 9.99904371e-01 -7.35514881e-03 1.17111108e-02 4.87926717e+00] [ 7.35741761e-03 9.99972922e-01 -1.50658472e-04 -1.45089966e-01] [-1.17096855e-02 2.36807597e-04 9.99931411e-01 -1.29061260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.15, Z:-0.13 [[ 9.99925057e-01 -5.64572312e-03 1.08630930e-02 4.91104377e+00] [ 5.64757798e-03 9.99984042e-01 -1.40080221e-04 -1.45665991e-01] [-1.08621288e-02 2.01419888e-04 9.99940985e-01 -1.29354973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9176280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.15, Z:-0.13 [[ 9.99938287e-01 -3.90484772e-03 1.04006612e-02 4.94298728e+00] [ 3.90645555e-03 9.99992361e-01 -1.34277859e-04 -1.46119438e-01] [-1.04000574e-02 1.74899293e-04 9.99945903e-01 -1.29841806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.15, Z:-0.13 [[ 9.99954580e-01 -1.37402549e-03 9.43137384e-03 4.97439444e+00] [ 1.37523752e-03 9.99999047e-01 -1.22025984e-04 -1.46282721e-01] [-9.43119718e-03 1.34990820e-04 9.99955516e-01 -1.30013216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.15, Z:-0.13 [[ 9.99953451e-01 -4.98396307e-04 9.63572082e-03 5.00607231e+00] [ 4.99634428e-04 9.99999867e-01 -1.26086014e-04 -1.46709079e-01] [-9.63565670e-03 1.30894483e-04 9.99953567e-01 -1.29902206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.15, Z:-0.13 [[ 9.99948723e-01 -3.16243480e-04 1.01218103e-02 5.03833122e+00] [ 3.17602568e-04 9.99999941e-01 -1.32666041e-04 -1.47846525e-01] [-1.01217678e-02 1.35873951e-04 9.99948764e-01 -1.30040035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.15, Z:-0.13 [[ 9.99943426e-01 -4.25968846e-04 1.06284583e-02 5.07086400e+00] [ 4.27487351e-04 9.99999899e-01 -1.40600197e-04 -1.48968303e-01] [-1.06283974e-02 1.45135774e-04 9.99943506e-01 -1.30559990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.15, Z:-0.13 [[ 9.99938593e-01 -7.83825645e-04 1.10542491e-02 5.10281626e+00] [ 7.85527259e-04 9.99999680e-01 -1.49592014e-04 -1.49804335e-01] [-1.10541283e-02 1.58266242e-04 9.99938889e-01 -1.30858919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.15, Z:-0.13 [[ 9.99913621e-01 -2.08581514e-04 1.31418335e-02 5.13595749e+00] [ 2.10996571e-04 9.99999961e-01 -1.82382443e-04 -1.49808243e-01] [-1.31417949e-02 1.85139570e-04 9.99913626e-01 -1.30835351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1276280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.15, Z:-0.13 [[ 9.99906333e-01 1.00976282e-03 1.36494125e-02 5.16904117e+00] [-1.00725109e-03 9.99999475e-01 -1.90890513e-04 -1.49955794e-01] [-1.36495981e-02 1.77124247e-04 9.99906824e-01 -1.30747873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.15, Z:-0.13 [[ 9.99892640e-01 2.80542053e-03 1.43818771e-02 5.20170227e+00] [-2.80279486e-03 9.99996052e-01 -2.02720064e-04 -1.49824277e-01] [-1.43823891e-02 1.62388848e-04 9.99896555e-01 -1.30963281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.15, Z:-0.13 [[ 9.99890249e-01 3.73624612e-03 1.43362996e-02 5.23370252e+00] [-3.73371348e-03 9.99993009e-01 -2.03420453e-04 -1.49948953e-01] [-1.43369594e-02 1.49870492e-04 9.99897209e-01 -1.30918442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.15, Z:-0.13 [[ 9.99885031e-01 5.04393118e-03 1.42997586e-02 5.26680094e+00] [-5.04148955e-03 9.99987270e-01 -2.06788932e-04 -1.49803283e-01] [-1.43006196e-02 1.34673074e-04 9.99897732e-01 -1.30885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.15, Z:-0.13 [[ 9.99882848e-01 5.62475394e-03 1.42355966e-02 5.29860200e+00] [-5.62237261e-03 9.99984173e-01 -2.07295717e-04 -1.50015963e-01] [-1.42365373e-02 1.27233604e-04 9.99898647e-01 -1.31749328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.15, Z:-0.13 [[ 9.99902591e-01 4.72477141e-03 1.31333541e-02 5.33112804e+00] [-4.72264264e-03 9.99988830e-01 -1.93098162e-04 -1.50984780e-01] [-1.31341197e-02 1.31055214e-04 9.99913735e-01 -1.32909095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.15, Z:-0.13 [[ 9.99917683e-01 3.49035533e-03 1.23468123e-02 5.36315110e+00] [-3.48833891e-03 9.99993899e-01 -1.84846834e-04 -1.52022749e-01] [-1.23473821e-02 1.41761753e-04 9.99923758e-01 -1.33674080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3376280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.15, Z:-0.13 [[ 9.99936646e-01 1.67542270e-04 1.12550246e-02 5.39596609e+00] [-1.65627518e-04 9.99999972e-01 -1.71056074e-04 -1.54226758e-01] [-1.12550530e-02 1.69181096e-04 9.99936646e-01 -1.34203005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.15, Z:-0.13 [[ 9.99939764e-01 -8.00024286e-04 1.09466138e-02 5.42893553e+00] [ 8.01925989e-04 9.99999664e-01 -1.69336962e-04 -1.54676190e-01] [-1.09464746e-02 1.78105136e-04 9.99940070e-01 -1.34588716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.16, Z:-0.14 [[ 9.99950386e-01 -1.65404135e-03 9.82295465e-03 5.46121163e+00] [ 1.65563773e-03 9.99998618e-01 -1.54386562e-04 -1.55118712e-01] [-9.82268571e-03 1.70642156e-04 9.99951742e-01 -1.35356107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.15, Z:-0.14 [[ 9.99953273e-01 -2.19987383e-03 9.41345736e-03 5.49413466e+00] [ 2.20138507e-03 9.99997566e-01 -1.50181095e-04 -1.54742059e-01] [-9.41310406e-03 1.70896722e-04 9.99955681e-01 -1.36405075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628000000001 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.15, Z:-0.14 [[ 9.99970246e-01 -4.90547506e-03 5.95347808e-03 5.52734001e+00] [ 4.90612759e-03 9.99987960e-01 -9.50037994e-05 -1.54867951e-01] [-5.95294036e-03 1.24209496e-04 9.99982273e-01 -1.39630540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.15, Z:-0.14 [[ 9.99962680e-01 -4.02546352e-03 7.64416981e-03 5.55777293e+00] [ 4.02655485e-03 9.99991885e-01 -1.27382620e-04 -1.54004108e-01] [-7.64359501e-03 1.58157535e-04 9.99970775e-01 -1.38136657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.15, Z:-0.14 [[ 9.99957905e-01 -5.38578978e-03 7.42847583e-03 5.58910058e+00] [ 5.38685775e-03 9.99985483e-01 -1.23766181e-04 -1.54260991e-01] [-7.42770142e-03 1.63777113e-04 9.99972401e-01 -1.38505666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.16, Z:-0.14 [[ 9.99944527e-01 -7.34479574e-03 7.54966111e-03 5.61935734e+00] [ 7.34595779e-03 9.99973010e-01 -1.26200681e-04 -1.55509092e-01] [-7.54853043e-03 1.81653172e-04 9.99971493e-01 -1.38385441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.16, Z:-0.14 [[ 9.99883092e-01 -1.22521501e-02 9.14805463e-03 5.64945743e+00] [ 1.22540645e-02 9.99924904e-01 -1.53245268e-04 -1.55806301e-01] [-9.14549006e-03 2.65328204e-04 9.99958144e-01 -1.37393367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.16, Z:-0.14 [[ 9.99829557e-01 -1.52436164e-02 1.04157984e-02 5.67800143e+00] [ 1.52462733e-02 9.99883753e-01 -1.75720879e-04 -1.55837416e-01] [-1.04119090e-02 3.34493038e-04 9.99945739e-01 -1.37426097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.16, Z:-0.14 [[ 9.99766515e-01 -1.80767494e-02 1.18383319e-02 5.70564646e+00] [ 1.80803343e-02 9.99836518e-01 -1.95860791e-04 -1.55851550e-01] [-1.18328561e-02 4.09856059e-04 9.99929905e-01 -1.37377325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6676280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.16, Z:-0.14 [[ 9.99652839e-01 -2.32105308e-02 1.24689002e-02 5.73359791e+00] [ 2.32148835e-02 9.99730477e-01 -2.04438939e-04 -1.55949416e-01] [-1.24607944e-02 4.93832030e-04 9.99922239e-01 -1.36623865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.16, Z:-0.14 [[ 9.99603164e-01 -2.51316704e-02 1.27245121e-02 5.76031343e+00] [ 2.51363442e-02 9.99684011e-01 -2.07488741e-04 -1.55602477e-01] [-1.27152768e-02 5.27254119e-04 9.99919019e-01 -1.36764655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.15, Z:-0.14 [[ 9.99528763e-01 -2.85295223e-02 1.13277495e-02 5.78802878e+00] [ 2.85334267e-02 9.99592822e-01 -1.83171366e-04 -1.54072189e-01] [-1.13179113e-02 5.06304559e-04 9.99935822e-01 -1.37343911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.15, Z:-0.14 [[ 9.99466118e-01 -3.10624148e-02 1.01294140e-02 5.81640524e+00] [ 3.10656433e-02 9.99517333e-01 -1.61499648e-04 -1.54243865e-01] [-1.01195083e-02 4.76090189e-04 9.99948683e-01 -1.37785329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.15, Z:-0.14 [[ 9.99369095e-01 -3.41910173e-02 9.61178920e-03 5.84466156e+00] [ 3.41940446e-02 9.99415201e-01 -1.50750050e-04 -1.54517622e-01] [-9.60101394e-03 4.79320890e-04 9.99953794e-01 -1.38409376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.15, Z:-0.14 [[ 9.99261620e-01 -3.73351496e-02 9.07198928e-03 5.87199050e+00] [ 3.73379452e-02 9.99302686e-01 -1.38926722e-04 -1.54929317e-01] [-9.06047641e-03 4.77553580e-04 9.99958839e-01 -1.38349631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.847628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.16, Z:-0.14 [[ 9.99138052e-01 -4.05572130e-02 8.84673633e-03 5.90036610e+00] [ 4.05599974e-02 9.99177096e-01 -1.35481649e-04 -1.55244217e-01] [-8.83396156e-03 4.94188474e-04 9.99960858e-01 -1.38590393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8776280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.16, Z:-0.14 [[ 9.99013061e-01 -4.35450538e-02 8.75963972e-03 5.92854703e+00] [ 4.35478769e-02 9.99051333e-01 -1.31722980e-04 -1.55353004e-01] [-8.74559385e-03 5.13056690e-04 9.99961625e-01 -1.38979122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.15, Z:-0.14 [[ 9.98841116e-01 -4.72359778e-02 9.22967137e-03 5.95569656e+00] [ 4.72392337e-02 9.98883595e-01 -1.34950288e-04 -1.54719756e-01] [-9.21299281e-03 5.70796499e-04 9.99957397e-01 -1.38519731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.15, Z:-0.14 [[ 9.98790442e-01 -4.81421191e-02 9.99951008e-03 5.98396145e+00] [ 4.81459808e-02 9.98840299e-01 -1.45691130e-04 -1.54327593e-01] [-9.98089976e-03 6.26951128e-04 9.99949993e-01 -1.38277507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.15, Z:-0.14 [[ 9.98785237e-01 -4.82371702e-02 1.00611413e-02 6.01132455e+00] [ 4.82410471e-02 9.98835713e-01 -1.42860098e-04 -1.53489513e-01] [-1.00425361e-02 6.28046547e-04 9.99949375e-01 -1.37835933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628000000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.15, Z:-0.14 [[ 9.98824743e-01 -4.72055987e-02 1.09892993e-02 6.03916381e+00] [ 4.72101527e-02 9.98884967e-01 -1.55214086e-04 -1.51297336e-01] [-1.09697189e-02 6.73838167e-04 9.99939604e-01 -1.39992118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.15, Z:-0.14 [[ 9.98889599e-01 -4.55034696e-02 1.22066576e-02 6.06705576e+00] [ 4.55089148e-02 9.98963918e-01 -1.68545782e-04 -1.50494914e-01] [-1.21863411e-02 7.23870370e-04 9.99925482e-01 -1.38463252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.15, Z:-0.14 [[ 9.98959190e-01 -4.41087523e-02 1.16169788e-02 6.09553115e+00] [ 4.41135546e-02 9.99026511e-01 -1.57348622e-04 -1.49252979e-01] [-1.15987293e-02 6.69651080e-04 9.99932508e-01 -1.38748693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.15, Z:-0.14 [[ 9.99035586e-01 -4.25279507e-02 1.09211495e-02 6.12359176e+00] [ 4.25320704e-02 9.99095092e-01 -1.45139536e-04 -1.48013925e-01] [-1.09050943e-02 6.09498659e-04 9.99940352e-01 -1.39563780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.15, Z:-0.14 [[ 9.99114257e-01 -4.07594353e-02 1.04580133e-02 6.15065957e+00] [ 4.07630785e-02 9.99168831e-01 -1.35357680e-04 -1.46873448e-01] [-1.04438038e-02 5.61538605e-04 9.99945304e-01 -1.40477960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.14, Z:-0.14 [[ 9.99269474e-01 -3.69807075e-02 9.64081868e-03 6.17833208e+00] [ 3.69836270e-02 9.99315864e-01 -1.24656792e-04 -1.44052767e-01] [-9.62961315e-03 4.81118169e-04 9.99953518e-01 -1.41329250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.14, Z:-0.14 [[ 9.99349465e-01 -3.47471271e-02 9.65835102e-03 6.20554464e+00] [ 3.47499175e-02 9.99396032e-01 -1.21193585e-04 -1.43057965e-01] [-9.64830655e-03 4.56741645e-04 9.99953350e-01 -1.41956506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.14, Z:-0.14 [[ 9.99414059e-01 -3.28881708e-02 9.48191924e-03 6.23372930e+00] [ 3.28907749e-02 9.99458945e-01 -1.18793472e-04 -1.42227944e-01] [-9.47288210e-03 4.30591537e-04 9.99955039e-01 -1.42437570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.14, Z:-0.14 [[ 9.99466804e-01 -3.11799548e-02 9.69118741e-03 6.26147674e+00] [ 3.11825674e-02 9.99513698e-01 -1.18562030e-04 -1.42099160e-01] [-9.68277781e-03 4.20694917e-04 9.99953032e-01 -1.42888839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.14, Z:-0.14 [[ 9.99577999e-01 -2.72762488e-02 9.99154953e-03 6.28817245e+00] [ 2.72787969e-02 9.99627857e-01 -1.18809696e-04 -1.41746944e-01] [-9.98459056e-03 3.91317008e-04 9.99950076e-01 -1.43323202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.14, Z:-0.14 [[ 9.99629019e-01 -2.53734898e-02 9.89997420e-03 6.31649913e+00] [ 2.53758843e-02 9.99677974e-01 -1.16303765e-04 -1.41369956e-01] [-9.89383511e-03 3.67481218e-04 9.99950987e-01 -1.44039578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.14, Z:-0.14 [[ 9.99681547e-01 -2.33096511e-02 9.66768021e-03 6.34443207e+00] [ 2.33118134e-02 9.99728237e-01 -1.11018078e-04 -1.41147512e-01] [-9.66246509e-03 3.36353881e-04 9.99953261e-01 -1.44788903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.14, Z:-0.15 [[ 9.99804010e-01 -1.77488561e-02 8.77036140e-03 6.37193927e+00] [ 1.77503940e-02 9.99842445e-01 -9.75345192e-05 -1.40983838e-01] [-8.76724846e-03 2.53192774e-04 9.99961535e-01 -1.45421547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.14, Z:-0.15 [[ 9.99842741e-01 -1.52426050e-02 9.06398202e-03 6.39996744e+00] [ 1.52441432e-02 9.99883796e-01 -1.00631143e-04 -1.41013877e-01] [-9.06139487e-03 2.38787957e-04 9.99958916e-01 -1.46389625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.14, Z:-0.15 [[ 9.99884848e-01 -1.27376504e-02 8.24887840e-03 6.42789928e+00] [ 1.27388114e-02 9.99918854e-01 -8.82225708e-05 -1.41342628e-01] [-8.24708529e-03 1.93293318e-04 9.99965974e-01 -1.46985257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.14, Z:-0.15 [[ 9.99911097e-01 -1.04324488e-02 8.30437709e-03 6.45541666e+00] [ 1.04335398e-02 9.99945565e-01 -8.80652121e-05 -1.41840569e-01] [-8.30300630e-03 1.74701432e-04 9.99965514e-01 -1.48018060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.14, Z:-0.15 [[ 9.99927550e-01 -8.27553689e-03 8.74130464e-03 6.48486368e+00] [ 8.27665311e-03 9.99965744e-01 -9.15266362e-05 -1.42935474e-01] [-8.74024776e-03 1.63868751e-04 9.99961790e-01 -1.48427018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.14, Z:-0.15 [[ 9.99927405e-01 -8.29302570e-03 8.74130903e-03 6.51503219e+00] [ 8.29413890e-03 9.99965599e-01 -9.11044668e-05 -1.43218220e-01] [-8.74025279e-03 1.63599484e-04 9.99961790e-01 -1.48892194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.14, Z:-0.15 [[ 9.99943042e-01 -5.34818432e-03 9.23630882e-03 6.54594593e+00] [ 5.34929895e-03 9.99985688e-01 -9.59785146e-05 -1.44942630e-01] [-9.23566331e-03 1.45380825e-04 9.99957340e-01 -1.48852467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.15, Z:-0.15 [[ 9.99948388e-01 -4.21155648e-03 9.24572958e-03 6.57756349e+00] [ 4.21262277e-03 9.99991122e-01 -9.58555571e-05 -1.46223925e-01] [-9.24524380e-03 1.34799381e-04 9.99957253e-01 -1.49098955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.15, Z:-0.15 [[ 9.99953298e-01 -2.21649871e-03 9.40683419e-03 6.60915050e+00] [ 2.21751648e-03 9.99997537e-01 -9.77654009e-05 -1.48794728e-01] [-9.40659432e-03 1.18620645e-04 9.99955750e-01 -1.49040463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.15, Z:-0.15 [[ 9.99950956e-01 -1.03496870e-03 9.84955274e-03 6.64177162e+00] [ 1.03603182e-03 9.99999458e-01 -1.02834243e-04 -1.50382723e-01] [-9.84944097e-03 1.13033649e-04 9.99951487e-01 -1.49108962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.15, Z:-0.15 [[ 9.99948287e-01 -2.46722558e-04 1.01667393e-02 6.67278763e+00] [ 2.47823165e-04 9.99999964e-01 -1.06995986e-04 -1.51885743e-01] [-1.01667126e-02 1.09510007e-04 9.99948312e-01 -1.49478255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.15, Z:-0.15 [[ 9.99941470e-01 3.25208447e-04 1.08143651e-02 6.70555171e+00] [-3.23992438e-04 9.99999941e-01 -1.14195634e-04 -1.53604488e-01] [-1.08144016e-02 1.10685178e-04 9.99941517e-01 -1.50055123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.16, Z:-0.15 [[ 9.99946394e-01 8.50175751e-04 1.03191957e-02 6.73885554e+00] [-8.49086063e-04 9.99999633e-01 -1.09978831e-04 -1.56671987e-01] [-1.03192854e-02 1.01211051e-04 9.99946750e-01 -1.51381010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.16, Z:-0.15 [[ 9.99947286e-01 7.63326509e-04 1.02392474e-02 6.77187473e+00] [-7.62247426e-04 9.99999704e-01 -1.09288987e-04 -1.58529600e-01] [-1.02393277e-02 1.01478386e-04 9.99947572e-01 -1.52612691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.16, Z:-0.15 [[ 9.99951433e-01 4.49932617e-04 9.84524686e-03 6.80508243e+00] [-4.48894471e-04 9.99999893e-01 -1.07655864e-04 -1.60854752e-01] [-9.84529425e-03 1.03231159e-04 9.99951529e-01 -1.53315990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.16, Z:-0.15 [[ 9.99956600e-01 2.63787699e-04 9.31280870e-03 6.83761129e+00] [-2.62829199e-04 9.99999960e-01 -1.04146484e-04 -1.64026655e-01] [-9.31283580e-03 1.01694286e-04 9.99956629e-01 -1.53652137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.17, Z:-0.15 [[ 9.99957572e-01 -5.88363611e-04 9.19285306e-03 6.86986287e+00] [ 5.89358066e-04 9.99999821e-01 -1.05468315e-04 -1.67258443e-01] [-9.19278935e-03 1.10881722e-04 9.99957739e-01 -1.53757414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.17, Z:-0.15 [[ 9.99953930e-01 -2.81521088e-03 9.17675391e-03 6.90306101e+00] [ 2.81631681e-03 9.99996028e-01 -1.07593249e-04 -1.73226734e-01] [-9.17641457e-03 1.33432939e-04 9.99957887e-01 -1.52929593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.17, Z:-0.15 [[ 9.99940877e-01 -2.18767587e-03 1.06515858e-02 6.93492216e+00] [ 2.18917974e-03 9.99997595e-01 -1.29529561e-04 -1.74230305e-01] [-1.06512768e-02 1.52840138e-04 9.99943262e-01 -1.52865239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.18, Z:-0.15 [[ 9.99933154e-01 -1.48297510e-03 1.14667934e-02 6.96731466e+00] [ 1.48468189e-03 9.99998888e-01 -1.40335471e-04 -1.75003554e-01] [-1.14665726e-02 1.57350631e-04 9.99934244e-01 -1.53127701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.18, Z:-0.15 [[ 9.99923564e-01 1.60974558e-03 1.22586810e-02 6.99814661e+00] [-1.60801502e-03 9.99998696e-01 -1.51025211e-04 -1.75734822e-01] [-1.22589081e-02 1.31301524e-04 9.99924848e-01 -1.53299700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.18, Z:-0.15 [[ 9.99917690e-01 3.56818080e-03 1.23239811e-02 7.03103621e+00] [-3.56657443e-03 9.99993628e-01 -1.52321431e-04 -1.75806028e-01] [-1.23244461e-02 1.08354498e-04 9.99924045e-01 -1.53546320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.18, Z:-0.15 [[ 9.99906108e-01 5.41749157e-03 1.25867502e-02 7.06363838e+00] [-5.41594543e-03 9.99985321e-01 -1.56921179e-04 -1.75987612e-01] [-1.25874156e-02 8.87372930e-05 9.99920771e-01 -1.54678481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.18, Z:-0.16 [[ 9.99906868e-01 6.63424862e-03 1.19265390e-02 7.09528997e+00] [-6.63293945e-03 9.99977991e-01 -1.49321762e-04 -1.77389388e-01] [-1.19272671e-02 7.01998442e-05 9.99928865e-01 -1.55173666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.18, Z:-0.16 [[ 9.99912535e-01 6.52239431e-03 1.15056477e-02 7.12825564e+00] [-6.52113628e-03 9.99978726e-01 -1.46853415e-04 -1.77699365e-01] [-1.15063608e-02 7.18106737e-05 9.99933797e-01 -1.56158020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.18, Z:-0.16 [[ 9.99919524e-01 5.88646028e-03 1.12381028e-02 7.16074743e+00] [-5.88518566e-03 9.99982671e-01 -1.46486362e-04 -1.78062218e-01] [-1.12387703e-02 8.03362526e-05 9.99936840e-01 -1.57132179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.18, Z:-0.16 [[ 9.99947708e-01 5.05068020e-03 8.89226541e-03 7.19358517e+00] [-4.99016385e-03 9.99964329e-01 -6.81458887e-03 -1.75742830e-01] [-8.92636653e-03 6.76985866e-03 9.99937243e-01 -1.60892469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.18, Z:-0.15 [[ 9.99944979e-01 1.35800814e-03 1.04016703e-02 7.22502297e+00] [-1.42727599e-03 9.99976838e-01 6.65477557e-03 -1.82211917e-01] [-1.03923921e-02 -6.66925547e-03 9.99923757e-01 -1.54087796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.18, Z:-0.16 [[ 9.99947580e-01 4.68263493e-04 1.02282696e-02 7.25656305e+00] [-4.66840356e-04 9.99999881e-01 -1.41524658e-04 -1.79532368e-01] [-1.02283346e-02 1.36742270e-04 9.99947680e-01 -1.57331063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.18, Z:-0.16 [[ 9.99943018e-01 -6.97828290e-04 1.06524358e-02 7.28967668e+00] [ 6.99468161e-04 9.99999744e-01 -1.50218448e-04 -1.79424485e-01] [-1.06523282e-02 1.57660928e-04 9.99943250e-01 -1.57928762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.18, Z:-0.16 [[ 9.99943752e-01 -1.27221096e-03 1.05296482e-02 7.32156782e+00] [ 1.27388144e-03 9.99999177e-01 -1.51939642e-04 -1.79729224e-01] [-1.05294462e-02 1.65344619e-04 9.99944550e-01 -1.57852795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.18, Z:-0.16 [[ 9.99938381e-01 -2.27599337e-03 1.08652547e-02 7.35484286e+00] [ 2.27784776e-03 9.99997393e-01 -1.58299490e-04 -1.79689179e-01] [-1.08648661e-02 1.83039132e-04 9.99940959e-01 -1.58546455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.18, Z:-0.16 [[ 9.99937978e-01 -3.05758286e-03 1.07093738e-02 7.38763298e+00] [ 3.05946968e-03 9.99995307e-01 -1.59805003e-04 -1.79775003e-01] [-1.07088349e-02 1.92560096e-04 9.99942640e-01 -1.59097381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.18, Z:-0.16 [[ 9.99932588e-01 -3.91394715e-03 1.09316555e-02 7.42029363e+00] [ 3.91597742e-03 9.99992319e-01 -1.64325337e-04 -1.80168581e-01] [-1.09309284e-02 2.07122375e-04 9.99940234e-01 -1.60259021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.18, Z:-0.16 [[ 9.99929168e-01 -4.48185911e-03 1.10259277e-02 7.45131777e+00] [ 4.48397495e-03 9.99989933e-01 -1.67183153e-04 -1.80161164e-01] [-1.10250674e-02 2.16611294e-04 9.99939199e-01 -1.60838825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.18, Z:-0.16 [[ 9.99945537e-01 -4.55283687e-03 9.39115775e-03 7.48328777e+00] [ 4.60545847e-03 9.99973774e-01 -5.58931852e-03 -1.78843880e-01] [-9.36546421e-03 5.63226470e-03 9.99940281e-01 -1.63840366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.18, Z:-0.16 [[ 9.99919506e-01 -5.93948156e-03 1.12117478e-02 7.51542260e+00] [ 5.88217276e-03 9.99969502e-01 5.13756981e-03 -1.83734049e-01] [-1.12419204e-02 -5.07120683e-03 9.99923948e-01 -1.59063573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.18, Z:-0.16 [[ 9.99912787e-01 -6.34963900e-03 1.15801724e-02 7.54802822e+00] [ 6.35211876e-03 9.99979809e-01 -1.77369799e-04 -1.82461011e-01] [-1.15788123e-02 2.50912960e-04 9.99932932e-01 -1.61890349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.18, Z:-0.16 [[ 9.99904676e-01 -6.66422174e-03 1.20924167e-02 7.58036367e+00] [ 6.66695969e-03 9.99977758e-01 -1.86121575e-04 -1.82950533e-01] [-1.20909074e-02 2.66723488e-04 9.99926867e-01 -1.61870870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.18, Z:-0.16 [[ 9.99906757e-01 -6.06891406e-03 1.22329734e-02 7.61244684e+00] [ 6.07168230e-03 9.99981549e-01 -1.89166206e-04 -1.83661769e-01] [-1.22315997e-02 2.63423295e-04 9.99925156e-01 -1.62393330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.18, Z:-0.16 [[ 9.99908809e-01 -5.70139354e-03 1.22420163e-02 7.64404997e+00] [ 5.70414953e-03 9.99983713e-01 -1.90220583e-04 -1.84075621e-01] [-1.22407324e-02 2.60033528e-04 9.99925046e-01 -1.62992938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.18, Z:-0.16 [[ 9.99918860e-01 -5.36986296e-03 1.15515259e-02 7.67614687e+00] [ 5.37230043e-03 9.99985553e-01 -1.79988242e-04 -1.84914095e-01] [-1.15503925e-02 2.42031906e-04 9.99933263e-01 -1.63172761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.19, Z:-0.16 [[ 9.99916519e-01 -5.49945010e-03 1.16923681e-02 7.70831689e+00] [ 5.50196593e-03 9.99984847e-01 -1.83012330e-04 -1.86078723e-01] [-1.16911844e-02 2.47328063e-04 9.99931625e-01 -1.63438739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.19, Z:-0.16 [[ 9.99911518e-01 -5.85051782e-03 1.19468621e-02 7.74055927e+00] [ 5.85317961e-03 9.99982852e-01 -1.87849864e-04 -1.86935761e-01] [-1.19455582e-02 2.57760372e-04 9.99928616e-01 -1.63903334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.19, Z:-0.16 [[ 9.99909132e-01 -6.67046492e-03 1.17146271e-02 7.77260974e+00] [ 6.67308969e-03 9.99977718e-01 -1.84985216e-04 -1.87494026e-01] [-1.17131321e-02 2.63141164e-04 9.99931364e-01 -1.64357037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.19, Z:-0.16 [[ 9.99903742e-01 -7.36383682e-03 1.17592830e-02 7.80435579e+00] [ 7.36653914e-03 9.99972849e-01 -1.86505255e-04 -1.87850036e-01] [-1.17575903e-02 2.73112520e-04 9.99930840e-01 -1.64989249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.19, Z:-0.17 [[ 9.99888626e-01 -9.75356919e-03 1.12961355e-02 7.83540694e+00] [ 9.75621685e-03 9.99952391e-01 -1.79302942e-04 -1.88281768e-01] [-1.12938489e-02 2.89490520e-04 9.99936181e-01 -1.65889122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.19, Z:-0.17 [[ 9.99891439e-01 -9.69410110e-03 1.10966407e-02 7.86622007e+00] [ 9.69668858e-03 9.99952970e-01 -1.79397310e-04 -1.87581987e-01] [-1.10943797e-02 2.86978503e-04 9.99938414e-01 -1.65867536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.19, Z:-0.17 [[ 9.99888019e-01 -9.78901029e-03 1.13192001e-02 7.89688932e+00] [ 9.79171164e-03 9.99952043e-01 -1.83256675e-04 -1.86660058e-01] [-1.13168633e-02 2.94070497e-04 9.99935919e-01 -1.66834038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.19, Z:-0.17 [[ 9.99893931e-01 -1.03720446e-02 1.02247955e-02 7.92726902e+00] [ 1.03742793e-02 9.99946172e-01 -1.65538378e-04 -1.87105344e-01] [-1.02225281e-02 2.71595704e-04 9.99947712e-01 -1.67222563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.19, Z:-0.17 [[ 9.99869138e-01 -1.33685585e-02 9.10975457e-03 7.95645833e+00] [ 1.33704576e-02 9.99910601e-01 -1.47591225e-04 -1.87640475e-01] [-9.10696708e-03 2.69373498e-04 9.99958494e-01 -1.67509870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.19, Z:-0.17 [[ 9.99843515e-01 -1.50510034e-02 9.29584541e-03 7.98550415e+00] [ 1.50530644e-02 9.99886685e-01 -1.51787112e-04 -1.87279349e-01] [-9.29250750e-03 2.91694320e-04 9.99956781e-01 -1.67672871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.19, Z:-0.17 [[ 9.99781419e-01 -1.85880234e-02 9.57079328e-03 8.01341996e+00] [ 1.85903485e-02 9.99827173e-01 -1.54018017e-04 -1.87358511e-01] [-9.56627630e-03 3.31908734e-04 9.99954187e-01 -1.67265599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.19, Z:-0.17 [[ 9.99737640e-01 -2.06269780e-02 9.95881410e-03 8.04202260e+00] [ 2.06295669e-02 9.99787175e-01 -1.57299760e-04 -1.87165167e-01] [-9.95345000e-03 3.62704513e-04 9.99950397e-01 -1.67352344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.19, Z:-0.17 [[ 9.99683004e-01 -2.29706151e-02 1.03073934e-02 8.06978368e+00] [ 2.29734814e-02 9.99736062e-01 -1.59745793e-04 -1.86100136e-01] [-1.03010034e-02 3.96491864e-04 9.99946865e-01 -1.67249419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.19, Z:-0.17 [[ 9.99667528e-01 -2.38164554e-02 9.87974606e-03 8.09711937e+00] [ 2.38190960e-02 9.99716274e-01 -1.49679651e-04 -1.85825897e-01] [-9.87337808e-03 3.84956507e-04 9.99951183e-01 -1.67628780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.19, Z:-0.17 [[ 9.99654399e-01 -2.43343514e-02 9.94590898e-03 8.12534018e+00] [ 2.43370493e-02 9.99703799e-01 -1.50298612e-04 -1.85648564e-01] [-9.93930557e-03 3.92300746e-04 9.99950527e-01 -1.68188520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.19, Z:-0.17 [[ 9.99655330e-01 -2.44317119e-02 9.60796672e-03 8.15217841e+00] [ 2.44342010e-02 9.99701430e-01 -1.41749134e-04 -1.85440463e-01] [-9.60163490e-03 3.76463267e-04 9.99953832e-01 -1.68852819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.19, Z:-0.17 [[ 9.99657713e-01 -2.43628873e-02 9.53449056e-03 8.18010220e+00] [ 2.43653331e-02 9.99703111e-01 -1.40431098e-04 -1.85193220e-01] [-9.52823857e-03 3.72694068e-04 9.99954536e-01 -1.69348614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.18, Z:-0.17 [[ 9.99703743e-01 -2.26869020e-02 8.81654647e-03 8.20685223e+00] [ 2.26889041e-02 9.99742566e-01 -1.27122404e-04 -1.84539643e-01] [-8.81139277e-03 3.27122521e-04 9.99961125e-01 -1.70040594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.18, Z:-0.17 [[ 9.99738433e-01 -2.13412553e-02 8.22296925e-03 8.23433881e+00] [ 2.13429358e-02 9.99772207e-01 -1.16655256e-04 -1.84196370e-01] [-8.21860654e-03 2.92127048e-04 9.99966184e-01 -1.70398847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.18, Z:-0.17 [[ 9.99767921e-01 -1.98125947e-02 8.45958681e-03 8.26208796e+00] [ 1.98143182e-02 9.99803670e-01 -1.19960968e-04 -1.83883119e-01] [-8.45554920e-03 2.87554073e-04 9.99964210e-01 -1.70954004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.18, Z:-0.17 [[ 9.99800713e-01 -1.79058144e-02 8.82702879e-03 8.28906845e+00] [ 1.79075890e-02 9.99839639e-01 -1.22040106e-04 -1.83796284e-01] [-8.82342805e-03 2.80086588e-04 9.99961034e-01 -1.70912776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.18, Z:-0.17 [[ 9.99830581e-01 -1.47511127e-02 1.10097148e-02 8.31763944e+00] [ 1.47536563e-02 9.99891148e-01 -1.49848903e-04 -1.83980880e-01] [-1.10063059e-02 3.12257064e-04 9.99939380e-01 -1.70528417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.18, Z:-0.17 [[ 9.99834151e-01 -1.35406054e-02 1.21787329e-02 8.34635585e+00] [ 1.35435793e-02 9.99908268e-01 -1.61750232e-04 -1.84500331e-01] [-1.21754256e-02 3.26667042e-04 9.99925823e-01 -1.70725316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.18, Z:-0.17 [[ 9.99840251e-01 -1.15095693e-02 1.36748750e-02 8.37560178e+00] [ 1.15130724e-02 9.99933707e-01 -1.77469910e-04 -1.84109508e-01] [-1.36719258e-02 3.34881385e-04 9.99906479e-01 -1.71938166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.18, Z:-0.17 [[ 9.99846801e-01 -1.02651153e-02 1.41774893e-02 8.40553917e+00] [ 1.02687474e-02 9.99947258e-01 -1.83411776e-04 -1.84372025e-01] [-1.41748588e-02 3.28968734e-04 9.99899478e-01 -1.73003335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.18, Z:-0.17 [[ 9.99868082e-01 -8.68232878e-03 1.37271642e-02 8.43731011e+00] [ 8.68558754e-03 9.99962264e-01 -1.77794814e-04 -1.84869483e-01] [-1.37251025e-02 2.96999846e-04 9.99905762e-01 -1.73560456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.19, Z:-0.17 [[ 9.99890128e-01 -6.38317369e-03 1.33785711e-02 8.46976137e+00] [ 6.38606855e-03 9.99979594e-01 -1.73670930e-04 -1.85935086e-01] [-1.33771895e-02 2.59088320e-04 9.99910488e-01 -1.74183362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.19, Z:-0.17 [[ 9.99890682e-01 -6.29589840e-03 1.33785593e-02 8.50238619e+00] [ 6.29879753e-03 9.99980147e-01 -1.74574230e-04 -1.86418236e-01] [-1.33771946e-02 2.58823982e-04 9.99910488e-01 -1.74680021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.19, Z:-0.18 [[ 9.99913981e-01 -1.89523340e-03 1.29784002e-02 8.53470480e+00] [ 1.89760580e-03 9.99998185e-01 -1.70483497e-04 -1.87156093e-01] [-1.29780536e-02 1.95096720e-04 9.99915762e-01 -1.75068764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.19, Z:-0.18 [[ 9.99916094e-01 -2.33016335e-04 1.29518668e-02 8.56634391e+00] [ 2.35251377e-04 9.99999958e-01 -1.71041938e-04 -1.87454815e-01] [-1.29518264e-02 1.74074532e-04 9.99916106e-01 -1.75995548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.19, Z:-0.17 [[ 9.99926934e-01 5.82590370e-04 1.20741991e-02 8.59991585e+00] [-6.22310401e-04 9.99994407e-01 3.28616581e-03 -1.90606421e-01] [-1.20722170e-02 -3.29343961e-03 9.99921704e-01 -1.74713050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.19, Z:-0.18 [[ 9.99905798e-01 9.48845898e-04 1.36929080e-02 8.63038813e+00] [-8.97965675e-04 9.99992672e-01 -3.72147830e-03 -1.88726884e-01] [-1.36963388e-02 3.70883197e-03 9.99899322e-01 -1.79067052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.19, Z:-0.18 [[ 9.99909848e-01 9.81577132e-04 1.33915307e-02 8.66246419e+00] [-9.79259625e-04 9.99999504e-01 -1.79613750e-04 -1.91651711e-01] [-1.33917004e-02 1.66483772e-04 9.99910313e-01 -1.77950593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.19, Z:-0.18 [[ 9.99918831e-01 1.14216239e-03 1.26896035e-02 8.69527456e+00] [-1.14008721e-03 9.99999336e-01 -1.70767197e-04 -1.93070196e-01] [-1.26897901e-02 1.56286081e-04 9.99919469e-01 -1.78824979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.19, Z:-0.19 [[ 9.99972552e-01 1.28005714e-03 7.29765907e-03 8.72914374e+00] [-1.17260659e-03 9.99891125e-01 -1.47092875e-02 -1.89002238e-01] [-7.31569327e-03 1.47003265e-02 9.99865181e-01 -1.86882975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.20, Z:-0.17 [[ 9.99941094e-01 5.56334016e-03 9.31976237e-03 8.76079726e+00] [-5.69369846e-03 9.99885509e-01 1.40196557e-02 -2.00340763e-01] [-9.24069922e-03 -1.40718938e-02 9.99858286e-01 -1.74357293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628000000002 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.20, Z:-0.18 [[ 9.99939855e-01 7.48652661e-03 8.01490103e-03 8.79351951e+00] [-7.48589186e-03 9.99971974e-01 -1.09194178e-04 -1.95344829e-01] [-8.01549389e-03 4.91889285e-05 9.99967874e-01 -1.83975191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727628000000001 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.20, Z:-0.18 [[ 9.99925024e-01 9.64914358e-03 7.53927875e-03 8.82625639e+00] [-9.64861969e-03 9.99953445e-01 -1.05858592e-04 -1.96584993e-01] [-7.53994921e-03 3.31070215e-05 9.99971574e-01 -1.84342557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.20, Z:-0.18 [[ 9.99908823e-01 1.09537260e-02 7.89699725e-03 8.85882345e+00] [-1.09531942e-02 9.99940006e-01 -1.10598297e-04 -1.97765320e-01] [-7.89773494e-03 2.40908689e-05 9.99968812e-01 -1.84963869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787628000000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.20, Z:-0.18 [[ 9.99900183e-01 1.09305173e-02 8.95254290e-03 8.89168597e+00] [-1.09298049e-02 9.99940260e-01 -1.28499582e-04 -1.98596785e-01] [-8.95341263e-03 3.06372084e-05 9.99959917e-01 -1.84955918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.20, Z:-0.18 [[ 9.99885002e-01 1.12017020e-02 1.02227974e-02 8.92328698e+00] [-1.12007507e-02 9.99937258e-01 -1.50309546e-04 -1.99675032e-01] [-1.02238397e-02 3.57892554e-05 9.99947735e-01 -1.83025459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.20, Z:-0.18 [[ 9.99869113e-01 1.16161832e-02 1.12615287e-02 8.95598695e+00] [-1.16150177e-02 9.99932529e-01 -1.68896761e-04 -2.00307140e-01] [-1.12627308e-02 3.80717989e-05 9.99936573e-01 -1.82823264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.20, Z:-0.18 [[ 9.99851274e-01 1.26470167e-02 1.17253197e-02 8.98863020e+00] [-1.26457838e-02 9.99920023e-01 -1.79286950e-04 -2.01875106e-01] [-1.17266494e-02 3.09844275e-05 9.99931240e-01 -1.82428783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.20, Z:-0.18 [[ 9.99835604e-01 1.33989398e-02 1.22160850e-02 9.02177075e+00] [-1.33976141e-02 9.99910230e-01 -1.90353856e-04 -2.02429842e-01] [-1.22175389e-02 2.66561704e-05 9.99925363e-01 -1.82804863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.20, Z:-0.19 [[ 9.99822809e-01 1.20944484e-02 1.44248339e-02 9.05329578e+00] [-1.19978911e-02 9.99905161e-01 -6.76168471e-03 -1.98765212e-01] [-1.45052447e-02 6.58741901e-03 9.99873094e-01 -1.89404124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.21, Z:-0.18 [[ 9.99820149e-01 1.33120249e-02 1.35077886e-02 9.08637458e+00] [-1.34006629e-02 9.99889127e-01 6.49283464e-03 -2.05906874e-01] [-1.34198582e-02 -6.67268021e-03 9.99887685e-01 -1.80694032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.20, Z:-0.18 [[ 9.99822769e-01 1.29155251e-02 1.36974217e-02 9.11888079e+00] [-1.29136791e-02 9.99916590e-01 -2.23205905e-04 -2.03137165e-01] [-1.36991620e-02 4.62822379e-05 9.99906161e-01 -1.84681688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.20, Z:-0.19 [[ 9.99863764e-01 1.02261311e-02 1.29568619e-02 9.15053219e+00] [-1.02242074e-02 9.99947708e-01 -2.14702889e-04 -2.02966119e-01] [-1.29583800e-02 8.21999949e-05 9.99916033e-01 -1.85741696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.20, Z:-0.19 [[ 9.99862531e-01 1.03459677e-02 1.29568229e-02 9.18397480e+00] [-1.03440239e-02 9.99946476e-01 -2.17030343e-04 -2.03618038e-01] [-1.29583748e-02 8.29748220e-05 9.99916033e-01 -1.86232582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.20, Z:-0.19 [[ 9.99884658e-01 9.07387404e-03 1.21793398e-02 9.21665299e+00] [-9.07205046e-03 9.99958827e-01 -2.04967873e-04 -2.03989929e-01] [-1.21806982e-02 9.44526455e-05 9.99925808e-01 -1.87112161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.20, Z:-0.19 [[ 9.99911802e-01 6.97468052e-03 1.13022768e-02 9.24957102e+00] [-6.97294370e-03 9.99975670e-01 -1.93069742e-04 -2.04206561e-01] [-1.13033484e-02 1.14242575e-04 9.99936109e-01 -1.87529023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.20, Z:-0.19 [[ 9.99939387e-01 1.49722820e-03 1.09078679e-02 9.28291139e+00] [-1.49525249e-03 9.99998864e-01 -1.89280256e-04 -2.04961197e-01] [-1.09081389e-02 1.72958766e-04 9.99940490e-01 -1.87641260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.21, Z:-0.19 [[ 9.99941901e-01 -2.41397622e-03 1.05055465e-02 9.31463867e+00] [ 2.41605493e-03 9.99997064e-01 -1.85180675e-04 -2.06348985e-01] [-1.05050687e-02 2.10551894e-04 9.99944798e-01 -1.87205637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.21, Z:-0.19 [[ 9.99918484e-01 -5.90444597e-03 1.13209434e-02 9.34719963e+00] [ 5.90711973e-03 9.99982532e-01 -2.02753795e-04 -2.06232797e-01] [-1.13195485e-02 2.69611435e-04 9.99935896e-01 -1.87330589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.21, Z:-0.19 [[ 9.99866837e-01 -1.07828690e-02 1.22489885e-02 9.37946084e+00] [ 1.07864117e-02 9.99941800e-01 -2.23193291e-04 -2.06273513e-01] [-1.22458689e-02 3.55286202e-04 9.99924953e-01 -1.87917033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.21, Z:-0.19 [[ 9.99660708e-01 -2.17679420e-02 1.43047428e-02 9.41043556e+00] [ 2.17739578e-02 9.99762884e-01 -2.64917822e-04 -2.05653022e-01] [-1.42955842e-02 5.76298804e-04 9.99897647e-01 -1.89267977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.21, Z:-0.19 [[ 9.99524766e-01 -2.66368654e-02 1.55151511e-02 9.43714540e+00] [ 2.66445251e-02 9.99644930e-01 -2.87157647e-04 -2.05149633e-01] [-1.55019931e-02 7.00415013e-04 9.99879592e-01 -1.90085700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.21, Z:-0.19 [[ 9.99388158e-01 -3.12980548e-02 1.56122297e-02 9.46496462e+00] [ 3.13063276e-02 9.99509796e-01 -2.85721122e-04 -2.05027473e-01] [-1.55956340e-02 7.74307885e-04 9.99878081e-01 -1.90944579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.21, Z:-0.19 [[ 9.99278748e-01 -3.48079782e-02 1.51785452e-02 9.49271551e+00] [ 3.48161386e-02 9.99393697e-01 -2.73633597e-04 -2.05531263e-01] [-1.51598177e-02 8.01894570e-04 9.99884762e-01 -1.90955710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.21, Z:-0.19 [[ 9.99124389e-01 -3.95914602e-02 1.35267086e-02 9.52123973e+00] [ 3.95983324e-02 9.99215650e-01 -2.40488350e-04 -2.05342807e-01] [-1.35065776e-02 7.75912879e-04 9.99908481e-01 -1.91565104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.20, Z:-0.19 [[ 9.99078266e-01 -4.09830729e-02 1.27674229e-02 9.54901517e+00] [ 4.09892658e-02 9.99159562e-01 -2.23646682e-04 -2.04725850e-01] [-1.27475269e-02 7.46767829e-04 9.99918468e-01 -1.92874957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.20, Z:-0.19 [[ 9.99049787e-01 -4.18911791e-02 1.20271515e-02 9.57673655e+00] [ 4.18967022e-02 9.99121926e-01 -2.07520082e-04 -2.03752131e-01] [-1.20078975e-02 7.11220879e-04 9.99927650e-01 -1.93818388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.20, Z:-0.20 [[ 9.99048335e-01 -4.17572316e-02 1.25998904e-02 9.60433197e+00] [ 4.17632331e-02 9.99127513e-01 -2.13460190e-04 -2.00784548e-01] [-1.25799837e-02 7.39469209e-04 9.99920595e-01 -1.95307331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.20, Z:-0.20 [[ 9.99054304e-01 -4.14025233e-02 1.32788502e-02 9.63250488e+00] [ 4.14091237e-02 9.99142250e-01 -2.22378144e-04 -1.99597253e-01] [-1.32582532e-02 7.72033391e-04 9.99911807e-01 -1.96391682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.20, Z:-0.20 [[ 9.99092501e-01 -4.03795365e-02 1.35524071e-02 9.66006037e+00] [ 4.03862639e-02 9.99184117e-01 -2.22977063e-04 -1.98971308e-01] [-1.35323462e-02 7.70105802e-04 9.99908137e-01 -1.96879021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.20, Z:-0.20 [[ 9.99136715e-01 -3.92840760e-02 1.35124443e-02 9.68845742e+00] [ 3.92906306e-02 9.99227801e-01 -2.19852490e-04 -1.98825006e-01] [-1.34933733e-02 7.50575153e-04 9.99908679e-01 -1.96678491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.20, Z:-0.20 [[ 9.99277546e-01 -3.54865774e-02 1.36047109e-02 9.71628144e+00] [ 3.54928187e-02 9.99369908e-01 -2.17515327e-04 -1.98992894e-01] [-1.35884198e-02 7.00227720e-04 9.99907428e-01 -1.96459014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.20, Z:-0.20 [[ 9.99348030e-01 -3.33700501e-02 1.37823944e-02 9.74470597e+00] [ 3.33762014e-02 9.99442836e-01 -2.16479861e-04 -1.98473414e-01] [-1.37674914e-02 6.76342696e-04 9.99904995e-01 -1.96804865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.20, Z:-0.20 [[ 9.99405063e-01 -3.12490641e-02 1.45950357e-02 9.77259523e+00] [ 3.12556737e-02 9.99511397e-01 -2.24929092e-04 -1.97278698e-01] [-1.45808757e-02 6.80972948e-04 9.99893461e-01 -1.97766634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687628000000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.20, Z:-0.20 [[ 9.99467955e-01 -2.90760985e-02 1.47779345e-02 9.79945600e+00] [ 2.90825756e-02 9.99576987e-01 -2.23534344e-04 -1.95936781e-01] [-1.47651837e-02 6.53195809e-04 9.99890775e-01 -2.00856938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.19, Z:-0.20 [[ 9.99611146e-01 -2.26109420e-02 1.63187370e-02 9.82776050e+00] [ 2.26179402e-02 9.99744152e-01 -2.44387668e-04 -1.93824629e-01] [-1.63090361e-02 6.13388855e-04 9.99866811e-01 -2.00256721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.19, Z:-0.20 [[ 9.99650503e-01 -2.03430156e-02 1.68829529e-02 9.85575240e+00] [ 2.03501011e-02 9.99792885e-01 -2.47970384e-04 -1.93550233e-01] [-1.68744117e-02 5.91453516e-04 9.99857442e-01 -2.00564537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628000000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.19, Z:-0.20 [[ 9.99682327e-01 -1.87069893e-02 1.68906206e-02 9.88346980e+00] [ 1.87137750e-02 9.99824852e-01 -2.43764968e-04 -1.93796289e-01] [-1.68831021e-02 5.59774803e-04 9.99857314e-01 -2.02047160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.19, Z:-0.20 [[ 9.99709188e-01 -1.66011430e-02 1.74911997e-02 9.91348674e+00] [ 1.66080732e-02 9.99862045e-01 -2.51012949e-04 -1.94109628e-01] [-1.74846196e-02 5.41435076e-04 9.99846986e-01 -2.00794181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.19, Z:-0.20 [[ 9.99754356e-01 -1.50500350e-02 1.62703342e-02 9.94364932e+00] [ 1.50558184e-02 9.99886628e-01 -2.33018247e-04 -1.94673545e-01] [-1.62649827e-02 4.77924205e-04 9.99867602e-01 -2.02237598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.19, Z:-0.20 [[ 9.99762353e-01 -1.41301716e-02 1.66004675e-02 9.97398240e+00] [ 1.41360660e-02 9.99900053e-01 -2.37780282e-04 -1.94686520e-01] [-1.65954485e-02 4.72389078e-04 9.99862174e-01 -2.01287025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.19, Z:-0.20 [[ 9.99767159e-01 -1.42297502e-02 1.62216309e-02 1.00049981e+01] [ 1.42353966e-02 9.99898645e-01 -2.32655867e-04 -1.94510134e-01] [-1.62166761e-02 4.63523044e-04 9.99868394e-01 -2.02291750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.20, Z:-0.20 [[ 9.99730515e-01 -1.63820931e-02 1.64476355e-02 1.00351089e+01] [ 1.63881978e-02 9.99865677e-01 -2.36436761e-04 -1.95375137e-01] [-1.64415528e-02 5.05920149e-04 9.99864701e-01 -2.02849975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.20, Z:-0.20 [[ 9.99691660e-01 -1.82969487e-02 1.67870766e-02 1.00644980e+01] [ 1.83035814e-02 9.99832446e-01 -2.41534090e-04 -1.97023013e-01] [-1.67798445e-02 5.48723237e-04 9.99859058e-01 -2.02629453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.20, Z:-0.20 [[ 9.99603156e-01 -2.28681974e-02 1.64491712e-02 1.00941239e+01] [ 2.28751788e-02 9.99738301e-01 -2.36369665e-04 -1.99439678e-01] [-1.64394612e-02 6.12553596e-04 9.99864675e-01 -2.02826794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.20, Z:-0.20 [[ 9.99552162e-01 -2.56332415e-02 1.54405776e-02 1.01225748e+01] [ 2.56397118e-02 9.99671224e-01 -2.21203644e-04 -2.00677492e-01] [-1.54298309e-02 6.16996539e-04 9.99880763e-01 -2.03849222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.20, Z:-0.20 [[ 9.99497410e-01 -2.81834220e-02 1.45128130e-02 1.01503450e+01] [ 2.81893537e-02 9.99602580e-01 -2.04281467e-04 -2.02467513e-01] [-1.45012879e-02 6.13285615e-04 9.99894663e-01 -2.04810168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.20, Z:-0.21 [[ 9.99452442e-01 -3.02051282e-02 1.35080300e-02 1.01770113e+01] [ 3.02104034e-02 9.99543544e-01 -1.86593900e-04 -2.04349264e-01] [-1.34962281e-02 5.94574763e-04 9.99908745e-01 -2.05384975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.21, Z:-0.21 [[ 9.99412641e-01 -3.17730582e-02 1.28392066e-02 1.02049530e+01] [ 3.17779386e-02 9.99494938e-01 -1.76232123e-04 -2.06419152e-01] [-1.28271226e-02 5.84132132e-04 9.99917558e-01 -2.05412303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628000000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.21, Z:-0.21 [[ 9.99301333e-01 -3.51624589e-02 1.26667496e-02 1.02296029e+01] [ 3.51597246e-02 9.99381610e-01 4.38559352e-04 -2.05966213e-01] [-1.26743374e-02 7.10648281e-06 9.99919677e-01 -2.05858193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.21, Z:-0.21 [[ 9.99425976e-01 -3.21749358e-02 1.06061938e-02 1.02610793e+01] [ 3.21833023e-02 9.99481792e-01 -6.19059432e-04 -2.10185917e-01] [-1.05807794e-02 9.60046418e-04 9.99943561e-01 -2.08657375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628000000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.21, Z:-0.21 [[ 9.99474918e-01 -3.08126571e-02 1.00233660e-02 1.02892792e+01] [ 3.08155387e-02 9.99525080e-01 -1.33137963e-04 -2.11018584e-01] [-1.00145033e-02 4.41943476e-04 9.99949756e-01 -2.08758679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.21, Z:-0.21 [[ 9.99553285e-01 -2.81832599e-02 9.94658689e-03 1.03174822e+01] [ 2.81859400e-02 9.99602689e-01 -1.29344928e-04 -2.12231982e-01] [-9.93898964e-03 4.09641049e-04 9.99950523e-01 -2.07157365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.21, Z:-0.21 [[ 9.99599712e-01 -2.69385409e-02 8.64467296e-03 1.03445561e+01] [ 2.69404982e-02 9.99637033e-01 -1.10026684e-04 -2.13075336e-01] [-8.63857127e-03 3.42874438e-04 9.99962628e-01 -2.09735015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.22, Z:-0.21 [[ 9.99734939e-01 -2.12323447e-02 8.90166299e-03 1.03727798e+01] [ 2.12341814e-02 9.99774523e-01 -1.11861822e-04 -2.16027893e-01] [-8.89728078e-03 3.00851698e-04 9.99960373e-01 -2.07063570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.22, Z:-0.21 [[ 9.99729340e-01 -2.14943259e-02 8.90169447e-03 1.04013785e+01] [ 2.14961500e-02 9.99768925e-01 -1.09277638e-04 -2.16305114e-01] [-8.89728866e-03 3.00600220e-04 9.99960373e-01 -2.07480664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347628000000002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.22, Z:-0.21 [[ 9.99767092e-01 -2.00074626e-02 8.09090387e-03 1.04292974e+01] [ 2.00089077e-02 9.99799797e-01 -9.76942704e-05 -2.17724418e-01] [-8.08732943e-03 2.59561665e-04 9.99967263e-01 -2.08849061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628000000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.22, Z:-0.21 [[ 9.99814283e-01 -1.70646690e-02 8.95522018e-03 1.04566825e+01] [ 1.70662865e-02 9.99854355e-01 -1.04234110e-04 -2.19010625e-01] [-8.95213718e-03 2.57047105e-04 9.99959896e-01 -2.07814031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.22, Z:-0.21 [[ 9.99843534e-01 -1.45533385e-02 1.00552029e-02 1.04839793e+01] [ 1.45552362e-02 9.99894060e-01 -1.15572016e-04 -2.20039582e-01] [-1.00524557e-02 2.61909786e-04 9.99949438e-01 -2.07799046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.22, Z:-0.21 [[ 9.99889930e-01 -9.00953998e-03 1.17879383e-02 1.05119114e+01] [ 9.01174139e-03 9.99959385e-01 -1.33646499e-04 -2.21374104e-01] [-1.17862555e-02 2.39861640e-04 9.99930511e-01 -2.08573864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.22, Z:-0.21 [[ 9.99904507e-01 -5.78895876e-03 1.25485318e-02 1.05434444e+01] [ 5.79118234e-03 9.99983221e-01 -1.40868062e-04 -2.22688062e-01] [-1.25475058e-02 2.13525446e-04 9.99921254e-01 -2.08914422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.22, Z:-0.21 [[ 9.99923860e-01 -3.42928103e-03 1.18538419e-02 1.05752609e+01] [ 3.43110277e-03 9.99994105e-01 -1.33350228e-04 -2.24309122e-01] [-1.18533148e-02 1.74011825e-04 9.99929732e-01 -2.10999053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.23, Z:-0.21 [[ 9.99902445e-01 4.52302626e-03 1.32152288e-02 1.06075231e+01] [-4.52144314e-03 9.99989767e-01 -1.49670085e-04 -2.27101262e-01] [-1.32157705e-02 8.99035790e-05 9.99912664e-01 -2.07982017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.23, Z:-0.21 [[ 9.99878234e-01 8.54874350e-03 1.30551299e-02 1.06404232e+01] [-8.54753045e-03 9.99963458e-01 -1.48712308e-04 -2.27477488e-01] [-1.30559241e-02 3.71050796e-05 9.99914767e-01 -2.08710027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.23, Z:-0.21 [[ 9.99851769e-01 1.21473131e-02 1.22017878e-02 1.06734518e+01] [-1.21465067e-02 9.99926219e-01 -1.40197446e-04 -2.27951283e-01] [-1.22025906e-02 -8.03243265e-06 9.99925546e-01 -2.09600704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.23, Z:-0.21 [[ 9.99762825e-01 1.88044434e-02 1.09857610e-02 1.07055908e+01] [-1.88041831e-02 9.99823178e-01 -1.26989353e-04 -2.27960568e-01] [-1.09862065e-02 -7.96190284e-05 9.99939647e-01 -2.11206699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.23, Z:-0.21 [[ 9.99717893e-01 2.15723931e-02 9.93814631e-03 1.07387049e+01] [-2.15723070e-02 9.99767284e-01 -1.15873889e-04 -2.28590119e-01] [-9.93833322e-03 -9.85475436e-05 9.99950609e-01 -2.11667811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.23, Z:-0.21 [[ 9.99679483e-01 2.35634602e-02 9.25717987e-03 1.07718797e+01] [-2.35634491e-02 9.99722337e-01 -1.10278964e-04 -2.28936023e-01] [-9.25720805e-03 -1.07887469e-04 9.99957145e-01 -2.12058432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.23, Z:-0.21 [[ 9.99654401e-01 2.48746566e-02 8.50470207e-03 1.08044300e+01] [-2.48746768e-02 9.99690572e-01 -1.03416863e-04 -2.28736366e-01] [-8.50464293e-03 -1.08170594e-04 9.99963829e-01 -2.12441879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.23, Z:-0.21 [[ 9.99662477e-01 2.49450393e-02 7.25796412e-03 1.08368274e+01] [-2.49450454e-02 9.99688820e-01 -8.96998216e-05 -2.28469430e-01] [-7.25794315e-03 -9.13806984e-05 9.99973657e-01 -2.12966510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.23, Z:-0.21 [[ 9.99736927e-01 2.22488585e-02 5.57368297e-03 1.08686823e+01] [-2.22488114e-02 9.99752462e-01 -7.04547910e-05 -2.28068934e-01] [-5.57387081e-03 -5.35715650e-05 9.99984464e-01 -2.14641838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.23, Z:-0.21 [[ 9.99774559e-01 2.05908544e-02 5.18155142e-03 1.09005878e+01] [-2.05907918e-02 9.99787985e-01 -6.54346031e-05 -2.28637934e-01] [-5.18180021e-03 -4.12723949e-05 9.99986574e-01 -2.14627374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.23, Z:-0.21 [[ 9.99781036e-01 2.01303765e-02 5.71391612e-03 1.09326277e+01] [-2.01302822e-02 9.99797363e-01 -7.40330925e-05 -2.29088269e-01] [-5.71424858e-03 -4.10058617e-05 9.99983673e-01 -2.14677986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.23, Z:-0.21 [[ 9.99797574e-01 1.90649206e-02 6.42957731e-03 1.09657700e+01] [-1.90647671e-02 9.99818247e-01 -8.51689302e-05 -2.30238303e-01] [-6.43003245e-03 -3.74267042e-05 9.99979326e-01 -2.14532060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.23, Z:-0.21 [[ 9.99836851e-01 1.60869760e-02 8.21466311e-03 1.09975265e+01] [-1.60865952e-02 9.99870596e-01 -1.12431195e-04 -2.31488011e-01] [-8.21540878e-03 -1.97331084e-05 9.99966253e-01 -2.13853319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.23, Z:-0.21 [[ 9.99855449e-01 1.42081842e-02 9.33852628e-03 1.10295624e+01] [-1.42075815e-02 9.99899059e-01 -1.30871056e-04 -2.31092728e-01] [-9.33944308e-03 -1.82573551e-06 9.99956386e-01 -2.14827385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.23, Z:-0.22 [[ 9.99878821e-01 1.18905120e-02 1.00478172e-02 1.10628019e+01] [-1.18896704e-02 9.99929305e-01 -1.43490943e-04 -2.31136937e-01] [-1.00488130e-02 2.40083201e-05 9.99949509e-01 -2.16328656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.23, Z:-0.22 [[ 9.99904033e-01 9.79219834e-03 9.79990960e-03 1.10947210e+01] [-9.79127027e-03 9.99952054e-01 -1.42676207e-04 -2.31808760e-01] [-9.80083685e-03 4.67089514e-05 9.99951970e-01 -2.17309170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.23, Z:-0.22 [[ 9.99903077e-01 9.33553752e-03 1.03288117e-02 1.11274617e+01] [-9.33445311e-03 9.99956421e-01 -1.53192433e-04 -2.31088297e-01] [-1.03297917e-02 5.67637763e-05 9.99946645e-01 -2.17817785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.23, Z:-0.22 [[ 9.99935098e-01 6.57271078e-03 9.30587256e-03 1.11598552e+01] [-6.57169100e-03 9.99978396e-01 -1.40158414e-04 -2.31840706e-01] [-9.30659274e-03 7.89939988e-05 9.99956690e-01 -2.17576289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.23, Z:-0.22 [[ 9.99954544e-01 4.15209879e-03 8.58311001e-03 1.11923121e+01] [-4.15112448e-03 9.99991375e-01 -1.31326923e-04 -2.33258502e-01] [-8.58358126e-03 9.56913956e-05 9.99963156e-01 -2.17615026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.23, Z:-0.22 [[ 9.99967204e-01 1.48006904e-03 7.96238874e-03 1.12253023e+01] [-1.47913068e-03 9.99998898e-01 -1.23737199e-04 -2.33963920e-01] [-7.96256310e-03 1.11955727e-04 9.99968292e-01 -2.17546034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.23, Z:-0.22 [[ 9.99959587e-01 -4.04548922e-03 8.02855886e-03 1.12574468e+01] [ 4.04664028e-03 9.99991804e-01 -1.27131153e-04 -2.32590642e-01] [-8.02797876e-03 1.59614704e-04 9.99967763e-01 -2.19385388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.23, Z:-0.22 [[ 9.99944306e-01 -7.02756008e-03 7.87383675e-03 1.12887726e+01] [ 7.02878664e-03 9.99975290e-01 -1.28114412e-04 -2.32314244e-01] [-7.87274185e-03 1.83450796e-04 9.99968993e-01 -2.20168448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.23, Z:-0.22 [[ 9.99920214e-01 -1.01267244e-02 7.55080489e-03 1.13196505e+01] [ 1.01279442e-02 9.99948703e-01 -1.23326277e-04 -2.32400156e-01] [-7.54916867e-03 1.99790568e-04 9.99971485e-01 -2.20616732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.23, Z:-0.22 [[ 9.99876281e-01 -1.35293038e-02 8.02381538e-03 1.13486599e+01] [ 1.35307942e-02 9.99908446e-01 -1.31492477e-04 -2.32833713e-01] [-8.02130177e-03 2.40044804e-04 9.99967800e-01 -2.21597562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.23, Z:-0.22 [[ 9.99776143e-01 -1.93102229e-02 8.64744622e-03 1.13774627e+01] [ 1.93121643e-02 9.99813493e-01 -1.41058183e-04 -2.33610713e-01] [-8.64310954e-03 3.08027509e-04 9.99962600e-01 -2.21011216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.23, Z:-0.22 [[ 9.99730577e-01 -2.11494665e-02 9.56419047e-03 1.14049438e+01] [ 2.11519208e-02 9.99776261e-01 -1.55524848e-04 -2.34034412e-01] [-9.55876132e-03 3.57783945e-04 9.99954250e-01 -2.20936979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.23, Z:-0.22 [[ 9.99686965e-01 -2.30668058e-02 9.68996621e-03 1.14335316e+01] [ 2.30694111e-02 9.99733853e-01 -1.57164151e-04 -2.34481914e-01] [-9.68376199e-03 3.80656767e-04 9.99953039e-01 -2.20570125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.23, Z:-0.22 [[ 9.99656663e-01 -2.42897157e-02 9.82675434e-03 1.14601411e+01] [ 2.42924214e-02 9.99704883e-01 -1.56048805e-04 -2.34683765e-01] [-9.82006393e-03 3.94710885e-04 9.99951704e-01 -2.20329359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.23, Z:-0.22 [[ 9.99629262e-01 -2.50877245e-02 1.05803735e-02 1.14879073e+01] [ 2.50908978e-02 9.99685160e-01 -1.67269426e-04 -2.34104993e-01] [-1.05728460e-02 4.32678484e-04 9.99944012e-01 -2.20607991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.23, Z:-0.22 [[ 9.99640955e-01 -2.44770620e-02 1.09011514e-02 1.15156862e+01] [ 2.44803631e-02 9.99700297e-01 -1.69465369e-04 -2.33983484e-01] [-1.08937363e-02 4.36268668e-04 9.99940566e-01 -2.21085388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.23, Z:-0.22 [[ 9.99680483e-01 -2.24399457e-02 1.16353598e-02 1.15438142e+01] [ 2.24435303e-02 9.99748096e-01 -1.77576490e-04 -2.32435833e-01] [-1.16284440e-02 4.38658301e-04 9.99932291e-01 -2.21695555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628000000001 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.23, Z:-0.23 [[ 9.99704234e-01 -2.17139650e-02 1.09520632e-02 1.15707221e+01] [ 2.17170596e-02 9.99764143e-01 -1.63700488e-04 -2.31517509e-01] [-1.09459255e-02 4.01498681e-04 9.99940011e-01 -2.25220287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.23, Z:-0.22 [[ 9.99748175e-01 -1.95129384e-02 1.10829938e-02 1.15986285e+01] [ 1.95159636e-02 9.99809532e-01 -1.64864499e-04 -2.31404288e-01] [-1.10776658e-02 3.81118286e-04 9.99938568e-01 -2.23136638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.23, Z:-0.22 [[ 9.99788783e-01 -1.77327953e-02 1.03892437e-02 1.16253802e+01] [ 1.77353222e-02 9.99842705e-01 -1.51135112e-04 -2.31297240e-01] [-1.03849295e-02 3.35359775e-04 9.99946019e-01 -2.23852643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.23, Z:-0.22 [[ 9.99827049e-01 -1.58781676e-02 9.68278630e-03 1.16536825e+01] [ 1.58802725e-02 9.99873891e-01 -1.40543564e-04 -2.31761711e-01] [-9.67933363e-03 2.94284542e-04 9.99953111e-01 -2.24129492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.23, Z:-0.23 [[ 9.99852812e-01 -1.49406537e-02 8.43390891e-03 1.16817975e+01] [ 1.49422021e-02 9.99888352e-01 -1.20604898e-04 -2.32105046e-01] [-8.43116536e-03 2.46608317e-04 9.99964427e-01 -2.26619957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.23, Z:-0.22 [[ 9.99914699e-01 -1.00772774e-02 8.30924444e-03 1.17091607e+01] [ 1.00785852e-02 9.99949203e-01 -1.15539169e-04 -2.32797077e-01] [-8.30765803e-03 1.99274741e-04 9.99965471e-01 -2.24104007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628000000001 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.23, Z:-0.23 [[ 9.99930056e-01 -9.31035242e-03 7.29392620e-03 1.17391556e+01] [ 9.31133027e-03 9.99956644e-01 -1.00115589e-04 -2.32284399e-01] [-7.29267785e-03 1.68024743e-04 9.99973394e-01 -2.27156943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.23, Z:-0.23 [[ 9.99940279e-01 -6.70680389e-03 8.62886594e-03 1.17690174e+01] [ 6.70807211e-03 9.99977494e-01 -1.18039856e-04 -2.32612613e-01] [-8.62788006e-03 1.75915861e-04 9.99962764e-01 -2.25494751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.23, Z:-0.23 [[ 9.99941434e-01 -5.66390009e-03 9.22216340e-03 1.18004900e+01] [ 5.66529747e-03 9.99983944e-01 -1.25407598e-04 -2.32539886e-01] [-9.22130503e-03 1.77646553e-04 9.99957467e-01 -2.26336588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.23, Z:-0.23 [[ 9.99922728e-01 -5.18523042e-03 1.12983319e-02 1.18311819e+01] [ 5.18730254e-03 9.99986534e-01 -1.54102605e-04 -2.33475972e-01] [-1.12973807e-02 2.12698563e-04 9.99936160e-01 -2.26895274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.24, Z:-0.23 [[ 9.99910150e-01 -5.62197377e-03 1.21690348e-02 1.18636200e+01] [ 5.62441807e-03 9.99984169e-01 -1.66648509e-04 -2.35141354e-01] [-1.21679053e-02 2.35077275e-04 9.99925941e-01 -2.27039325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.24, Z:-0.23 [[ 9.99899774e-01 -6.72283469e-03 1.24597722e-02 1.18953090e+01] [ 6.72549379e-03 9.99977369e-01 -1.71526063e-04 -2.36950693e-01] [-1.24583371e-02 2.55306992e-04 9.99922359e-01 -2.26907391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.24, Z:-0.23 [[ 9.99888430e-01 -8.52926847e-03 1.22629397e-02 1.19266395e+01] [ 8.53199095e-03 9.99963588e-01 -1.69709408e-04 -2.41120676e-01] [-1.22610457e-02 2.74317764e-04 9.99924793e-01 -2.26290659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.24, Z:-0.23 [[ 9.99882960e-01 -9.47840868e-03 1.20094124e-02 1.19581501e+01] [ 9.48109611e-03 9.99955039e-01 -1.66862271e-04 -2.42505118e-01] [-1.20072908e-02 2.80705134e-04 9.99927870e-01 -2.26854558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.24, Z:-0.23 [[ 9.99878968e-01 -1.03515762e-02 1.16144043e-02 1.19895003e+01] [ 1.03541532e-02 9.99946381e-01 -1.61770083e-04 -2.43842733e-01] [-1.16121070e-02 2.82007826e-04 9.99932537e-01 -2.27862650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.24, Z:-0.23 [[ 9.99886416e-01 -9.39177543e-03 1.17876536e-02 1.20201999e+01] [ 9.39436947e-03 9.99955858e-01 -1.64711479e-04 -2.43902973e-01] [-1.17855864e-02 2.75430344e-04 9.99930510e-01 -2.28304918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.24, Z:-0.23 [[ 9.99915033e-01 -6.31093469e-03 1.14060991e-02 1.20509869e+01] [ 6.31316108e-03 9.99980059e-01 -1.59197340e-04 -2.42485697e-01] [-1.14048669e-02 2.31192354e-04 9.99934936e-01 -2.29826499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.24, Z:-0.23 [[ 9.99929960e-01 -5.91135299e-03 1.02533648e-02 1.20826493e+01] [ 5.91313547e-03 9.99982507e-01 -1.43536535e-04 -2.43556236e-01] [-1.02523369e-02 2.04156017e-04 9.99947423e-01 -2.30692754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.24, Z:-0.23 [[ 9.99939357e-01 -4.23664412e-03 1.01653383e-02 1.21142769e+01] [ 4.23831774e-03 9.99991008e-01 -1.43103663e-04 -2.43403334e-01] [-1.01646406e-02 1.86178918e-04 9.99948321e-01 -2.31081757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.24, Z:-0.23 [[ 9.99942925e-01 -3.29910434e-03 1.01618292e-02 1.21465466e+01] [ 3.30073312e-03 9.99994542e-01 -1.43516745e-04 -2.43052214e-01] [-1.01613002e-02 1.77050040e-04 9.99948357e-01 -2.32113219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.25, Z:-0.23 [[ 9.99961999e-01 -2.68605143e-03 8.29371037e-03 1.21773434e+01] [ 2.68711638e-03 9.99996383e-01 -1.17264428e-04 -2.45249561e-01] [-8.29336540e-03 1.39546137e-04 9.99965600e-01 -2.32469170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.25, Z:-0.23 [[ 9.99962939e-01 -2.55626400e-03 8.22105515e-03 1.22098353e+01] [ 2.55731573e-03 9.99996723e-01 -1.17422071e-04 -2.45247289e-01] [-8.22072805e-03 1.38441553e-04 9.99966200e-01 -2.32704257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.25, Z:-0.23 [[ 9.99958998e-01 -2.94976662e-03 8.56158440e-03 1.22420377e+01] [ 2.95092628e-03 9.99995638e-01 -1.22819774e-04 -2.45715207e-01] [-8.56118477e-03 1.48079343e-04 9.99963341e-01 -2.33396224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.25, Z:-0.23 [[ 9.99960846e-01 -3.97392484e-03 7.90663500e-03 1.22744601e+01] [ 3.97495148e-03 9.99992093e-01 -1.14136240e-04 -2.46330765e-01] [-7.90611892e-03 1.45560262e-04 9.99968736e-01 -2.33643165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.25, Z:-0.23 [[ 9.99948065e-01 -5.24772982e-03 8.73668022e-03 1.23051276e+01] [ 5.24903024e-03 9.99986216e-01 -1.25922675e-04 -2.45885234e-01] [-8.73589899e-03 1.71775234e-04 9.99961827e-01 -2.34705191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207628000000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.25, Z:-0.24 [[ 9.99939963e-01 -7.21214709e-03 8.24956818e-03 1.23361273e+01] [ 7.21339693e-03 9.99973976e-01 -1.21758310e-04 -2.45390254e-01] [-8.24847536e-03 1.81258410e-04 9.99965964e-01 -2.38065145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.25, Z:-0.24 [[ 9.99940084e-01 -7.19531214e-03 8.24956247e-03 1.23671139e+01] [ 7.19656458e-03 9.99974097e-01 -1.22143855e-04 -2.45848211e-01] [-8.24846992e-03 1.81505045e-04 9.99965964e-01 -2.38519320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.25, Z:-0.24 [[ 9.99929434e-01 -7.65962408e-03 9.08058572e-03 1.23978513e+01] [ 7.66116317e-03 9.99970644e-01 -1.34719459e-04 -2.47361070e-01] [-9.07928725e-03 2.04277801e-04 9.99958762e-01 -2.36852286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.25, Z:-0.24 [[ 9.99910858e-01 -9.47231669e-03 9.41020591e-03 1.24286016e+01] [ 9.47404977e-03 9.99955110e-01 -1.39609700e-04 -2.48807827e-01] [-9.40846107e-03 2.28750014e-04 9.99955713e-01 -2.36331528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.25, Z:-0.24 [[ 9.99900089e-01 -1.00455912e-02 9.94474270e-03 1.24583862e+01] [ 1.00475566e-02 9.99949511e-01 -1.47695731e-04 -2.49398510e-01] [-9.94275691e-03 2.47601340e-04 9.99950539e-01 -2.36236173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.25, Z:-0.24 [[ 9.99887529e-01 -1.08679155e-02 1.03352241e-02 1.24874651e+01] [ 1.08700778e-02 9.99940907e-01 -1.53061747e-04 -2.50131834e-01] [-1.03329499e-02 2.65389221e-04 9.99946578e-01 -2.36643271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.25, Z:-0.24 [[ 9.99879144e-01 -1.16514219e-02 1.02928260e-02 1.25173477e+01] [ 1.16536069e-02 9.99932083e-01 -1.52336531e-04 -2.50526054e-01] [-1.02903520e-02 2.72266669e-04 9.99947016e-01 -2.37223598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.25, Z:-0.24 [[ 9.99878345e-01 -1.19539289e-02 1.00198981e-02 1.25472334e+01] [ 1.19560117e-02 9.99928513e-01 -1.47986913e-04 -2.50389603e-01] [-1.00174128e-02 2.67766928e-04 9.99949789e-01 -2.37675161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.25, Z:-0.24 [[ 9.99877415e-01 -1.13809472e-02 1.07531383e-02 1.25754734e+01] [ 1.13833100e-02 9.99935195e-01 -1.58544731e-04 -2.49814448e-01] [-1.07506371e-02 2.80931603e-04 9.99942171e-01 -2.38984127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.25, Z:-0.24 [[ 9.99893055e-01 -1.01732550e-02 1.05063115e-02 1.26055324e+01] [ 1.01754356e-02 9.99948217e-01 -1.54109302e-04 -2.49519183e-01] [-1.05041997e-02 2.60999117e-04 9.99944795e-01 -2.40881635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.25, Z:-0.24 [[ 9.99906276e-01 -9.30301945e-03 1.00445560e-02 1.26360043e+01] [ 9.30496373e-03 9.99956697e-01 -1.46848691e-04 -2.50499403e-01] [-1.00427549e-02 2.40299157e-04 9.99949541e-01 -2.41358359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.25, Z:-0.24 [[ 9.99919593e-01 -7.67169840e-03 1.00971136e-02 1.26651984e+01] [ 7.67357977e-03 9.99970547e-01 -1.47598909e-04 -2.50596744e-01] [-1.00956838e-02 2.25068047e-04 9.99949012e-01 -2.41540190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.25, Z:-0.24 [[ 9.99933226e-01 -4.54201452e-03 1.06260527e-02 1.26966990e+01] [ 4.54392068e-03 9.99989664e-01 -1.55249458e-04 -2.50460653e-01] [-1.06252377e-02 2.03523032e-04 9.99943530e-01 -2.42107440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.25, Z:-0.24 [[ 9.99934564e-01 -3.39032973e-03 1.09258317e-02 1.27282670e+01] [ 3.39227993e-03 9.99994233e-01 -1.59966799e-04 -2.51329970e-01] [-1.09252264e-02 1.97019811e-04 9.99940299e-01 -2.43083056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.25, Z:-0.24 [[ 9.99934789e-01 -2.51415825e-03 1.11398824e-02 1.27590456e+01] [ 2.51613808e-03 9.99996821e-01 -1.63712803e-04 -2.52386277e-01] [-1.11394354e-02 1.91731609e-04 9.99937936e-01 -2.43387825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.25, Z:-0.24 [[ 9.99934610e-01 -1.66334344e-03 1.13140953e-02 1.27914903e+01] [ 1.66533738e-03 9.99998599e-01 -1.66815978e-04 -2.53631430e-01] [-1.13138020e-02 1.85646856e-04 9.99935980e-01 -2.43430099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.25, Z:-0.24 [[ 9.99929429e-01 1.02695726e-03 1.18356009e-02 1.28237230e+01] [-1.02495310e-03 9.99999459e-01 -1.75397612e-04 -2.54096767e-01] [-1.18357746e-02 1.63254298e-04 9.99929941e-01 -2.43870536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628000000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.25, Z:-0.25 [[ 9.99940813e-01 2.25734486e-03 1.06430220e-02 1.28554101e+01] [-2.25579151e-03 9.99997443e-01 -1.57952663e-04 -2.53452369e-01] [-1.06433514e-02 1.33934876e-04 9.99943349e-01 -2.46147683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.25, Z:-0.25 [[ 9.99926229e-01 4.09173706e-03 1.14365517e-02 1.28884845e+01] [-4.09003570e-03 9.99991621e-01 -1.72149644e-04 -2.53479335e-01] [-1.14371603e-02 1.25361039e-04 9.99934586e-01 -2.46318100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.25, Z:-0.25 [[ 9.99930949e-01 5.16494178e-03 1.05555661e-02 1.29211124e+01] [-5.16354927e-03 9.99986656e-01 -1.59170901e-04 -2.53702567e-01] [-1.05562474e-02 1.04655725e-04 9.99944276e-01 -2.47189327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.25, Z:-0.25 [[ 9.99927887e-01 6.15558074e-03 1.03115825e-02 1.29527354e+01] [-6.15427401e-03 9.99981050e-01 -1.58451032e-04 -2.54076581e-01] [-1.03123625e-02 9.49793010e-05 9.99946822e-01 -2.47687216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.25, Z:-0.25 [[ 9.99916569e-01 6.63021377e-03 1.10858443e-02 1.29852051e+01] [-6.62869703e-03 9.99978015e-01 -1.73556050e-04 -2.54327673e-01] [-1.10867513e-02 1.00056867e-04 9.99938535e-01 -2.48446398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.25, Z:-0.25 [[ 9.99917495e-01 6.29040277e-03 1.11997295e-02 1.30184918e+01] [-6.28879714e-03 9.99980209e-01 -1.78574841e-04 -2.54663643e-01] [-1.12006312e-02 1.08127281e-04 9.99937265e-01 -2.48840770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.26, Z:-0.25 [[ 9.99922423e-01 5.19857850e-03 1.13190946e-02 1.30507366e+01] [-5.19683082e-03 9.99986479e-01 -1.83808567e-04 -2.55404642e-01] [-1.13198971e-02 1.24970888e-04 9.99935920e-01 -2.49624657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.26, Z:-0.25 [[ 9.99919948e-01 4.33821296e-03 1.18859798e-02 1.30831651e+01] [-4.33618599e-03 9.99990579e-01 -1.96300555e-04 -2.56080996e-01] [-1.18867194e-02 1.44745022e-04 9.99929340e-01 -2.49535086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.26, Z:-0.25 [[ 9.99912153e-01 1.46548012e-03 1.31734288e-02 1.31164226e+01] [-1.46268621e-03 9.99998906e-01 -2.21718349e-04 -2.56558734e-01] [-1.31737393e-02 2.02430279e-04 9.99913202e-01 -2.49532235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.26, Z:-0.25 [[ 9.99905422e-01 -1.04065193e-03 1.37136101e-02 1.31491856e+01] [ 1.04397152e-03 9.99999427e-01 -2.34908998e-04 -2.57316829e-01] [-1.37133578e-02 2.49203399e-04 9.99905936e-01 -2.50041793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.26, Z:-0.25 [[ 9.99893058e-01 -4.37758638e-03 1.39538408e-02 1.31814000e+01] [ 4.38140639e-03 9.99990372e-01 -2.43201564e-04 -2.57605593e-01] [-1.39526418e-02 3.04313002e-04 9.99902611e-01 -2.50929145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.26, Z:-0.25 [[ 9.99818365e-01 -1.16480309e-02 1.50851350e-02 1.32141829e+01] [ 1.16533671e-02 9.99932062e-01 -2.65883536e-04 -2.57121052e-01] [-1.50810131e-02 4.41627857e-04 9.99886178e-01 -2.52880188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.26, Z:-0.25 [[ 9.99754258e-01 -1.56754619e-02 1.56749575e-02 1.32446782e+01] [ 1.56817874e-02 9.99876994e-01 -2.80701479e-04 -2.57322586e-01] [-1.56686293e-02 5.26443850e-04 9.99877101e-01 -2.53070594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.26, Z:-0.25 [[ 9.99679465e-01 -1.96677902e-02 1.59419116e-02 1.32745128e+01] [ 1.96748434e-02 9.99806391e-01 -2.85702337e-04 -2.57920418e-01] [-1.59332060e-02 5.99265375e-04 9.99872879e-01 -2.52934524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628000000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.26, Z:-0.25 [[ 9.99581888e-01 -2.44525366e-02 1.54312418e-02 1.33031623e+01] [ 2.44597036e-02 9.99700779e-01 -2.75852060e-04 -2.58060554e-01] [-1.54198791e-02 6.53180322e-04 9.99880893e-01 -2.54717310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.26, Z:-0.25 [[ 9.99413173e-01 -3.01151190e-02 1.63214513e-02 1.33305332e+01] [ 3.01238241e-02 9.99546133e-01 -2.87713607e-04 -2.57182327e-01] [-1.63053790e-02 7.79209298e-04 9.99866755e-01 -2.53359305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.26, Z:-0.25 [[ 9.99320550e-01 -3.31862668e-02 1.60346386e-02 1.33584328e+01] [ 3.31950282e-02 9.99448854e-01 -2.80488245e-04 -2.56937654e-01] [-1.60164928e-02 8.12567946e-04 9.99871398e-01 -2.53850281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.26, Z:-0.25 [[ 9.99259536e-01 -3.53529469e-02 1.51838634e-02 1.33854243e+01] [ 3.53609911e-02 9.99374570e-01 -2.61556138e-04 -2.56179047e-01] [-1.51651202e-02 7.98278924e-04 9.99884684e-01 -2.54636137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.26, Z:-0.26 [[ 9.99195289e-01 -3.71942596e-02 1.50120692e-02 1.34136742e+01] [ 3.72023015e-02 9.99307722e-01 -2.56693477e-04 -2.55065989e-01] [-1.49921291e-02 8.14970436e-04 9.99887280e-01 -2.56400516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287628000000002 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.25, Z:-0.26 [[ 9.99126151e-01 -3.93574767e-02 1.40684915e-02 1.34414233e+01] [ 3.93647010e-02 9.99224882e-01 -2.36856978e-04 -2.52691042e-01] [-1.40482647e-02 7.90451962e-04 9.99901006e-01 -2.59147078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.25, Z:-0.26 [[ 9.99131951e-01 -3.87640987e-02 1.52541721e-02 1.34698374e+01] [ 3.87724523e-02 9.99248034e-01 -2.52158845e-04 -2.52277344e-01] [-1.52329267e-02 8.43381618e-04 9.99883617e-01 -2.57504652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.25, Z:-0.26 [[ 9.99139690e-01 -3.84859570e-02 1.54502487e-02 1.34981730e+01] [ 3.84944252e-02 9.99258783e-01 -2.50971249e-04 -2.51169976e-01] [-1.54291378e-02 8.45503779e-04 9.99880606e-01 -2.57488228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628000000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.25, Z:-0.26 [[ 9.99228517e-01 -3.65466224e-02 1.43776031e-02 1.35253398e+01] [ 3.65537003e-02 9.99331664e-01 -2.29721616e-04 -2.47714557e-01] [-1.43595984e-02 7.55098983e-04 9.99896611e-01 -2.60169692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.25, Z:-0.26 [[ 9.99316365e-01 -3.38145752e-02 1.49457756e-02 1.35532049e+01] [ 3.38218898e-02 9.99427848e-01 -2.36846750e-04 -2.46503748e-01] [-1.49292155e-02 7.42179210e-04 9.99888278e-01 -2.59180301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.24, Z:-0.26 [[ 9.99374119e-01 -3.19934581e-02 1.50926975e-02 1.35811047e+01] [ 3.20006457e-02 9.99487821e-01 -2.34908617e-04 -2.44806753e-01] [-1.50774518e-02 7.17737658e-04 9.99886071e-01 -2.60403022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.24, Z:-0.26 [[ 9.99456771e-01 -2.93645280e-02 1.49628351e-02 1.36093503e+01] [ 2.93712355e-02 9.99568546e-01 -2.28676826e-04 -2.43610111e-01] [-1.49496644e-02 6.68029556e-04 9.99888024e-01 -2.61189198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.24, Z:-0.26 [[ 9.99586713e-01 -2.43016044e-02 1.53569136e-02 1.36375125e+01] [ 2.43080052e-02 9.99704490e-01 -2.30255656e-04 -2.41069295e-01] [-1.53467799e-02 6.03456431e-04 9.99882049e-01 -2.61909655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.24, Z:-0.26 [[ 9.99635684e-01 -2.22270765e-02 1.53119484e-02 1.36642933e+01] [ 2.22331329e-02 9.99752788e-01 -2.25402367e-04 -2.40140963e-01] [-1.53031530e-02 5.65752832e-04 9.99882740e-01 -2.62177319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.24, Z:-0.26 [[ 9.99670767e-01 -2.04841628e-02 1.54517477e-02 1.36927645e+01] [ 2.04900911e-02 9.99790031e-01 -2.25431928e-04 -2.39498147e-01] [-1.54438855e-02 5.41965425e-04 9.99880589e-01 -2.62690971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.24, Z:-0.26 [[ 9.99688812e-01 -1.96134605e-02 1.54140267e-02 1.37213980e+01] [ 1.96191894e-02 9.99807501e-01 -2.20531024e-04 -2.38671065e-01] [-1.54067341e-02 5.22873107e-04 9.99881173e-01 -2.63295857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.24, Z:-0.26 [[ 9.99706875e-01 -1.89852634e-02 1.50241110e-02 1.37505941e+01] [ 1.89905806e-02 9.99819640e-01 -2.11314452e-04 -2.38032638e-01] [-1.50173894e-02 4.96569101e-04 9.99887109e-01 -2.64165690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.24, Z:-0.26 [[ 9.99703644e-01 -1.92877515e-02 1.48528691e-02 1.37798102e+01] [ 1.92929273e-02 9.99813853e-01 -2.05251853e-04 -2.38592423e-01] [-1.48461455e-02 4.91746350e-04 9.99889669e-01 -2.64867478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.24, Z:-0.27 [[ 9.99705812e-01 -1.96541892e-02 1.42127459e-02 1.38072810e+01] [ 1.96589157e-02 9.99806726e-01 -1.92900858e-04 -2.39243609e-01] [-1.42062076e-02 4.72251282e-04 9.99898975e-01 -2.65308196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.24, Z:-0.27 [[ 9.99693016e-01 -2.03805678e-02 1.40891912e-02 1.38353415e+01] [ 2.03852684e-02 9.99792181e-01 -1.90081981e-04 -2.39996189e-01] [-1.40823892e-02 4.77235573e-04 9.99900724e-01 -2.65685459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.24, Z:-0.27 [[ 9.99652341e-01 -2.21648449e-02 1.42799171e-02 1.38628106e+01] [ 2.21697964e-02 9.99754202e-01 -1.88515793e-04 -2.40732978e-01] [-1.42722287e-02 5.05033108e-04 9.99898019e-01 -2.66262963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.24, Z:-0.27 [[ 9.99613481e-01 -2.32771253e-02 1.52007809e-02 1.38912952e+01] [ 2.32828414e-02 9.99728898e-01 -1.99158713e-04 -2.40952451e-01] [-1.51920241e-02 5.52999107e-04 9.99884442e-01 -2.67213860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.24, Z:-0.27 [[ 9.99598490e-01 -2.38668798e-02 1.52719154e-02 1.39196382e+01] [ 2.38726515e-02 9.99714988e-01 -1.95712999e-04 -2.40965618e-01] [-1.52628917e-02 5.60215534e-04 9.99883358e-01 -2.68338963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.24, Z:-0.27 [[ 9.99592383e-01 -2.43968546e-02 1.48277104e-02 1.39479378e+01] [ 2.44022929e-02 9.99702202e-01 -1.85927729e-04 -2.41471035e-01] [-1.48187587e-02 5.47682075e-04 9.99890046e-01 -2.70218017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.24, Z:-0.27 [[ 9.99602694e-01 -2.36017621e-02 1.54081205e-02 1.39757992e+01] [ 2.36074704e-02 9.99721287e-01 -1.88669292e-04 -2.42445364e-01] [-1.53993731e-02 5.52341081e-04 9.99881270e-01 -2.69553937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887628000000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.25, Z:-0.27 [[ 9.99645264e-01 -2.27712409e-02 1.38136741e-02 1.40024097e+01] [ 2.27756999e-02 9.99740586e-01 -1.65550589e-04 -2.45663425e-01] [-1.38063209e-02 4.80107959e-04 9.99904573e-01 -2.71231445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.25, Z:-0.27 [[ 9.99671198e-01 -2.11329321e-02 1.45222086e-02 1.40305292e+01] [ 2.11376443e-02 9.99776560e-01 -1.71047293e-04 -2.46960568e-01] [-1.45153491e-02 4.77956333e-04 9.99894533e-01 -2.69548170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.25, Z:-0.27 [[ 9.99691991e-01 -2.04637842e-02 1.40412748e-02 1.40581383e+01] [ 2.04680707e-02 9.99790494e-01 -1.61624185e-04 -2.47875632e-01] [-1.40350256e-02 4.48972208e-04 9.99901403e-01 -2.70043478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.25, Z:-0.27 [[ 9.99751235e-01 -1.79941322e-02 1.31787600e-02 1.40854754e+01] [ 1.79976458e-02 9.99838018e-01 -1.48049333e-04 -2.48643980e-01] [-1.31739612e-02 3.85199158e-04 9.99913145e-01 -2.72027424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.25, Z:-0.27 [[ 9.99783503e-01 -1.68496340e-02 1.22080940e-02 1.41148732e+01] [ 1.68525386e-02 9.99857977e-01 -1.35081629e-04 -2.49461892e-01] [-1.22040841e-02 3.40789760e-04 9.99925469e-01 -2.73171267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.25, Z:-0.27 [[ 9.99811357e-01 -1.55544246e-02 1.16322665e-02 1.41429555e+01] [ 1.55569385e-02 9.99878976e-01 -1.25659335e-04 -2.50939117e-01] [-1.16289042e-02 3.06598086e-04 9.99932335e-01 -2.74236109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.25, Z:-0.27 [[ 9.99840990e-01 -1.42009055e-02 1.07856301e-02 1.41719780e+01] [ 1.42029790e-02 9.99899126e-01 -1.15669787e-04 -2.52782700e-01] [-1.07828995e-02 2.68839472e-04 9.99941827e-01 -2.74485100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.25, Z:-0.27 [[ 9.99839037e-01 -1.43376659e-02 1.07856620e-02 1.42013587e+01] [ 1.43397142e-02 9.99897175e-01 -1.12599067e-04 -2.53038081e-01] [-1.07829386e-02 2.67244254e-04 9.99941827e-01 -2.74913930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.26, Z:-0.28 [[ 9.99874198e-01 -1.29129131e-02 9.21117823e-03 1.42301327e+01] [ 1.29143432e-02 9.99916602e-01 -9.57939474e-05 -2.56240465e-01] [-9.20917306e-03 2.14738213e-04 9.99957572e-01 -2.77175070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.26, Z:-0.28 [[ 9.99890100e-01 -1.21664320e-02 8.47150173e-03 1.42585953e+01] [ 1.21675903e-02 9.99925969e-01 -8.51965451e-05 -2.57942520e-01] [-8.46983803e-03 1.88264944e-04 9.99964113e-01 -2.77690638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.26, Z:-0.28 [[ 9.99899264e-01 -1.15901190e-02 8.19329279e-03 1.42877783e+01] [ 1.15911884e-02 9.99932816e-01 -8.30396957e-05 -2.59770577e-01] [-8.19177989e-03 1.78001331e-04 9.99966431e-01 -2.78032270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.26, Z:-0.28 [[ 9.99903055e-01 -1.10723165e-02 8.44302964e-03 1.43166899e+01] [ 1.10734148e-02 9.99938684e-01 -8.33389586e-05 -2.60687208e-01] [-8.44158919e-03 1.76824048e-04 9.99964354e-01 -2.78544176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.26, Z:-0.28 [[ 9.99896589e-01 -7.35947725e-03 1.23551149e-02 1.43457869e+01] [ 7.36148209e-03 9.99972897e-01 -1.16797514e-04 -2.61652583e-01] [-1.23539204e-02 2.07737392e-04 9.99923666e-01 -2.77307432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.26, Z:-0.28 [[ 9.99895703e-01 -5.77801602e-03 1.32362542e-02 1.43783305e+01] [ 5.78016338e-03 9.99983287e-01 -1.23983370e-04 -2.63491325e-01] [-1.32353166e-02 2.00478150e-04 9.99912389e-01 -2.76919686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.26, Z:-0.28 [[ 9.99889906e-01 -4.02674310e-03 1.42814918e-02 1.44102017e+01] [ 4.02907993e-03 9.99991874e-01 -1.34857850e-04 -2.64946158e-01] [-1.42808327e-02 1.92384275e-04 9.99898005e-01 -2.76453154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.27, Z:-0.28 [[ 9.99874284e-01 -2.03890314e-03 1.57244837e-02 1.44420949e+01] [ 2.04150939e-03 9.99997905e-01 -1.49695055e-04 -2.65413780e-01] [-1.57241455e-02 1.81777917e-04 9.99876351e-01 -2.76887813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.27, Z:-0.28 [[ 9.99858983e-01 -7.63928203e-04 1.67759112e-02 1.44743512e+01] [ 7.66736945e-04 9.99999693e-01 -1.60995949e-04 -2.66191472e-01] [-1.67757831e-02 1.73835957e-04 9.99859262e-01 -2.77736140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.27, Z:-0.28 [[ 9.99841479e-01 2.50656671e-03 1.76276378e-02 1.45075053e+01] [-2.50394423e-03 9.99996851e-01 -1.70840670e-04 -2.65269917e-01] [-1.76280105e-02 1.26674966e-04 9.99844607e-01 -2.80723853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.27, Z:-0.28 [[ 9.99823245e-01 5.68581063e-03 1.79206831e-02 1.45398161e+01] [-5.68357228e-03 9.99983833e-01 -1.75832077e-04 -2.65284217e-01] [-1.79213931e-02 7.39475005e-05 9.99839396e-01 -2.79319823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.27, Z:-0.28 [[ 9.99821831e-01 7.81850425e-03 1.71807347e-02 1.45728905e+01] [-7.81670729e-03 9.99969434e-01 -1.71743273e-04 -2.65109339e-01] [-1.71815524e-02 3.74158993e-05 9.99852386e-01 -2.81286615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.27, Z:-0.28 [[ 9.99835045e-01 1.03236327e-02 1.49434138e-02 1.46050060e+01] [-1.03224982e-02 9.99946710e-01 -1.53055500e-04 -2.65049265e-01] [-1.49441975e-02 -1.22310902e-06 9.99888329e-01 -2.82369039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.27, Z:-0.28 [[ 9.99846111e-01 1.13319740e-02 1.33917907e-02 1.46378545e+01] [-1.13311116e-02 9.99935791e-01 -1.40266594e-04 -2.65971365e-01] [-1.33925204e-02 -1.14988670e-05 9.99910316e-01 -2.83194129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.27, Z:-0.29 [[ 9.99874296e-01 1.07434283e-02 1.16606683e-02 1.46693988e+01] [-1.07426991e-02 9.99942288e-01 -1.25172052e-04 -2.66434730e-01] [-1.16613401e-02 -1.10732784e-07 9.99932004e-01 -2.86607736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.27, Z:-0.28 [[ 9.99870895e-01 1.12104445e-02 1.15116767e-02 1.47022708e+01] [-1.12097459e-02 9.99937161e-01 -1.25209683e-04 -2.66901289e-01] [-1.15123570e-02 -3.84945270e-06 9.99933731e-01 -2.84902361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.27, Z:-0.29 [[ 9.99893402e-01 9.22413990e-03 1.13180952e-02 1.47345336e+01] [-9.22330219e-03 9.99957456e-01 -1.26210637e-04 -2.67027188e-01] [-1.13187779e-02 2.18069708e-05 9.99935940e-01 -2.85867517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.27, Z:-0.29 [[ 9.99908295e-01 7.14127178e-03 1.15066845e-02 1.47676652e+01] [-7.14023396e-03 9.99974500e-01 -1.31271655e-04 -2.67822239e-01] [-1.15073285e-02 4.90991978e-05 9.99933787e-01 -2.86105391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.27, Z:-0.29 [[ 9.99915724e-01 4.78341674e-03 1.20691287e-02 1.48007309e+01] [-4.78206202e-03 9.99988556e-01 -1.41102388e-04 -2.68358013e-01] [-1.20696656e-02 8.33751743e-05 9.99927155e-01 -2.86468367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.27, Z:-0.29 [[ 9.99916605e-01 2.42591233e-03 1.26845685e-02 1.48336188e+01] [-2.42417774e-03 9.99997050e-01 -1.52122089e-04 -2.68721576e-01] [-1.26849001e-02 1.21359754e-04 9.99919536e-01 -2.86874869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.27, Z:-0.29 [[ 9.99918752e-01 -4.70311594e-04 1.27384677e-02 1.48651037e+01] [ 4.72345451e-04 9.99999876e-01 -1.56654489e-04 -2.69703468e-01] [-1.27383924e-02 1.62658718e-04 9.99918850e-01 -2.87189381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.27, Z:-0.29 [[ 9.99901514e-01 -4.00174068e-03 1.34517378e-02 1.48983297e+01] [ 4.00436069e-03 9.99991968e-01 -1.67842456e-04 -2.69763599e-01] [-1.34509581e-02 2.21691535e-04 9.99909507e-01 -2.86965108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.27, Z:-0.29 [[ 9.99899229e-01 -5.79053287e-03 1.29615431e-02 1.49298357e+01] [ 5.79316240e-03 9.99983206e-01 -1.65335036e-04 -2.70522977e-01] [-1.29603681e-02 2.40406700e-04 9.99915982e-01 -2.87427400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.27, Z:-0.29 [[ 9.99887065e-01 -8.43305765e-03 1.24395206e-02 1.49628800e+01] [ 8.43572302e-03 9.99964406e-01 -1.61811286e-04 -2.70329583e-01] [-1.24377132e-02 2.66729362e-04 9.99922613e-01 -2.88046776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.27, Z:-0.29 [[ 9.99874601e-01 -9.27658573e-03 1.28346096e-02 1.49952271e+01] [ 9.27954571e-03 9.99956929e-01 -1.71090262e-04 -2.69239018e-01] [-1.28324696e-02 2.90168153e-04 9.99917618e-01 -2.89310443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.27, Z:-0.29 [[ 9.99863388e-01 -1.08068143e-02 1.25066892e-02 1.50261440e+01] [ 1.08097558e-02 9.99941559e-01 -1.67618446e-04 -2.69558185e-01] [-1.25041469e-02 3.02789804e-04 9.99921774e-01 -2.89840492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.27, Z:-0.29 [[ 9.99836120e-01 -1.35037186e-02 1.20574760e-02 1.50561839e+01] [ 1.35066576e-02 9.99908768e-01 -1.62343839e-04 -2.70380722e-01] [-1.20541837e-02 3.25173434e-04 9.99927293e-01 -2.89997363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.27, Z:-0.29 [[ 9.99728583e-01 -2.03013648e-02 1.14286989e-02 1.50857021e+01] [ 2.03044496e-02 9.99793832e-01 -1.53933809e-04 -2.70174403e-01] [-1.14232176e-02 3.85945468e-04 9.99934678e-01 -2.89988771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.27, Z:-0.29 [[ 9.99637568e-01 -2.43694707e-02 1.14394504e-02 1.51126687e+01] [ 2.43728313e-02 9.99702926e-01 -1.54434002e-04 -2.70458216e-01] [-1.14322886e-02 4.33189826e-04 9.99934555e-01 -2.90107356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.27, Z:-0.29 [[ 9.99540260e-01 -2.80449064e-02 1.15217966e-02 1.51404614e+01] [ 2.80485371e-02 9.99606551e-01 -1.53616192e-04 -2.70002637e-01] [-1.15129552e-02 4.76715108e-04 9.99933610e-01 -2.91789398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.27, Z:-0.29 [[ 9.99457436e-01 -3.03567846e-02 1.27788550e-02 1.51683169e+01] [ 3.03613878e-02 9.99538973e-01 -1.66335553e-04 -2.68963808e-01] [-1.27679142e-02 5.54229077e-04 9.99918333e-01 -2.90041013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.27, Z:-0.29 [[ 9.99282664e-01 -3.51119867e-02 1.41882450e-02 1.51961424e+01] [ 3.51180764e-02 9.99383154e-01 -1.80216842e-04 -2.66643702e-01] [-1.41731653e-02 6.78351437e-04 9.99899326e-01 -2.90032412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.27, Z:-0.29 [[ 9.99195225e-01 -3.73803402e-02 1.45468766e-02 1.52245776e+01] [ 3.73869207e-02 9.99300848e-01 -1.80588652e-04 -2.65978992e-01] [-1.45299556e-02 7.24306240e-04 9.99894172e-01 -2.90292223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.27, Z:-0.29 [[ 9.99124052e-01 -3.91686828e-02 1.47289617e-02 1.52517106e+01] [ 3.91755615e-02 9.99232327e-01 -1.78670970e-04 -2.65487453e-01] [-1.47106564e-02 7.55529810e-04 9.99891507e-01 -2.90413175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.26, Z:-0.29 [[ 9.99068398e-01 -4.07622845e-02 1.41694412e-02 1.52798923e+01] [ 4.07687741e-02 9.99168594e-01 -1.69336510e-04 -2.63477376e-01] [-1.41507581e-02 7.46849502e-04 9.99899594e-01 -2.91345562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.26, Z:-0.29 [[ 9.99086583e-01 -4.05540883e-02 1.34671953e-02 1.53077825e+01] [ 4.05598844e-02 9.99177097e-01 -1.57423948e-04 -2.61911243e-01] [-1.34497290e-02 7.03508040e-04 9.99909301e-01 -2.92390960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.26, Z:-0.29 [[ 9.99151094e-01 -3.93170218e-02 1.22989125e-02 1.53347513e+01] [ 3.93217195e-02 9.99226592e-01 -1.40285483e-04 -2.60319619e-01] [-1.22838848e-02 6.23780782e-04 9.99924356e-01 -2.93095898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.26, Z:-0.29 [[ 9.99233340e-01 -3.74423941e-02 1.14367597e-02 1.53618222e+01] [ 3.74463192e-02 9.99298632e-01 -1.29175564e-04 -2.58953477e-01] [-1.14239017e-02 5.57341084e-04 9.99934590e-01 -2.93763025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.26, Z:-0.29 [[ 9.99436742e-01 -3.21287646e-02 9.69234061e-03 1.53901694e+01] [ 3.21313329e-02 9.99483649e-01 -1.09336092e-04 -2.56796242e-01] [-9.68382313e-03 4.20702330e-04 9.99953022e-01 -2.93720805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.26, Z:-0.29 [[ 9.99535044e-01 -2.91244379e-02 9.02570370e-03 1.54181345e+01] [ 2.91265230e-02 9.99575728e-01 -9.96247518e-05 -2.55722256e-01] [-9.01897283e-03 3.62465797e-04 9.99959263e-01 -2.94152576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.25, Z:-0.29 [[ 9.99627763e-01 -2.57999785e-02 8.87112803e-03 1.54452416e+01] [ 2.58018329e-02 9.99667073e-01 -9.46354417e-05 -2.54204517e-01] [-8.86573299e-03 3.23491578e-04 9.99960646e-01 -2.94735349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.25, Z:-0.30 [[ 9.99712793e-01 -2.25126888e-02 8.21646317e-03 1.54738186e+01] [ 2.25141702e-02 9.99746520e-01 -8.78375733e-05 -2.52840719e-01] [-8.21240300e-03 2.72799196e-04 9.99966240e-01 -2.95335933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.25, Z:-0.30 [[ 9.99839559e-01 -1.61659218e-02 7.71490442e-03 1.55011928e+01] [ 1.61670200e-02 9.99869302e-01 -8.00011379e-05 -2.50654341e-01] [-7.71260280e-03 2.04715316e-04 9.99970236e-01 -2.95796198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.25, Z:-0.30 [[ 9.99882228e-01 -1.31468767e-02 7.91771356e-03 1.55286186e+01] [ 1.31479212e-02 9.99913559e-01 -7.98836357e-05 -2.50208651e-01] [-7.91597893e-03 1.83975702e-04 9.99968651e-01 -2.96206183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.25, Z:-0.30 [[ 9.99912288e-01 -1.07902077e-02 7.68039052e-03 1.55576943e+01] [ 1.07911214e-02 9.99941771e-01 -7.75412363e-05 -2.50028137e-01] [-7.67910662e-03 1.60414462e-04 9.99970502e-01 -2.96251700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.25, Z:-0.30 [[ 9.99956405e-01 -5.91794055e-03 7.22261812e-03 1.55872914e+01] [ 5.91859851e-03 9.99982483e-01 -6.97254273e-05 -2.50089090e-01] [-7.22207897e-03 1.12470164e-04 9.99973914e-01 -2.96457491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.25, Z:-0.30 [[ 9.99965575e-01 -3.56226010e-03 7.49390622e-03 1.56181290e+01] [ 3.56289629e-03 9.99993650e-01 -7.15458207e-05 -2.50316772e-01] [-7.49360377e-03 9.82433684e-05 9.99971918e-01 -2.97091646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.25, Z:-0.30 [[ 9.99968880e-01 -1.39479712e-03 7.76488600e-03 1.56497311e+01] [ 1.39541617e-03 9.99999024e-01 -7.43070231e-05 -2.50570056e-01] [-7.76477478e-03 8.51399582e-05 9.99969850e-01 -2.97428979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.25, Z:-0.30 [[ 9.99966659e-01 7.41859625e-04 8.13210637e-03 1.56822228e+01] [-7.41248472e-04 9.99999722e-01 -7.81669153e-05 -2.51437230e-01] [-8.13216210e-03 7.21363977e-05 9.99966931e-01 -2.97564416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.25, Z:-0.30 [[ 9.99959077e-01 2.58256434e-03 8.67037237e-03 1.57130829e+01] [-2.58193173e-03 9.99996663e-01 -8.41546433e-05 -2.52430978e-01] [-8.67056078e-03 6.17648899e-05 9.99962408e-01 -2.97671539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.25, Z:-0.30 [[ 9.99949814e-01 4.28535283e-03 9.05569746e-03 1.57457184e+01] [-4.28473050e-03 9.99990817e-01 -8.81229314e-05 -2.53486723e-01] [-9.05599194e-03 4.93172858e-05 9.99958992e-01 -2.97704416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.25, Z:-0.30 [[ 9.99921754e-01 7.73894329e-03 9.82828555e-03 1.57774271e+01] [-7.73836441e-03 9.99970054e-01 -9.69269916e-05 -2.54802286e-01] [-9.82874134e-03 2.08645523e-05 9.99951697e-01 -2.98432999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.26, Z:-0.30 [[ 9.99905895e-01 9.59021887e-03 9.80961698e-03 1.58106835e+01] [-9.58973177e-03 9.99954013e-01 -9.66921610e-05 -2.56026017e-01] [-9.81009316e-03 2.61146627e-06 9.99951880e-01 -2.99298072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.26, Z:-0.30 [[ 9.99891748e-01 1.15031595e-02 9.17436097e-03 1.58437396e+01] [-1.15027929e-02 9.99933836e-01 -9.27270321e-05 -2.57745630e-01] [-9.17482062e-03 -1.28137799e-05 9.99957910e-01 -2.99990190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.26, Z:-0.30 [[ 9.99861027e-01 1.49957631e-02 7.28382059e-03 1.58764478e+01] [-1.49956159e-02 9.99887557e-01 -7.48200071e-05 -2.61536869e-01] [-7.28412356e-03 -3.44157668e-05 9.99973470e-01 -3.00325593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.26, Z:-0.30 [[ 9.99848140e-01 1.63836247e-02 5.93909743e-03 1.59081633e+01] [-1.63835449e-02 9.99865779e-01 -6.20999808e-05 -2.63517989e-01] [-5.93931770e-03 -3.52129190e-05 9.99982361e-01 -3.01012912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.27, Z:-0.30 [[ 9.99838833e-01 1.73617333e-02 4.56928046e-03 1.59413774e+01] [-1.73616955e-02 9.99849273e-01 -4.79299005e-05 -2.65398170e-01] [-4.56942389e-03 -3.14082802e-05 9.99989560e-01 -3.01948155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.27, Z:-0.30 [[ 9.99840438e-01 1.77309430e-02 2.17058877e-03 1.59734896e+01] [-1.77309382e-02 9.99842794e-01 -2.14569148e-05 -2.69114050e-01] [-2.17062799e-03 -1.70330842e-05 9.99997644e-01 -3.03951317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.27, Z:-0.31 [[ 9.99847259e-01 1.74079091e-02 1.55675367e-03 1.60062251e+01] [-1.74079077e-02 9.99848471e-01 -1.44427331e-05 -2.71576422e-01] [-1.55676920e-03 -1.26592971e-05 9.99998788e-01 -3.05302399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.27, Z:-0.31 [[ 9.99853681e-01 1.70791654e-02 9.58994279e-04 1.60390789e+01] [-1.70791660e-02 9.99854140e-01 -7.59506793e-06 -2.74775181e-01] [-9.58984118e-04 -8.78486582e-06 9.99999540e-01 -3.05609484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.28, Z:-0.31 [[ 9.99869645e-01 1.61364056e-02 5.56026148e-04 1.60718752e+01] [-1.61364066e-02 9.99869800e-01 -2.81018645e-06 -2.78304980e-01] [-5.55999100e-04 -6.16244385e-06 9.99999845e-01 -3.05600837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.28, Z:-0.31 [[ 9.99886578e-01 1.50503682e-02 5.63159409e-04 1.61040183e+01] [-1.50503687e-02 9.99886737e-01 -3.33605757e-06 -2.82152387e-01] [-5.63145832e-04 -5.14007754e-06 9.99999841e-01 -3.05231932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.28, Z:-0.30 [[ 9.99862601e-01 1.62190792e-02 3.42361134e-03 1.61370236e+01] [-1.62190354e-02 9.99868462e-01 -4.05403083e-05 -2.84783116e-01] [-3.42381853e-03 -1.49929356e-05 9.99994139e-01 -3.04114865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.29, Z:-0.30 [[ 9.99860578e-01 1.63433140e-02 3.42357569e-03 1.61704682e+01] [-1.63432616e-02 9.99866439e-01 -4.32787609e-05 -2.85306193e-01] [-3.42382575e-03 -1.26796664e-05 9.99994139e-01 -3.04606662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.29, Z:-0.30 [[ 9.99845755e-01 1.69660829e-02 4.54069182e-03 1.62030662e+01] [-1.69659993e-02 9.99856065e-01 -5.69318313e-05 -2.86710999e-01] [-4.54100417e-03 -2.01143243e-05 9.99989689e-01 -3.04472092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.29, Z:-0.30 [[ 9.99838260e-01 1.71938471e-02 5.27503531e-03 1.62348689e+01] [-1.71937249e-02 9.99852175e-01 -6.85134224e-05 -2.87770333e-01] [-5.27543353e-03 -2.21951650e-05 9.99986085e-01 -3.04470977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.29, Z:-0.31 [[ 9.99811991e-01 1.80881800e-02 6.98577108e-03 1.62675735e+01] [-1.80879670e-02 9.99836395e-01 -9.36850422e-05 -2.88057622e-01] [-6.98632277e-03 -3.26909681e-05 9.99975595e-01 -3.05038853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.29, Z:-0.31 [[ 9.99817111e-01 1.78768152e-02 6.79442759e-03 1.62991350e+01] [-1.78765953e-02 9.99840197e-01 -9.30968115e-05 -2.88663798e-01] [-6.79500609e-03 -2.83814471e-05 9.99976913e-01 -3.05420547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.29, Z:-0.31 [[ 9.99822162e-01 1.75687257e-02 6.85454535e-03 1.63323789e+01] [-1.75684831e-02 9.99845658e-01 -9.56043191e-05 -2.89265391e-01] [-6.85516705e-03 -2.48366474e-05 9.99976503e-01 -3.05951533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.29, Z:-0.31 [[ 9.99856633e-01 1.54547976e-02 6.91825789e-03 1.63639349e+01] [-1.54544803e-02 9.99880567e-01 -9.93325393e-05 -2.88730034e-01] [-6.91896679e-03 -7.59978171e-06 9.99976064e-01 -3.06274234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.29, Z:-0.31 [[ 9.99891940e-01 1.32341851e-02 6.40032770e-03 1.63957556e+01] [-1.32338658e-02 9.99912424e-01 -9.22416159e-05 -2.88803771e-01] [-6.40098793e-03 7.53057056e-06 9.99979513e-01 -3.07186805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.29, Z:-0.31 [[ 9.99920225e-01 1.08155347e-02 6.52441010e-03 1.64290406e+01] [-1.08151422e-02 9.99941510e-01 -9.54319238e-05 -2.88814877e-01] [-6.52506064e-03 2.48618876e-05 9.99978711e-01 -3.08014093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.29, Z:-0.31 [[ 9.99950328e-01 7.64874170e-03 6.39044647e-03 1.64615502e+01] [-7.64828941e-03 9.99970747e-01 -9.52122714e-05 -2.89008455e-01] [-6.39098778e-03 4.63315580e-05 9.99979576e-01 -3.08436320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.29, Z:-0.31 [[ 9.99971796e-01 4.01548298e-03 6.34686931e-03 1.64946814e+01] [-4.01495241e-03 9.99991935e-01 -9.63341345e-05 -2.89363159e-01] [-6.34720496e-03 7.08490392e-05 9.99979854e-01 -3.08922978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.29, Z:-0.31 [[ 9.99966978e-01 -4.38038765e-03 6.84501558e-03 1.65279381e+01] [ 4.38121693e-03 9.99990397e-01 -1.06160373e-04 -2.89163468e-01] [-6.84448483e-03 1.36146365e-04 9.99976567e-01 -3.09551756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.29, Z:-0.31 [[ 9.99930452e-01 -9.73223353e-03 6.66136862e-03 1.65597081e+01] [ 9.73316219e-03 9.99952626e-01 -1.07004512e-04 -2.89136335e-01] [-6.66001165e-03 1.71833251e-04 9.99977807e-01 -3.09797362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.29, Z:-0.31 [[ 9.99764102e-01 -2.07944375e-02 6.27150069e-03 1.65892900e+01] [ 2.07954828e-02 9.99783745e-01 -1.01516160e-04 -2.87713444e-01] [-6.26803348e-03 2.31911097e-04 9.99980329e-01 -3.10550241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.29, Z:-0.31 [[ 9.99623630e-01 -2.66678906e-02 6.43594551e-03 1.66172785e+01] [ 2.66691152e-02 9.99644310e-01 -1.04516374e-04 -2.87448080e-01] [-6.43086908e-03 2.76118009e-04 9.99979284e-01 -3.11491613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.29, Z:-0.31 [[ 9.99450768e-01 -3.24518591e-02 6.71113620e-03 1.66441729e+01] [ 3.24533165e-02 9.99473247e-01 -1.08344161e-04 -2.87585561e-01] [-6.70408511e-03 3.26083282e-04 9.99977474e-01 -3.11754059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.29, Z:-0.31 [[ 9.99248540e-01 -3.82451395e-02 6.29791465e-03 1.66720028e+01] [ 3.82465420e-02 9.99268328e-01 -1.02373985e-04 -2.88207171e-01] [-6.28939133e-03 3.43170513e-04 9.99980163e-01 -3.14893585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.29, Z:-0.31 [[ 9.98937020e-01 -4.54654333e-02 7.59762446e-03 1.66999786e+01] [ 4.54676596e-02 9.98965804e-01 -1.20466162e-04 -2.88330137e-01] [-7.58428998e-03 4.65784312e-04 9.99971130e-01 -3.11925000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.29, Z:-0.31 [[ 9.98818642e-01 -4.80407339e-02 7.30813420e-03 1.67277521e+01] [ 4.80428486e-02 9.98845269e-01 -1.13973572e-04 -2.88306812e-01] [-7.29421990e-03 4.64942513e-04 9.99973289e-01 -3.12165390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.29, Z:-0.31 [[ 9.98750075e-01 -4.94660085e-02 7.16949999e-03 1.67551068e+01] [ 4.94680578e-02 9.98775700e-01 -1.08675778e-04 -2.87748453e-01] [-7.15534662e-03 4.63201181e-04 9.99974293e-01 -3.12463672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.29, Z:-0.32 [[ 9.98710473e-01 -5.03340017e-02 6.62420397e-03 1.67832282e+01] [ 5.03357741e-02 9.98732346e-01 -1.01014698e-04 -2.86985715e-01] [-6.61072230e-03 4.34318872e-04 9.99978055e-01 -3.16012417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.28, Z:-0.31 [[ 9.98906625e-01 -4.60242158e-02 8.20523677e-03 1.68115372e+01] [ 4.60267634e-02 9.98940200e-01 -1.21823555e-04 -2.84766732e-01] [-8.19093402e-03 4.99350847e-04 9.99966329e-01 -3.14067674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.28, Z:-0.31 [[ 9.99069162e-01 -4.23117302e-02 8.39800751e-03 1.68396611e+01] [ 4.23142476e-02 9.99104344e-01 -1.22224455e-04 -2.83983243e-01] [-8.38531425e-03 4.77466053e-04 9.99964729e-01 -3.13756112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.28, Z:-0.31 [[ 9.99209509e-01 -3.89012648e-02 8.18831965e-03 1.68666511e+01] [ 3.88539453e-02 9.99227713e-01 5.86082304e-03 -2.84250711e-01] [-8.40998934e-03 -5.53804159e-03 9.99949300e-01 -3.10517433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.28, Z:-0.32 [[ 9.99591799e-01 -2.72626284e-02 8.54311173e-03 1.68954993e+01] [ 2.73151764e-02 9.99608284e-01 -6.09579878e-03 -2.76905468e-01] [-8.37357776e-03 6.32666707e-03 9.99944927e-01 -3.20304634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.28, Z:-0.32 [[ 9.99747113e-01 -2.05297110e-02 9.17826230e-03 1.69224345e+01] [ 2.05317366e-02 9.99789194e-01 -1.26519282e-04 -2.78252556e-01] [-9.17373006e-03 3.14932951e-04 9.99957871e-01 -3.15429299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.27, Z:-0.33 [[ 9.99762941e-01 -1.76337000e-02 1.27716330e-02 1.69488056e+01] [ 1.77902365e-02 9.99766714e-01 -1.22484669e-02 -2.68386295e-01] [-1.25526678e-02 1.24727737e-02 9.99843418e-01 -3.27253164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.28, Z:-0.31 [[ 9.99907784e-01 -9.59070904e-03 9.61470831e-03 1.69805362e+01] [ 9.47509843e-03 9.99883121e-01 1.19986391e-02 -2.80984240e-01] [-9.72866001e-03 -1.19064323e-02 9.99881788e-01 -3.11994797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.27, Z:-0.32 [[ 9.99946063e-01 -5.04289240e-03 9.07968255e-03 1.70106012e+01] [ 5.04420194e-03 9.99987271e-01 -1.21332905e-04 -2.74963711e-01] [-9.07895510e-03 1.67126113e-04 9.99958771e-01 -3.19104789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.27, Z:-0.32 [[ 9.99930131e-01 4.54408436e-03 1.09125511e-02 1.70407683e+01] [-4.54276419e-03 9.99989671e-01 -1.45762002e-04 -2.73795523e-01] [-1.09131008e-02 9.61786713e-05 9.99940446e-01 -3.18021541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.27, Z:-0.32 [[ 9.99906308e-01 8.36125893e-03 1.08381067e-02 1.70738625e+01] [-8.36018241e-03 9.99965043e-01 -1.44630288e-04 -2.73726229e-01] [-1.08389371e-02 5.40081879e-05 9.99941256e-01 -3.18308416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.27, Z:-0.32 [[ 9.99874122e-01 1.12820893e-02 1.11558898e-02 1.71065539e+01] [-1.12811169e-02 9.99936355e-01 -1.50089290e-04 -2.73895682e-01] [-1.11568731e-02 2.42194995e-05 9.99937760e-01 -3.19355825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.27, Z:-0.32 [[ 9.99843174e-01 1.37842247e-02 1.11185614e-02 1.71390627e+01] [-1.37834071e-02 9.99904993e-01 -1.50164273e-04 -2.74200175e-01] [-1.11195749e-02 -3.11093421e-06 9.99938176e-01 -3.19990526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.28, Z:-0.32 [[ 9.99807305e-01 1.59531039e-02 1.14390466e-02 1.71715168e+01] [-1.59523421e-02 9.99872741e-01 -1.57840071e-04 -2.75277963e-01] [-1.14401089e-02 -2.46699296e-05 9.99934560e-01 -3.20949215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.28, Z:-0.32 [[ 9.99782640e-01 1.79603098e-02 1.05877177e-02 1.72035281e+01] [-1.79597406e-02 9.99838700e-01 -1.48845663e-04 -2.77403959e-01] [-1.05886832e-02 -4.13393535e-05 9.99943937e-01 -3.21478324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.28, Z:-0.32 [[ 9.99770684e-01 1.86797519e-02 1.04712378e-02 1.72359238e+01] [-1.86792070e-02 9.99825517e-01 -1.49841969e-04 -2.79251590e-01] [-1.04722098e-02 -4.57868111e-05 9.99945164e-01 -3.21912807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.28, Z:-0.32 [[ 9.99761038e-01 1.93728991e-02 1.01270844e-02 1.72686137e+01] [-1.93723979e-02 9.99812327e-01 -1.47595845e-04 -2.81387686e-01] [-1.01280432e-02 -4.86253336e-05 9.99948709e-01 -3.22467212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.28, Z:-0.32 [[ 9.99783227e-01 1.88024710e-02 8.94237591e-03 1.73019089e+01] [-1.88020400e-02 9.99823217e-01 -1.32263505e-04 -2.84805016e-01] [-8.94328194e-03 -3.59000760e-05 9.99960007e-01 -3.23288163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.29, Z:-0.32 [[ 9.99799449e-01 1.80951949e-02 8.58051186e-03 1.73334360e+01] [-1.80947469e-02 9.99836268e-01 -1.29847373e-04 -2.87112707e-01] [-8.58145657e-03 -2.54408580e-05 9.99963178e-01 -3.24021985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.29, Z:-0.32 [[ 9.99819498e-01 1.71852356e-02 8.10174942e-03 1.73656722e+01] [-1.71847997e-02 9.99852323e-01 -1.23414634e-04 -2.89770385e-01] [-8.10267389e-03 -1.58345838e-05 9.99967173e-01 -3.24914673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.29, Z:-0.33 [[ 9.99835378e-01 1.63826985e-02 7.79896783e-03 1.73988737e+01] [-1.63822575e-02 9.99865795e-01 -1.20431835e-04 -2.92626844e-01] [-7.79989417e-03 -7.35268951e-06 9.99969580e-01 -3.25572521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.30, Z:-0.33 [[ 9.99872796e-01 1.43615294e-02 6.93814737e-03 1.74305143e+01] [-1.43611202e-02 9.99896868e-01 -1.08800991e-04 -2.98741435e-01] [-6.93899437e-03 9.14758305e-06 9.99975925e-01 -3.25537491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.30, Z:-0.33 [[ 9.99896458e-01 1.28701167e-02 6.43684149e-03 1.74618539e+01] [-1.28697242e-02 9.99917176e-01 -1.02396091e-04 -3.01882521e-01] [-6.43762622e-03 1.95451141e-05 9.99979278e-01 -3.29553504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.31, Z:-0.33 [[ 9.99902946e-01 1.24147544e-02 6.32241160e-03 1.74945567e+01] [-1.24143582e-02 9.99922934e-01 -1.01909746e-04 -3.05069289e-01] [-6.32318954e-03 2.34111730e-05 9.99980008e-01 -3.29304381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.31, Z:-0.33 [[ 9.99863936e-01 1.39519681e-02 8.80073038e-03 1.75267967e+01] [-1.39512223e-02 9.99902666e-01 -1.46124535e-04 -3.08915796e-01] [-8.80191249e-03 2.33237063e-05 9.99961262e-01 -3.25375172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.31, Z:-0.33 [[ 9.99839027e-01 1.52479013e-02 9.45625628e-03 1.75599988e+01] [-1.52470724e-02 9.99883744e-01 -1.59751184e-04 -3.09903632e-01] [-9.45759280e-03 1.55452445e-05 9.99955276e-01 -3.25819200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.31, Z:-0.33 [[ 9.99815574e-01 1.66782799e-02 9.52115653e-03 1.75926740e+01] [-1.66774788e-02 9.99860908e-01 -1.63540702e-04 -3.11273195e-01] [-9.52255979e-03 4.72165537e-06 9.99954659e-01 -3.26066033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.31, Z:-0.33 [[ 9.99779463e-01 1.84313944e-02 1.00652049e-02 1.76260553e+01] [-1.84305570e-02 9.99830127e-01 -1.75953080e-04 -3.12013837e-01] [-1.00667382e-02 -9.59305669e-06 9.99949329e-01 -3.26353966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.31, Z:-0.33 [[ 9.99771106e-01 1.90652192e-02 9.70839700e-03 1.76585687e+01] [-1.90644447e-02 9.99818242e-01 -1.72319981e-04 -3.13131109e-01] [-9.70991774e-03 -1.28046599e-05 9.99952858e-01 -3.26424534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.31, Z:-0.33 [[ 9.99781072e-01 1.87970582e-02 9.19122086e-03 1.76916993e+01] [-1.87963307e-02 9.99823320e-01 -1.65538063e-04 -3.13314685e-01] [-9.19270858e-03 -7.25940403e-06 9.99957746e-01 -3.29077002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.31, Z:-0.33 [[ 9.99770903e-01 1.89221783e-02 1.00046655e-02 1.77243828e+01] [-1.89212907e-02 9.99820960e-01 -1.83373507e-04 -3.14201206e-01] [-1.00063441e-02 -5.96968732e-06 9.99949935e-01 -3.26922535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.31, Z:-0.33 [[ 9.99783877e-01 1.81505241e-02 1.01369298e-02 1.77572566e+01] [-1.81495433e-02 9.99835266e-01 -1.88749163e-04 -3.14645182e-01] [-1.01386858e-02 4.72772544e-06 9.99948602e-01 -3.27424452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.31, Z:-0.33 [[ 9.99860983e-01 1.35123132e-02 9.76890595e-03 1.77903612e+01] [-1.35111553e-02 9.99908703e-01 -1.84517506e-04 -3.14963564e-01] [-9.77050733e-03 5.25026496e-05 9.99952266e-01 -3.27686292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.32, Z:-0.33 [[ 9.99901289e-01 9.84241086e-03 1.00268799e-02 1.78230007e+01] [-9.84097709e-03 9.99951558e-01 -1.92321942e-04 -3.15835929e-01] [-1.00282871e-02 9.36286625e-05 9.99949711e-01 -3.27809369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.32, Z:-0.33 [[ 9.99923934e-01 5.92037482e-03 1.08201597e-02 1.78556379e+01] [-5.91843879e-03 9.99982464e-01 -2.10939765e-04 -3.16414707e-01] [-1.08212188e-02 1.46885266e-04 9.99941438e-01 -3.27911419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.32, Z:-0.33 [[ 9.99937148e-01 9.02345104e-04 1.11752724e-02 1.78888667e+01] [-8.99930003e-04 9.99999571e-01 -2.21137947e-04 -3.17047728e-01] [-1.11754671e-02 2.11067085e-04 9.99937530e-01 -3.27553838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.32, Z:-0.33 [[ 9.99871210e-01 -1.03976714e-02 1.22250570e-02 1.79212408e+01] [ 1.04014532e-02 9.99945873e-01 -2.45811763e-04 -3.16977640e-01] [-1.22218394e-02 3.72938463e-04 9.99925241e-01 -3.27273777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.32, Z:-0.33 [[ 9.99790013e-01 -1.60508499e-02 1.27396972e-02 1.79515775e+01] [ 1.60554661e-02 9.99871069e-01 -2.60149471e-04 -3.16791728e-01] [-1.27338791e-02 4.64636620e-04 9.99918813e-01 -3.27661940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.32, Z:-0.33 [[ 9.99677776e-01 -2.20154966e-02 1.26357749e-02 1.79802329e+01] [ 2.20205147e-02 9.99757486e-01 -2.58128017e-04 -3.16416584e-01] [-1.26270277e-02 5.36291109e-04 9.99920132e-01 -3.28525798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.32, Z:-0.33 [[ 9.99522960e-01 -2.83345899e-02 1.22883850e-02 1.80085371e+01] [ 2.83398062e-02 9.99598316e-01 -2.50525814e-04 -3.16023976e-01] [-1.22763504e-02 5.98656752e-04 9.99924464e-01 -3.28974457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.32, Z:-0.33 [[ 9.99329829e-01 -3.44713612e-02 1.23133544e-02 1.80361914e+01] [ 3.44770517e-02 9.99405458e-01 -2.50110690e-04 -3.15667431e-01] [-1.22974120e-02 6.74471230e-04 9.99924156e-01 -3.29796371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.31, Z:-0.33 [[ 9.98921000e-01 -4.49426156e-02 1.17045679e-02 1.80646050e+01] [ 4.49484307e-02 9.98989281e-01 -2.34107714e-04 -3.14874287e-01] [-1.16822165e-02 7.59957071e-04 9.99931472e-01 -3.29984367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.31, Z:-0.33 [[ 9.98707559e-01 -4.94565728e-02 1.17157555e-02 1.80928068e+01] [ 4.94626995e-02 9.98775944e-01 -2.33587393e-04 -3.14564578e-01] [-1.16898623e-02 8.12778390e-04 9.99931341e-01 -3.29872911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.32, Z:-0.33 [[ 9.98694434e-01 -4.97208835e-02 1.17158215e-02 1.81214007e+01] [ 4.97269890e-02 9.98762821e-01 -2.30224585e-04 -3.15066467e-01] [-1.16898799e-02 8.12516538e-04 9.99931341e-01 -3.30287121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937628 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.31, Z:-0.33 [[ 9.98503763e-01 -5.34958140e-02 1.13328401e-02 1.81498046e+01] [ 5.35017369e-02 9.98567732e-01 -2.19880673e-04 -3.14381192e-01] [-1.13048458e-02 8.25878310e-04 9.99935757e-01 -3.32697984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.31, Z:-0.33 [[ 9.98371961e-01 -5.58264859e-02 1.16975113e-02 1.81783850e+01] [ 5.58329150e-02 9.98440101e-01 -2.23522038e-04 -3.10679728e-01] [-1.16667859e-02 8.76264290e-04 9.99931557e-01 -3.30389490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.31, Z:-0.33 [[ 9.98367732e-01 -5.60014456e-02 1.12120471e-02 1.82057551e+01] [ 5.60073237e-02 9.98430336e-01 -2.10718948e-04 -3.08828886e-01] [-1.11826473e-02 8.38331746e-04 9.99937121e-01 -3.33698187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.31, Z:-0.33 [[ 9.98455746e-01 -5.43389651e-02 1.15498648e-02 1.82337984e+01] [ 5.43450808e-02 9.98522191e-01 -2.16079784e-04 -3.07210265e-01] [-1.15210547e-02 8.43424436e-04 9.99933275e-01 -3.32239336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.31, Z:-0.33 [[ 9.98591889e-01 -5.17383105e-02 1.17211564e-02 1.82621983e+01] [ 5.17443915e-02 9.98660338e-01 -2.15931038e-04 -3.05597041e-01] [-1.16942821e-02 8.22131088e-04 9.99931282e-01 -3.31305507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.30, Z:-0.33 [[ 9.98922127e-01 -4.52925182e-02 1.01573621e-02 1.82906678e+01] [ 4.52967294e-02 9.98973559e-01 -1.84799796e-04 -2.99771238e-01] [-1.01385661e-02 6.44695886e-04 9.99948396e-01 -3.33805253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.30, Z:-0.33 [[ 9.99116428e-01 -4.06164581e-02 1.08012350e-02 1.83182136e+01] [ 4.06209054e-02 9.99174612e-01 -1.92587755e-04 -2.97432962e-01] [-1.07844976e-02 6.31173536e-04 9.99941646e-01 -3.32188682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.29, Z:-0.33 [[ 9.99261180e-01 -3.69577965e-02 1.05458651e-02 1.83456898e+01] [ 3.69618224e-02 9.99316661e-01 -1.87040658e-04 -2.94738288e-01] [-1.05317461e-02 5.76696864e-04 9.99944373e-01 -3.32827240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.29, Z:-0.33 [[ 9.99471930e-01 -3.10302556e-02 9.64287688e-03 1.83734726e+01] [ 3.10333351e-02 9.99518336e-01 -1.69852709e-04 -2.89371717e-01] [-9.63296167e-03 4.69013644e-04 9.99953492e-01 -3.33101849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.29, Z:-0.33 [[ 9.99531233e-01 -2.90084624e-02 9.78894534e-03 1.84020752e+01] [ 2.90115126e-02 9.99579063e-01 -1.69704330e-04 -2.87488111e-01] [-9.77990195e-03 4.53616889e-04 9.99952073e-01 -3.33686294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.29, Z:-0.33 [[ 9.99557437e-01 -2.80393511e-02 9.93605365e-03 1.84303672e+01] [ 2.80424182e-02 9.99606720e-01 -1.69474310e-04 -2.86016417e-01] [-9.92739405e-03 4.48030279e-04 9.99950622e-01 -3.33835442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.28, Z:-0.33 [[ 9.99565899e-01 -2.77154798e-02 9.99332887e-03 1.84587565e+01] [ 2.77185375e-02 9.99615753e-01 -1.67568650e-04 -2.84708456e-01] [-9.98484472e-03 4.44496369e-04 9.99950051e-01 -3.33924125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.28, Z:-0.33 [[ 9.99545120e-01 -2.84787791e-02 9.92535094e-03 1.84873273e+01] [ 2.84818051e-02 9.99594298e-01 -1.63635915e-04 -2.80998590e-01] [-9.91666405e-03 4.46253392e-04 9.99950729e-01 -3.34336463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.28, Z:-0.33 [[ 9.99522877e-01 -2.94506832e-02 9.30997086e-03 1.85148233e+01] [ 2.94533574e-02 9.99566144e-01 -1.50231551e-04 -2.78966201e-01] [-9.30150725e-03 4.24369771e-04 9.99956650e-01 -3.34955189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.28, Z:-0.34 [[ 9.99479085e-01 -3.10107846e-02 8.93815364e-03 1.85433963e+01] [ 3.10133104e-02 9.99518961e-01 -1.44088038e-04 -2.77434615e-01] [-8.92938576e-03 4.21214714e-04 9.99960044e-01 -3.35949988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.28, Z:-0.34 [[ 9.99424686e-01 -3.31178677e-02 7.31469522e-03 1.85709048e+01] [ 3.31196012e-02 9.99451389e-01 -1.15954509e-04 -2.76045207e-01] [-7.30684213e-03 3.58147587e-04 9.99973241e-01 -3.38363913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.28, Z:-0.34 [[ 9.99380760e-01 -3.42506721e-02 8.06152251e-03 1.85990617e+01] [ 3.42528038e-02 9.99413193e-01 -1.26474009e-04 -2.75883523e-01] [-8.05246012e-03 4.02525440e-04 9.99967497e-01 -3.36142266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.28, Z:-0.34 [[ 9.99320071e-01 -3.60071542e-02 7.92969041e-03 1.86267692e+01] [ 3.60092555e-02 9.99351449e-01 -1.22324871e-04 -2.75495397e-01] [-7.92014303e-03 4.07783947e-04 9.99968552e-01 -3.36261407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.27, Z:-0.34 [[ 9.99213676e-01 -3.91396189e-02 6.33400052e-03 1.86548335e+01] [ 3.91410160e-02 9.99233692e-01 -9.67273133e-05 -2.74152935e-01] [-6.32536086e-03 3.44570470e-04 9.99979935e-01 -3.36197614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.27, Z:-0.34 [[ 9.99163174e-01 -4.04732188e-02 5.90506288e-03 1.86825393e+01] [ 4.04744481e-02 9.99180570e-01 -8.87825271e-05 -2.73566672e-01] [-5.89663078e-03 3.27712393e-04 9.99982561e-01 -3.36750935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.27, Z:-0.34 [[ 9.99102115e-01 -4.22205176e-02 3.52021876e-03 1.87101883e+01] [ 4.22209676e-02 9.99108296e-01 -5.36070625e-05 -2.72528715e-01] [-3.51481645e-03 2.02185972e-04 9.99993803e-01 -3.39212740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.27, Z:-0.34 [[ 9.99062422e-01 -4.30798155e-02 4.29026067e-03 1.87379860e+01] [ 4.30804829e-02 9.99071603e-01 -6.32367833e-05 -2.72134539e-01] [-4.28355338e-03 2.48003996e-04 9.99990795e-01 -3.36440734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.27, Z:-0.34 [[ 9.98991123e-01 -4.48207289e-02 2.79976935e-03 1.87663640e+01] [ 4.48210218e-02 9.98995032e-01 -4.19440802e-05 -2.71258245e-01] [-2.79507571e-03 1.67390287e-04 9.99996080e-01 -3.38284635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.27, Z:-0.34 [[ 9.98956080e-01 -4.55500959e-02 3.45518024e-03 1.87944081e+01] [ 4.55505395e-02 9.98962034e-01 -4.97600956e-05 -2.70773419e-01] [-3.44932730e-03 2.07093474e-04 9.99994030e-01 -3.37782671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.27, Z:-0.34 [[ 9.98894910e-01 -4.68679341e-02 3.51500167e-03 1.88226686e+01] [ 4.68683975e-02 9.98901072e-01 -4.95373654e-05 -2.69776883e-01] [-3.50881722e-03 2.14225117e-04 9.99993821e-01 -3.39169170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.27, Z:-0.34 [[ 9.98844049e-01 -4.78519350e-02 4.55608344e-03 1.88495896e+01] [ 4.78527079e-02 9.98854401e-01 -6.07393332e-05 -2.67816895e-01] [-4.54795750e-03 2.78690052e-04 9.99989619e-01 -3.38427916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.27, Z:-0.34 [[ 9.98829215e-01 -4.79854798e-02 6.13135751e-03 1.88777935e+01] [ 4.79868733e-02 9.98847963e-01 -8.02794955e-05 -2.67375758e-01] [-6.12044171e-03 3.74410181e-04 9.99981200e-01 -3.36992139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.27, Z:-0.34 [[ 9.98818456e-01 -4.81104543e-02 6.86121946e-03 1.89061762e+01] [ 4.81121860e-02 9.98841934e-01 -8.74556650e-05 -2.66501440e-01] [-6.84906619e-03 4.17460599e-04 9.99976458e-01 -3.37284988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.27, Z:-0.34 [[ 9.98807677e-01 -4.83244896e-02 6.92584428e-03 1.89342357e+01] [ 4.83262452e-02 9.98831601e-01 -8.62550475e-05 -2.65149236e-01] [-6.91358390e-03 4.20852253e-04 9.99976012e-01 -3.37500504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.26, Z:-0.34 [[ 9.98850099e-01 -4.73809050e-02 7.31639659e-03 1.89624041e+01] [ 4.73828220e-02 9.98876799e-01 -8.88047500e-05 -2.62327925e-01] [-7.30397116e-03 4.35374151e-04 9.99973231e-01 -3.37800515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.26, Z:-0.34 [[ 9.98888804e-01 -4.65032227e-02 7.65559952e-03 1.89902375e+01] [ 4.65052781e-02 9.98918040e-01 -9.05887140e-05 -2.60725259e-01] [-7.64310380e-03 4.46513837e-04 9.99970691e-01 -3.38244326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.26, Z:-0.34 [[ 9.99006977e-01 -4.38993726e-02 7.60953006e-03 1.90169296e+01] [ 4.39013032e-02 9.99035869e-01 -8.67804615e-05 -2.56919328e-01] [-7.59838387e-03 4.20762573e-04 9.99971043e-01 -3.38323128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.26, Z:-0.34 [[ 9.99065167e-01 -4.26066875e-02 7.31184775e-03 1.90445729e+01] [ 4.26084376e-02 9.99091845e-01 -8.36772305e-05 -2.55052933e-01] [-7.30164224e-03 3.95145415e-04 9.99973265e-01 -3.38835804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.25, Z:-0.34 [[ 9.99109757e-01 -4.15549375e-02 7.27194665e-03 1.90712627e+01] [ 4.15566217e-02 9.99136147e-01 -8.05810503e-05 -2.52525654e-01] [-7.26231621e-03 3.82706849e-04 9.99973556e-01 -3.39384755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.25, Z:-0.34 [[ 9.99209118e-01 -3.89782318e-02 7.86357261e-03 1.90996045e+01] [ 3.89801126e-02 9.99239983e-01 -8.60092995e-05 -2.47386716e-01] [-7.85424367e-03 3.92464223e-04 9.99969078e-01 -3.40023368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.25, Z:-0.34 [[ 9.99255871e-01 -3.75750549e-02 8.70749286e-03 1.91268640e+01] [ 3.75772748e-02 9.99293721e-01 -9.14188137e-05 -2.45294547e-01] [-8.69790787e-03 4.18554639e-04 9.99962085e-01 -3.40440430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.24, Z:-0.34 [[ 9.99350134e-01 -3.47307199e-02 9.64813024e-03 1.91547100e+01] [ 3.47333071e-02 9.99396612e-01 -1.00675663e-04 -2.41320125e-01] [-9.63881213e-03 4.35721708e-04 9.99953451e-01 -3.40879913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.24, Z:-0.34 [[ 9.99341131e-01 -3.49888125e-02 9.64815787e-03 1.91832820e+01] [ 3.49913853e-02 9.99387609e-01 -9.79344128e-05 -2.41535953e-01] [-9.63882282e-03 4.35472297e-04 9.99953451e-01 -3.41294146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.24, Z:-0.34 [[ 9.99371984e-01 -3.39472314e-02 1.01598956e-02 1.92108942e+01] [ 3.39500035e-02 9.99423527e-01 -1.00448577e-04 -2.39407276e-01] [-1.01506287e-02 4.45313984e-04 9.99948382e-01 -3.42333717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.24, Z:-0.34 [[ 9.99406516e-01 -3.27407430e-02 1.07079164e-02 1.92381299e+01] [ 3.27437105e-02 9.99463776e-01 -1.01891513e-04 -2.37290227e-01] [-1.06988385e-02 4.52447956e-04 9.99942663e-01 -3.43202385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.23, Z:-0.34 [[ 9.99454456e-01 -3.10433239e-02 1.12739919e-02 1.92651199e+01] [ 3.10464886e-02 9.99517936e-01 -1.05753216e-04 -2.33372338e-01] [-1.12652742e-02 4.55713383e-04 9.99936441e-01 -3.44366332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.23, Z:-0.35 [[ 9.99471458e-01 -3.05046763e-02 1.12369937e-02 1.92922075e+01] [ 3.05077705e-02 9.99534524e-01 -1.04011434e-04 -2.31961645e-01] [-1.12285903e-02 4.46772085e-04 9.99936858e-01 -3.45043108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197628 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.23, Z:-0.35 [[ 9.99485472e-01 -3.02998997e-02 1.05217124e-02 1.93201973e+01] [ 3.03025955e-02 9.99540766e-01 -9.68550751e-05 -2.30962002e-01] [-1.05139458e-02 4.15640437e-04 9.99944641e-01 -3.46998634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.23, Z:-0.35 [[ 9.99503568e-01 -2.94782405e-02 1.11198417e-02 1.93486700e+01] [ 2.94811639e-02 9.99565331e-01 -9.90402993e-05 -2.30518172e-01] [-1.11120888e-02 4.26817009e-04 9.99938168e-01 -3.46170600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.23, Z:-0.35 [[ 9.99561120e-01 -2.72321347e-02 1.16609352e-02 1.93769213e+01] [ 2.72351561e-02 9.99629049e-01 -1.00357261e-04 -2.30170567e-01] [-1.16538767e-02 4.17900608e-04 9.99932004e-01 -3.46080759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.23, Z:-0.35 [[ 9.99593160e-01 -2.58982083e-02 1.19497891e-02 1.94040245e+01] [ 2.59012385e-02 9.99664502e-01 -9.88578362e-05 -2.29725913e-01] [-1.19432198e-02 4.08331956e-04 9.99928594e-01 -3.46363564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.23, Z:-0.35 [[ 9.99632166e-01 -2.42371231e-02 1.21694474e-02 1.94319035e+01] [ 2.42401285e-02 9.99706160e-01 -9.95031758e-05 -2.29129324e-01] [-1.21634599e-02 3.94455545e-04 9.99925945e-01 -3.46509900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.23, Z:-0.35 [[ 9.99678734e-01 -2.20322595e-02 1.25303309e-02 1.94591072e+01] [ 2.20352220e-02 9.99757190e-01 -9.83968510e-05 -2.28082845e-01] [-1.25251205e-02 3.74473862e-04 9.99921487e-01 -3.47642810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.23, Z:-0.35 [[ 9.99795411e-01 -1.63865677e-02 1.18581678e-02 1.94881932e+01] [ 1.63888115e-02 9.99865690e-01 -9.20685097e-05 -2.27222549e-01] [-1.18550664e-02 2.86390950e-04 9.99929685e-01 -3.48724297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.23, Z:-0.35 [[ 9.99840483e-01 -1.35244422e-02 1.16661398e-02 1.95180548e+01] [ 1.35263790e-02 9.99908511e-01 -8.71319596e-05 -2.27438868e-01] [-1.16638940e-02 2.44918689e-04 9.99931944e-01 -3.49374799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.23, Z:-0.35 [[ 9.99877692e-01 -1.08433484e-02 1.12704251e-02 1.95486596e+01] [ 1.08449803e-02 9.99941188e-01 -8.36813946e-05 -2.28124646e-01] [-1.12688548e-02 2.05898697e-04 9.99936483e-01 -3.49896521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.23, Z:-0.35 [[ 9.99914127e-01 -6.41629317e-03 1.14267310e-02 1.95796141e+01] [ 6.41767968e-03 9.99979403e-01 -8.46752879e-05 -2.29429582e-01] [-1.14259523e-02 1.58001116e-04 9.99934709e-01 -3.50779270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.23, Z:-0.35 [[ 9.99923611e-01 -5.04303365e-03 1.12844654e-02 1.96120769e+01] [ 5.04430455e-03 9.99987274e-01 -8.41644654e-05 -2.30567213e-01] [-1.12838974e-02 1.41080316e-04 9.99936325e-01 -3.51150859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.23, Z:-0.35 [[ 9.99930361e-01 -4.17754227e-03 1.10372603e-02 1.96437463e+01] [ 4.17871352e-03 9.99991266e-01 -8.30584024e-05 -2.32017019e-01] [-1.10368169e-02 1.29174167e-04 9.99939084e-01 -3.51464232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.23, Z:-0.35 [[ 9.99927997e-01 -3.89474314e-03 1.13503811e-02 1.96763742e+01] [ 3.89597272e-03 9.99992407e-01 -8.62196591e-05 -2.34958158e-01] [-1.13499592e-02 1.30434226e-04 9.99935579e-01 -3.51048859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.24, Z:-0.35 [[ 9.99920636e-01 -3.82854029e-03 1.20026400e-02 1.97081366e+01] [ 3.82992120e-03 9.99992662e-01 -9.20670223e-05 -2.37085588e-01] [-1.20021994e-02 1.38028881e-04 9.99927961e-01 -3.51357308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.24, Z:-0.35 [[ 9.99916094e-01 -4.00266928e-03 1.23200854e-02 1.97408789e+01] [ 4.00414724e-03 9.99991979e-01 -9.52984354e-05 -2.39354669e-01] [-1.23196051e-02 1.44621875e-04 9.99924100e-01 -3.51178798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647628 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.24, Z:-0.35 [[ 9.99931602e-01 -4.63128755e-03 1.07397245e-02 1.97723580e+01] [ 4.63245473e-03 9.99989267e-01 -8.38048556e-05 -2.41362441e-01] [-1.07392211e-02 1.33550411e-04 9.99942324e-01 -3.52911807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.24, Z:-0.35 [[ 9.99931232e-01 -4.52875824e-03 1.08176589e-02 1.98040691e+01] [ 4.52996063e-03 9.99989736e-01 -8.66508222e-05 -2.44019990e-01] [-1.08171555e-02 1.35648432e-04 9.99941484e-01 -3.51470332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.25, Z:-0.35 [[ 9.99926868e-01 -7.49731113e-03 9.48939132e-03 1.98357051e+01] [ 7.49836578e-03 9.99971884e-01 -7.55653143e-05 -2.48246295e-01] [-9.48855798e-03 1.46714715e-04 9.99954972e-01 -3.52423465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.25, Z:-0.35 [[ 9.99899836e-01 -1.04349800e-02 9.56187369e-03 1.98674629e+01] [ 1.04362218e-02 9.99945538e-01 -7.99898867e-05 -2.50827383e-01] [-9.56051824e-03 1.79771710e-04 9.99954281e-01 -3.53221364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.25, Z:-0.35 [[ 9.99849495e-01 -1.41494658e-02 1.00388921e-02 1.98973717e+01] [ 1.41510266e-02 9.99899866e-01 -8.44553489e-05 -2.53556225e-01] [-1.00366919e-02 2.26503267e-04 9.99949605e-01 -3.53890193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.26, Z:-0.35 [[ 9.99649176e-01 -2.39952456e-02 1.12140104e-02 1.99269022e+01] [ 2.39978167e-02 9.99712006e-01 -9.47562829e-05 -2.59202557e-01] [-1.12085071e-02 3.63834806e-04 9.99937117e-01 -3.54480099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.26, Z:-0.35 [[ 9.99642580e-01 -2.42684608e-02 1.12140073e-02 1.99554830e+01] [ 2.42710534e-02 9.99705410e-01 -9.51365218e-05 -2.59388404e-01] [-1.12083949e-02 3.67278288e-04 9.99937117e-01 -3.54895678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.26, Z:-0.36 [[ 9.99496086e-01 -2.96107542e-02 1.14357577e-02 1.99820100e+01] [ 2.96137577e-02 9.99561412e-01 -9.33557596e-05 -2.63102648e-01] [-1.14279778e-02 4.31964474e-04 9.99934605e-01 -3.55074456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.27, Z:-0.35 [[ 9.99303144e-01 -3.54744932e-02 1.16097441e-02 2.00104361e+01] [ 3.54779720e-02 9.99370454e-01 -9.37639402e-05 -2.66682871e-01] [-1.15991090e-02 5.05588778e-04 9.99932600e-01 -3.54883905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.27, Z:-0.35 [[ 9.99105627e-01 -4.05930924e-02 1.18383886e-02 2.00384573e+01] [ 4.05970264e-02 9.99175597e-01 -9.20856747e-05 -2.70046807e-01] [-1.18248909e-02 5.72606689e-04 9.99929920e-01 -3.54759400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.27, Z:-0.35 [[ 9.98762901e-01 -4.80270788e-02 1.28867266e-02 2.00654292e+01] [ 4.80323011e-02 9.98845778e-01 -9.58668367e-05 -2.74444134e-01] [-1.28672482e-02 7.14727371e-04 9.99916958e-01 -3.54912175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.28, Z:-0.36 [[ 9.98621914e-01 -5.07455655e-02 1.33850858e-02 2.00935914e+01] [ 5.07514220e-02 9.98711311e-01 -9.80144684e-05 -2.76336898e-01] [-1.33628628e-02 7.77191534e-04 9.99910411e-01 -3.55004538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.28, Z:-0.36 [[ 9.98524057e-01 -5.25489893e-02 1.37226409e-02 2.01202486e+01] [ 5.25552577e-02 9.98618013e-01 -9.63275733e-05 -2.78059187e-01] [-1.36986145e-02 8.17382331e-04 9.99905835e-01 -3.55252311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.28, Z:-0.36 [[ 9.98453192e-01 -5.38043262e-02 1.40113609e-02 2.01473427e+01] [ 5.38109595e-02 9.98551136e-01 -9.65829621e-05 -2.79342409e-01] [-1.39858637e-02 8.50398340e-04 9.99901831e-01 -3.55618768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.28, Z:-0.36 [[ 9.98435716e-01 -5.42695418e-02 1.34513119e-02 2.01751051e+01] [ 5.42756786e-02 9.98525985e-01 -9.13207035e-05 -2.80969079e-01] [-1.34265285e-02 8.21256931e-04 9.99909523e-01 -3.56954714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.28, Z:-0.36 [[ 9.98466402e-01 -5.38106693e-02 1.30098283e-02 2.02028563e+01] [ 5.38163252e-02 9.98550848e-01 -8.47924733e-05 -2.81595737e-01] [-1.29864124e-02 7.84803588e-04 9.99915365e-01 -3.57651769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.28, Z:-0.36 [[ 9.98519106e-01 -5.29725116e-02 1.23898165e-02 2.02310081e+01] [ 5.29775363e-02 9.98595701e-01 -7.74680906e-05 -2.82224501e-01] [-1.23683138e-02 7.33735320e-04 9.99923240e-01 -3.57887403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.28, Z:-0.36 [[ 9.98585028e-01 -5.17667446e-02 1.21715418e-02 2.02591578e+01] [ 5.17714631e-02 9.98658956e-01 -7.26991939e-05 -2.82665881e-01] [-1.21514558e-02 7.02734854e-04 9.99925921e-01 -3.58063981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.28, Z:-0.36 [[ 9.98791099e-01 -4.77723501e-02 1.15820304e-02 2.02864796e+01] [ 4.77763134e-02 9.98858058e-01 -6.55956506e-05 -2.82326208e-01] [-1.15656708e-02 6.18863068e-04 9.99932924e-01 -3.59150788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.28, Z:-0.36 [[ 9.98905050e-01 -4.53815070e-02 1.13674584e-02 2.03148619e+01] [ 4.53851604e-02 9.98969561e-01 -6.35017944e-05 -2.82238100e-01] [-1.13528631e-02 5.79346186e-04 9.99935386e-01 -3.59665997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.28, Z:-0.36 [[ 9.99017540e-01 -4.28912363e-02 1.11488724e-02 2.03428104e+01] [ 4.28945622e-02 9.99079603e-01 -5.92587557e-05 -2.82071186e-01] [-1.11360693e-02 5.37426535e-04 9.99937848e-01 -3.60305672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.28, Z:-0.36 [[ 9.99142074e-01 -3.99997019e-02 1.07302894e-02 2.03705024e+01] [ 4.00025857e-02 9.99199575e-01 -5.41714444e-05 -2.82118719e-01] [-1.07195338e-02 4.83364291e-04 9.99942427e-01 -3.60590485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.28, Z:-0.36 [[ 9.99376426e-01 -3.37997593e-02 1.02144258e-02 2.03974831e+01] [ 3.38020141e-02 9.99428547e-01 -4.81414668e-05 -2.81166160e-01] [-1.02069615e-02 3.93379611e-04 9.99947830e-01 -3.61229540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.28, Z:-0.36 [[ 9.99479060e-01 -3.05859134e-02 1.03009888e-02 2.04245750e+01] [ 3.05880228e-02 9.99532076e-01 -4.72516926e-05 -2.80796167e-01] [-1.02947235e-02 3.62313958e-04 9.99946942e-01 -3.61879249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.28, Z:-0.36 [[ 9.99561922e-01 -2.77892518e-02 1.01843873e-02 2.04524895e+01] [ 2.77911633e-02 9.99613750e-01 -4.61922439e-05 -2.80696502e-01] [-1.01791700e-02 3.29207979e-04 9.99948137e-01 -3.61988981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.28, Z:-0.36 [[ 9.99621010e-01 -2.59366211e-02 9.22653740e-03 2.04803000e+01] [ 2.59380904e-02 9.99663550e-01 -3.95983166e-05 -2.80532585e-01] [-9.22240609e-03 2.78902070e-04 9.99957434e-01 -3.63551129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.28, Z:-0.36 [[ 9.99687843e-01 -2.25505100e-02 1.07559397e-02 2.05074561e+01] [ 2.25522669e-02 9.99745664e-01 -4.20682953e-05 -2.81195166e-01] [-1.07522555e-02 2.84625987e-04 9.99942152e-01 -3.62146735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.28, Z:-0.36 [[ 9.99793450e-01 -1.72772294e-02 1.07030473e-02 2.05352021e+01] [ 1.72786484e-02 9.99850712e-01 -4.01090621e-05 -2.81997542e-01] [-1.07007565e-02 2.25034968e-04 9.99942720e-01 -3.63093054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.28, Z:-0.36 [[ 9.99840043e-01 -1.48275531e-02 1.00016447e-02 2.05640824e+01] [ 1.48286427e-02 9.99890049e-01 -3.47926197e-05 -2.82448861e-01] [-1.00000292e-02 1.83097871e-04 9.99949982e-01 -3.63759144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.28, Z:-0.36 [[ 9.99873083e-01 -1.22680342e-02 1.01642705e-02 2.05927926e+01] [ 1.22689925e-02 9.99924733e-01 -3.19236698e-05 -2.83205855e-01] [-1.01631139e-02 1.56624977e-04 9.99948342e-01 -3.64627397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.28, Z:-0.37 [[ 9.99895152e-01 -9.94051352e-03 1.05295455e-02 2.06220045e+01] [ 9.94140200e-03 9.99950583e-01 -3.20409783e-05 -2.84335826e-01] [-1.05287067e-02 1.36716064e-04 9.99944562e-01 -3.65207556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.29, Z:-0.37 [[ 9.99915457e-01 -5.70959913e-03 1.16824117e-02 2.06528459e+01] [ 5.71040443e-03 9.99983695e-01 -3.55771354e-05 -2.87130499e-01] [-1.16820181e-02 1.02285423e-04 9.99931758e-01 -3.66072894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.29, Z:-0.37 [[ 9.99920850e-01 -3.70577141e-03 1.20233735e-02 2.06853694e+01] [ 3.70647745e-03 9.99993130e-01 -3.64391681e-05 -2.88722712e-01] [-1.20231559e-02 8.10006468e-05 9.99927716e-01 -3.66507315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.29, Z:-0.37 [[ 9.99925077e-01 2.08938267e-04 1.22391268e-02 2.07176499e+01] [-2.08489243e-04 9.99999978e-01 -3.79634963e-05 -2.93246536e-01] [-1.22391344e-02 3.54089257e-05 9.99925098e-01 -3.66674154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.30, Z:-0.37 [[ 9.99920323e-01 1.76496397e-03 1.24992991e-02 2.07497256e+01] [-1.76460623e-03 9.99998442e-01 -3.96490627e-05 -2.95871538e-01] [-1.24993496e-02 1.75895626e-05 9.99921880e-01 -3.67584041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.30, Z:-0.37 [[ 9.99920802e-01 3.40107976e-03 1.21170359e-02 2.07823221e+01] [-3.40085161e-03 9.99994216e-01 -3.94335697e-05 -2.98828757e-01] [-1.21170999e-02 -1.77779431e-06 9.99926585e-01 -3.68046824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.30, Z:-0.37 [[ 9.99910687e-01 4.95299125e-03 1.24131333e-02 2.08151368e+01] [-4.95285451e-03 9.99987734e-01 -4.17574636e-05 -3.02187660e-01] [-1.24131879e-02 -1.97267092e-05 9.99922953e-01 -3.68963836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.31, Z:-0.37 [[ 9.99905614e-01 6.95833304e-03 1.18467378e-02 2.08485247e+01] [-6.95833493e-03 9.99975790e-01 -4.10585628e-05 -3.08648483e-01] [-1.18467367e-02 -4.13788823e-05 9.99929824e-01 -3.70211526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.31, Z:-0.37 [[ 9.99899215e-01 7.82118021e-03 1.18485518e-02 2.08803032e+01] [-7.82123251e-03 9.99969413e-01 -4.19235212e-05 -3.11509325e-01] [-1.18485173e-02 -5.07509826e-05 9.99929803e-01 -3.71453805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.31, Z:-0.38 [[ 9.99904178e-01 6.18859881e-03 1.23828848e-02 2.09107024e+01] [-6.16054548e-03 9.99978373e-01 -2.30235612e-03 -3.11362786e-01] [-1.23968653e-02 2.22585018e-03 9.99920679e-01 -3.75509035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.32, Z:-0.37 [[ 9.99892426e-01 8.80840971e-03 1.17281285e-02 2.09449891e+01] [-8.83618995e-03 9.99958271e-01 2.31897689e-03 -3.19237655e-01] [-1.17072126e-02 -2.42235940e-03 9.99928534e-01 -3.72684684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.33, Z:-0.37 [[ 9.99909716e-01 7.94776200e-03 1.08347687e-02 2.09781425e+01] [-7.94773212e-03 9.99968415e-01 -4.58152979e-05 -3.27720682e-01] [-1.08347906e-02 -4.03006777e-05 9.99941301e-01 -3.73664305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.33, Z:-0.37 [[ 9.99923033e-01 6.90201794e-03 1.03097535e-02 2.10114811e+01] [-6.90190727e-03 9.99976180e-01 -4.63143487e-05 -3.33438429e-01] [-1.03098276e-02 -2.48461787e-05 9.99946852e-01 -3.73495027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.34, Z:-0.37 [[ 9.99936057e-01 5.24539471e-03 1.00183713e-02 2.10440623e+01] [-5.24517989e-03 9.99986243e-01 -4.77172691e-05 -3.38989611e-01] [-1.00184838e-02 -4.83394172e-06 9.99949814e-01 -3.73083960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.35, Z:-0.38 [[ 9.99955767e-01 8.50304144e-04 9.36699419e-03 2.10763147e+01] [-8.49900543e-04 9.99999638e-01 -4.70680256e-05 -3.48514046e-01] [-9.36703082e-03 3.91049302e-05 9.99956128e-01 -3.75920261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.35, Z:-0.37 [[ 9.99945953e-01 4.02912631e-04 1.03888581e-02 2.11087976e+01] [-4.02360655e-04 9.99999918e-01 -5.52215553e-05 -3.52177975e-01] [-1.03888795e-02 5.10385030e-05 9.99946033e-01 -3.74130135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.35, Z:-0.37 [[ 9.99915560e-01 3.65387645e-03 1.24708143e-02 2.11410553e+01] [-3.65327366e-03 9.99993324e-01 -7.11157137e-05 -3.51739912e-01] [-1.24709909e-02 2.55504112e-05 9.99922234e-01 -3.74650781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.35, Z:-0.38 [[ 9.99903161e-01 7.17188880e-03 1.19260928e-02 2.11726589e+01] [-7.07900084e-03 9.99944423e-01 -7.81269251e-03 -3.48631225e-01] [-1.19814618e-02 7.72751112e-03 9.99898360e-01 -3.79343558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.36, Z:-0.37 [[ 9.99862782e-01 9.14693346e-03 1.38112828e-02 2.12043540e+01] [-9.25480585e-03 9.99927010e-01 7.76684544e-03 -3.56530852e-01] [-1.37392319e-02 -7.89360043e-03 9.99874454e-01 -3.72337306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.35, Z:-0.38 [[ 9.99844505e-01 1.14893077e-02 1.33776814e-02 2.12376419e+01] [-1.14892384e-02 9.99933993e-01 -8.20351118e-05 -3.54462066e-01] [-1.33777410e-02 -7.16770161e-05 9.99910511e-01 -3.75666905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.35, Z:-0.38 [[ 9.99858040e-01 1.06248849e-02 1.30771106e-02 2.12693182e+01] [-1.06246958e-02 9.99943553e-01 -8.39345727e-05 -3.54609415e-01] [-1.30772642e-02 -5.50176641e-05 9.99914487e-01 -3.76586755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.35, Z:-0.38 [[ 9.99879090e-01 9.45745532e-03 1.23434751e-02 2.13023264e+01] [-9.45717545e-03 9.99955277e-01 -8.10435305e-05 -3.54590533e-01] [-1.23436895e-02 -3.57006780e-05 9.99923813e-01 -3.77124613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.35, Z:-0.38 [[ 9.99901843e-01 7.57119961e-03 1.17890341e-02 2.13352835e+01] [-7.57077883e-03 9.99971338e-01 -8.03206980e-05 -3.53902681e-01] [-1.17893043e-02 -8.93935586e-06 9.99930504e-01 -3.80444378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.35, Z:-0.38 [[ 9.99938255e-01 3.41809466e-03 1.05736802e-02 2.13682069e+01] [-3.34371033e-03 9.99969596e-01 -7.04455373e-03 -3.51197898e-01] [-1.05974377e-02 7.00876344e-03 9.99919283e-01 -3.82034598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.36, Z:-0.38 [[ 9.99912700e-01 1.70883132e-03 1.31023477e-02 2.13994976e+01] [-1.80027904e-03 9.99974083e-01 6.97087571e-03 -3.57929857e-01] [-1.30900961e-02 -6.99385504e-03 9.99889862e-01 -3.75256771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.36, Z:-0.38 [[ 9.99902314e-01 -6.00175457e-04 1.39643390e-02 2.14322814e+01] [ 6.01689956e-04 9.99999814e-01 -1.04253744e-04 -3.55595969e-01] [-1.39642739e-02 1.12645763e-04 9.99902488e-01 -3.78634122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.36, Z:-0.38 [[ 9.99885284e-01 -2.65945453e-03 1.49112784e-02 2.14654449e+01] [ 2.66147548e-03 9.99996452e-01 -1.15688936e-04 -3.55973763e-01] [-1.49109178e-02 1.55361667e-04 9.99888814e-01 -3.78509978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.36, Z:-0.38 [[ 9.99870904e-01 -4.91254611e-03 1.52984635e-02 2.14977680e+01] [ 4.91500359e-03 9.99987914e-01 -1.23041356e-04 -3.56152815e-01] [-1.52976741e-02 1.98217475e-04 9.99882964e-01 -3.79039375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.36, Z:-0.38 [[ 9.99827037e-01 -1.02992481e-02 1.54861961e-02 2.15302598e+01] [ 1.03024754e-02 9.99946920e-01 -1.28629216e-04 -3.55244486e-01] [-1.54840493e-02 2.88153122e-04 9.99880073e-01 -3.80119914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.36, Z:-0.38 [[ 9.99796046e-01 -1.35966145e-02 1.49331131e-02 2.15611830e+01] [ 1.36000420e-02 9.99907507e-01 -1.27986908e-04 -3.55052565e-01] [-1.49299917e-02 3.31051770e-04 9.99888487e-01 -3.81110782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.35, Z:-0.38 [[ 9.99693056e-01 -2.00277814e-02 1.45836376e-02 2.15915575e+01] [ 2.00317799e-02 9.99799336e-01 -1.28141893e-04 -3.53729674e-01] [-1.45781448e-02 4.20238779e-04 9.99893645e-01 -3.82485472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.35, Z:-0.38 [[ 9.99624187e-01 -2.30622984e-02 1.48194332e-02 2.16198671e+01] [ 2.30667593e-02 9.99733918e-01 -1.30134727e-04 -3.53452680e-01] [-1.48124888e-02 4.71922119e-04 9.99890178e-01 -3.82912412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.35, Z:-0.38 [[ 9.99555825e-01 -2.55311751e-02 1.53724588e-02 2.16470486e+01] [ 2.55361975e-02 9.99673890e-01 -1.30482215e-04 -3.52378049e-01] [-1.53641143e-02 5.22978403e-04 9.99881828e-01 -3.82991796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.35, Z:-0.38 [[ 9.99487014e-01 -2.76060296e-02 1.62362466e-02 2.16755603e+01] [ 2.76118486e-02 9.99618711e-01 -1.34296042e-04 -3.51673311e-01] [-1.62263485e-02 5.82539934e-04 9.99868174e-01 -3.83318445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.35, Z:-0.38 [[ 9.99347878e-01 -3.24655686e-02 1.58052210e-02 2.17036171e+01] [ 3.24716202e-02 9.99472650e-01 -1.26345757e-04 -3.50415897e-01] [-1.57927842e-02 6.39484498e-04 9.99875082e-01 -3.83287354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.35, Z:-0.38 [[ 9.99269243e-01 -3.47401321e-02 1.59406463e-02 2.17317346e+01] [ 3.47465040e-02 9.99396150e-01 -1.22854626e-04 -3.49529416e-01] [-1.59267526e-02 6.76646579e-04 9.99872932e-01 -3.84362591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.35, Z:-0.39 [[ 9.99201973e-01 -3.66291346e-02 1.59287053e-02 2.17589171e+01] [ 3.66356669e-02 9.99328682e-01 -1.18391193e-04 -3.48461085e-01] [-1.59136755e-02 7.01855454e-04 9.99873123e-01 -3.85347253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.35, Z:-0.39 [[ 9.99157868e-01 -3.78907523e-02 1.57431054e-02 2.17861833e+01] [ 3.78972589e-02 9.99281634e-01 -1.15066186e-04 -3.47636421e-01] [-1.57274362e-02 7.11589826e-04 9.99876063e-01 -3.86020822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.35, Z:-0.39 [[ 9.99108701e-01 -3.88871275e-02 1.64193694e-02 2.18134521e+01] [ 3.88943051e-02 9.99243323e-01 -1.17918080e-04 -3.45645618e-01] [-1.64023598e-02 7.56432943e-04 9.99865186e-01 -3.87020850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.35, Z:-0.39 [[ 9.99102106e-01 -3.90561915e-02 1.64193839e-02 2.18420138e+01] [ 3.90633582e-02 9.99236729e-01 -1.15867875e-04 -3.45762665e-01] [-1.64023261e-02 7.57160114e-04 9.99865186e-01 -3.87435580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.34, Z:-0.39 [[ 9.99094697e-01 -3.93285209e-02 1.62189092e-02 2.18699977e+01] [ 3.93355025e-02 9.99226053e-01 -1.11548467e-04 -3.44317291e-01] [-1.62019696e-02 7.49426424e-04 9.99868459e-01 -3.87898809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.34, Z:-0.39 [[ 9.99113374e-01 -3.88006945e-02 1.63392922e-02 2.18972632e+01] [ 3.88076384e-02 9.99246694e-01 -1.08010682e-04 -3.43566884e-01] [-1.63227929e-02 7.42004261e-04 9.99866499e-01 -3.88571697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.34, Z:-0.39 [[ 9.99204929e-01 -3.64104158e-02 1.62416829e-02 2.19252998e+01] [ 3.64169252e-02 9.99336678e-01 -1.05110533e-04 -3.42658821e-01] [-1.62270823e-02 6.96499114e-04 9.99868090e-01 -3.88416083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.34, Z:-0.39 [[ 9.99241477e-01 -3.56289006e-02 1.57178717e-02 2.19531939e+01] [ 3.56348321e-02 9.99364873e-01 -9.73780203e-05 -3.41834780e-01] [-1.57044194e-02 6.57407875e-04 9.99876462e-01 -3.91033732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.34, Z:-0.39 [[ 9.99319108e-01 -3.28590016e-02 1.67811258e-02 2.19799252e+01] [ 3.28652936e-02 9.99459785e-01 -9.92321913e-05 -3.41246938e-01] [-1.67687997e-02 6.50681251e-04 9.99859182e-01 -3.89720049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.34, Z:-0.39 [[ 9.99361212e-01 -3.12578684e-02 1.73237864e-02 2.20084299e+01] [ 3.12642877e-02 9.99511148e-01 -9.97761819e-05 -3.40302017e-01] [-1.73121988e-02 6.41328287e-04 9.99849927e-01 -3.90839267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.34, Z:-0.39 [[ 9.99459910e-01 -2.79037513e-02 1.73571231e-02 2.20350892e+01] [ 2.79096115e-02 9.99610446e-01 -9.54381909e-05 -3.38840816e-01] [-1.73476985e-02 5.79817209e-04 9.99849349e-01 -3.92509437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.34, Z:-0.39 [[ 9.99507938e-01 -2.65125465e-02 1.67620626e-02 2.20624592e+01] [ 2.65177827e-02 9.99648338e-01 -9.01565934e-05 -3.38599751e-01] [-1.67537778e-02 5.34604964e-04 9.99859503e-01 -3.93583572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.34, Z:-0.39 [[ 9.99534939e-01 -2.57129784e-02 1.63935364e-02 2.20901074e+01] [ 2.57178430e-02 9.99669238e-01 -8.59547334e-05 -3.38826165e-01] [-1.63859039e-02 5.07521154e-04 9.99865613e-01 -3.94208101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.34, Z:-0.39 [[ 9.99558029e-01 -2.50473287e-02 1.60118096e-02 2.21179063e+01] [ 2.50518133e-02 9.99686151e-01 -7.95381502e-05 -3.39567494e-01] [-1.60047921e-02 4.80627862e-04 9.99871800e-01 -3.94430013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.34, Z:-0.39 [[ 9.99590517e-01 -2.35844752e-02 1.62040120e-02 2.21458799e+01] [ 2.35888018e-02 9.99721743e-01 -7.59039081e-05 -3.41514445e-01] [-1.61977130e-02 4.58106054e-04 9.99868703e-01 -3.94685807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.34, Z:-0.39 [[ 9.99600247e-01 -2.32999767e-02 1.60142835e-02 2.21737044e+01] [ 2.33040950e-02 9.99728420e-01 -7.05754718e-05 -3.42246634e-01] [-1.60082900e-02 4.43745644e-04 9.99871761e-01 -3.94836618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.34, Z:-0.40 [[ 9.99613612e-01 -2.29166535e-02 1.57306581e-02 2.22015713e+01] [ 2.29205110e-02 9.99737288e-01 -6.49545350e-05 -3.42395094e-01] [-1.57250369e-02 4.25484159e-04 9.99876263e-01 -3.95499890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.34, Z:-0.40 [[ 9.99647488e-01 -2.17813225e-02 1.51813661e-02 2.22286254e+01] [ 2.17847234e-02 9.99762683e-01 -5.86640890e-05 -3.42875988e-01] [-1.51764855e-02 3.89365271e-04 9.99884755e-01 -3.97726202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.34, Z:-0.40 [[ 9.99658917e-01 -2.17698021e-02 1.44265552e-02 2.22553211e+01] [ 2.17728479e-02 9.99762942e-01 -5.40787218e-05 -3.43444741e-01] [-1.44219580e-02 3.68167467e-04 9.99895930e-01 -3.98608104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.34, Z:-0.40 [[ 9.99656092e-01 -2.20537784e-02 1.41890257e-02 2.22829444e+01] [ 2.20567305e-02 9.99756719e-01 -5.15800412e-05 -3.44436478e-01] [-1.41844363e-02 3.64525820e-04 9.99899329e-01 -3.99320990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.35, Z:-0.40 [[ 9.99648455e-01 -2.25348283e-02 1.39695576e-02 2.23096314e+01] [ 2.25376812e-02 9.99745993e-01 -4.68047528e-05 -3.47113125e-01] [-1.39649545e-02 3.61629733e-04 9.99902420e-01 -3.99882863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.35, Z:-0.40 [[ 9.99629762e-01 -2.33627562e-02 1.39470311e-02 2.23375298e+01] [ 2.33656579e-02 9.99726985e-01 -4.51144989e-05 -3.48591552e-01] [-1.39421694e-02 3.70979354e-04 9.99902734e-01 -4.00279004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.35, Z:-0.40 [[ 9.99620536e-01 -2.38673969e-02 1.37525235e-02 2.23647442e+01] [ 2.38702123e-02 9.99715065e-01 -4.05858715e-05 -3.49661897e-01] [-1.37476363e-02 3.68846127e-04 9.99905429e-01 -4.00210029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.35, Z:-0.40 [[ 9.99619798e-01 -2.37066553e-02 1.40802551e-02 2.23926053e+01] [ 2.37095670e-02 9.99718888e-01 -3.98823176e-05 -3.49830544e-01] [-1.40753515e-02 3.73703906e-04 9.99900867e-01 -4.00444904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.35, Z:-0.40 [[ 9.99646429e-01 -2.23655667e-02 1.43804946e-02 2.24203094e+01] [ 2.23684086e-02 9.99749795e-01 -3.67901917e-05 -3.49390510e-01] [-1.43760737e-02 3.58445964e-04 9.99896595e-01 -4.00868217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.35, Z:-0.40 [[ 9.99667615e-01 -2.14772103e-02 1.42614824e-02 2.24480013e+01] [ 2.14798601e-02 9.99769281e-01 -3.26331920e-05 -3.49130137e-01] [-1.42574911e-02 3.38956991e-04 9.99898299e-01 -4.01757928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.35, Z:-0.40 [[ 9.99689588e-01 -2.07416335e-02 1.38026450e-02 2.24745810e+01] [ 2.07439926e-02 9.99784820e-01 -2.77587106e-05 -3.49083354e-01] [-1.37990991e-02 3.14072059e-04 9.99904739e-01 -4.02341808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.35, Z:-0.40 [[ 9.99693476e-01 -2.05489249e-02 1.38092474e-02 2.25022484e+01] [ 2.05512466e-02 9.99788800e-01 -2.62247197e-05 -3.49057387e-01] [-1.38057920e-02 3.10013930e-04 9.99904647e-01 -4.03281274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.35, Z:-0.40 [[ 9.99699946e-01 -2.01603274e-02 1.39132944e-02 2.25305940e+01] [ 2.01625919e-02 9.99796714e-01 -2.24914994e-05 -3.48079656e-01] [-1.39100125e-02 3.03012827e-04 9.99903205e-01 -4.04234271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.35, Z:-0.41 [[ 9.99703083e-01 -2.03531111e-02 1.33976570e-02 2.25584776e+01] [ 2.03551792e-02 9.99792812e-01 -1.80032399e-05 -3.47490348e-01] [-1.33945147e-02 2.90709603e-04 9.99910247e-01 -4.05093750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.35, Z:-0.41 [[ 9.99690335e-01 -2.13602072e-02 1.27661637e-02 2.25869373e+01] [ 2.13621234e-02 9.99771804e-01 -1.37424681e-05 -3.46472267e-01] [-1.27629569e-02 2.86450576e-04 9.99918509e-01 -4.05979043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.35, Z:-0.41 [[ 9.99661113e-01 -2.28638660e-02 1.24460094e-02 2.26140023e+01] [ 2.28657572e-02 9.99738544e-01 -9.65816770e-06 -3.46000737e-01] [-1.24425345e-02 2.94242324e-04 9.99922545e-01 -4.06555868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.35, Z:-0.41 [[ 9.99624397e-01 -2.45777942e-02 1.21242482e-02 2.26417672e+01] [ 2.45797022e-02 9.99697873e-01 -8.36087139e-06 -3.45573479e-01] [-1.21203797e-02 3.06368141e-04 9.99926499e-01 -4.08896644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.35, Z:-0.41 [[ 9.99601159e-01 -2.49143417e-02 1.32965292e-02 2.26686178e+01] [ 2.49166098e-02 9.99689533e-01 -4.92099824e-06 -3.45431278e-01] [-1.32922785e-02 3.36223466e-04 9.99911597e-01 -4.06272650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.34, Z:-0.41 [[ 9.99553803e-01 -2.64560913e-02 1.38661150e-02 2.26969401e+01] [ 2.64586684e-02 9.99649908e-01 -2.41292385e-06 -3.44879767e-01] [-1.38611968e-02 3.69290787e-04 9.99903861e-01 -4.06731291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.34, Z:-0.41 [[ 9.99499136e-01 -2.80532595e-02 1.46455552e-02 2.27251528e+01] [ 2.80562428e-02 9.99606346e-01 1.75956489e-06 -3.44332016e-01] [-1.46398392e-02 4.09140569e-04 9.99892748e-01 -4.07154151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.34, Z:-0.41 [[ 9.99422598e-01 -3.01613574e-02 1.56449201e-02 2.27521894e+01] [ 3.01649491e-02 9.99544934e-01 6.40546918e-06 -3.43974883e-01] [-1.56379938e-02 4.65526447e-04 9.99877611e-01 -4.07156150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.34, Z:-0.41 [[ 9.99396753e-01 -3.07943703e-02 1.60573093e-02 2.27807370e+01] [ 3.07981836e-02 9.99525623e-01 9.81141058e-06 -3.43787503e-01] [-1.60499942e-02 4.84730467e-04 9.99871073e-01 -4.07655712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.34, Z:-0.41 [[ 9.99385130e-01 -3.10299024e-02 1.63250703e-02 2.28092913e+01] [ 3.10338021e-02 9.99518335e-01 1.44566522e-05 -3.43344444e-01] [-1.63176557e-02 4.92181239e-04 9.99866737e-01 -4.08610661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.34, Z:-0.41 [[ 9.99412359e-01 -3.04540076e-02 1.57318310e-02 2.28369226e+01] [ 3.04574933e-02 9.99536063e-01 1.80284177e-05 -3.43170230e-01] [-1.57250815e-02 4.61134314e-04 9.99876247e-01 -4.09207604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.34, Z:-0.41 [[ 9.99493121e-01 -2.77309622e-02 1.56363233e-02 2.28636338e+01] [ 2.77340099e-02 9.99615338e-01 2.19379025e-05 -3.42685445e-01] [-1.56309170e-02 4.11731163e-04 9.99877745e-01 -4.10194160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.34, Z:-0.41 [[ 9.99549917e-01 -2.57681817e-02 1.53611582e-02 2.28922166e+01] [ 2.57708625e-02 9.99667876e-01 2.34378818e-05 -3.42616737e-01] [-1.53566603e-02 3.72442962e-04 9.99882010e-01 -4.10424693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.34, Z:-0.41 [[ 9.99597164e-01 -2.36162543e-02 1.57411263e-02 2.29194966e+01] [ 2.36187371e-02 9.99721038e-01 2.81825511e-05 -3.42475546e-01] [-1.57374007e-02 3.43614325e-04 9.99876100e-01 -4.10783258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.34, Z:-0.41 [[ 9.99634808e-01 -2.15492002e-02 1.63059158e-02 2.29474924e+01] [ 2.15515373e-02 9.99767738e-01 3.23989759e-05 -3.42180125e-01] [-1.63028267e-02 3.19030408e-04 9.99867049e-01 -4.11379884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.34, Z:-0.41 [[ 9.99686641e-01 -1.83601109e-02 1.70154703e-02 2.29758590e+01] [ 1.83621149e-02 9.99831401e-01 3.84647792e-05 -3.42192866e-01] [-1.70133077e-02 2.73987295e-04 9.99855226e-01 -4.12776426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.34, Z:-0.41 [[ 9.99712244e-01 -1.71227964e-02 1.67999995e-02 2.30054212e+01] [ 1.71245063e-02 9.99853364e-01 4.20829494e-05 -3.42951793e-01] [-1.67982566e-02 2.45620858e-04 9.99858869e-01 -4.13184892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.34, Z:-0.41 [[ 9.99726605e-01 -1.61801240e-02 1.68795545e-02 2.30346695e+01] [ 1.61817066e-02 9.99869067e-01 4.28295482e-05 -3.44254448e-01] [-1.68780374e-02 2.30322159e-04 9.99857529e-01 -4.13845017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.35, Z:-0.41 [[ 9.99760528e-01 -1.45566804e-02 1.63398478e-02 2.30650659e+01] [ 1.45579426e-02 9.99894027e-01 4.17025139e-05 -3.46696134e-01] [-1.63387233e-02 1.96182040e-04 9.99866495e-01 -4.14085287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.35, Z:-0.41 [[ 9.99775730e-01 -1.28687768e-02 1.68191935e-02 2.30953810e+01] [ 1.28698774e-02 9.99917179e-01 4.28078815e-05 -3.45799549e-01] [-1.68183514e-02 1.73662676e-04 9.99858546e-01 -4.14545488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.35, Z:-0.42 [[ 9.99787302e-01 -1.20107899e-02 1.67658179e-02 2.31273093e+01] [ 1.20117780e-02 9.99927855e-01 4.17691545e-05 -3.45016180e-01] [-1.67651101e-02 1.59627012e-04 9.99859443e-01 -4.15701229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.34, Z:-0.42 [[ 9.99791180e-01 -1.23028740e-02 1.63167162e-02 2.31586275e+01] [ 1.23038674e-02 9.99924304e-01 3.95054304e-05 -3.44628569e-01] [-1.63159671e-02 1.61261531e-04 9.99866873e-01 -4.16938572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.34, Z:-0.42 [[ 9.99757209e-01 -1.46048007e-02 1.64991785e-02 2.31898702e+01] [ 1.46061571e-02 9.99893324e-01 3.82993772e-05 -3.43693447e-01] [-1.64979778e-02 2.02699514e-04 9.99863879e-01 -4.18090166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.34, Z:-0.42 [[ 9.99723167e-01 -1.67377777e-02 1.65359315e-02 2.32215132e+01] [ 1.67394450e-02 9.99859885e-01 3.75908453e-05 -3.43644367e-01] [-1.65342437e-02 2.39221876e-04 9.99863271e-01 -4.18259913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.34, Z:-0.42 [[ 9.99660128e-01 -1.96206348e-02 1.71656551e-02 2.32521857e+01] [ 1.96228649e-02 9.99807452e-01 3.85240941e-05 -3.44010843e-01] [-1.71631057e-02 2.98328328e-04 9.99852659e-01 -4.18593262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.34, Z:-0.42 [[ 9.99603300e-01 -2.15943033e-02 1.80811941e-02 2.32820989e+01] [ 2.15970983e-02 9.99766755e-01 4.06953139e-05 -3.43216790e-01] [-1.80778555e-02 3.49822155e-04 9.99836521e-01 -4.18642530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.34, Z:-0.42 [[ 9.99493866e-01 -2.60866324e-02 1.82071018e-02 2.33106903e+01] [ 2.60901862e-02 9.99659592e-01 4.23578614e-05 -3.42014166e-01] [-1.82020090e-02 4.32690254e-04 9.99834236e-01 -4.19467929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.34, Z:-0.42 [[ 9.99435562e-01 -2.87895296e-02 1.73124567e-02 2.33385058e+01] [ 2.87930758e-02 9.99585392e-01 4.44357046e-05 -3.41195874e-01] [-1.73065581e-02 4.54068256e-04 9.99850127e-01 -4.20337039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.34, Z:-0.42 [[ 9.99376400e-01 -3.12233714e-02 1.64897717e-02 2.33664413e+01] [ 3.12268469e-02 9.99512322e-01 4.67345225e-05 -3.40476332e-01] [-1.64831892e-02 4.68218196e-04 9.99864033e-01 -4.21394492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.34, Z:-0.42 [[ 9.99282496e-01 -3.45039831e-02 1.56194832e-02 2.33937990e+01] [ 3.45074399e-02 9.99404440e-01 4.82246891e-05 -3.38628661e-01] [-1.56118448e-02 4.90798290e-04 9.99878007e-01 -4.22869803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.34, Z:-0.42 [[ 9.99237815e-01 -3.60096210e-02 1.50697234e-02 2.34216075e+01] [ 3.60129821e-02 9.99351321e-01 4.83589252e-05 -3.37776774e-01] [-1.50616894e-02 4.94383612e-04 9.99886444e-01 -4.22955907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.34, Z:-0.42 [[ 9.99207385e-01 -3.68910012e-02 1.49551116e-02 2.34492589e+01] [ 3.68943489e-02 9.99319170e-01 5.20751782e-05 -3.37288771e-01] [-1.49468508e-02 4.99725202e-04 9.99888165e-01 -4.23476390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.34, Z:-0.42 [[ 9.99195107e-01 -3.73552251e-02 1.46193495e-02 2.34764701e+01] [ 3.73584148e-02 9.99301929e-01 5.49433851e-05 -3.36476156e-01] [-1.46111966e-02 4.91256564e-04 9.99893130e-01 -4.23861098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.33, Z:-0.42 [[ 9.99212731e-01 -3.70540033e-02 1.41745927e-02 2.35037611e+01] [ 3.70569481e-02 9.99313154e-01 5.49336500e-05 -3.34549352e-01] [-1.41668925e-02 4.70376743e-04 9.99899534e-01 -4.24527270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.33, Z:-0.43 [[ 9.99236190e-01 -3.63750257e-02 1.42791696e-02 2.35320374e+01] [ 3.63779069e-02 9.99338103e-01 5.79912140e-05 -3.33650908e-01] [-1.42718277e-02 4.61499384e-04 9.99898046e-01 -4.25138904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.33, Z:-0.43 [[ 9.99266167e-01 -3.54586871e-02 1.44847994e-02 2.35587118e+01] [ 3.54614962e-02 9.99371041e-01 6.29408915e-05 -3.32860667e-01] [-1.44779209e-02 4.50757957e-04 9.99895088e-01 -4.25804667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.33, Z:-0.43 [[ 9.99286489e-01 -3.46321221e-02 1.50707726e-02 2.35868592e+01] [ 3.46350393e-02 9.99400025e-01 6.74685787e-05 -3.32356490e-01] [-1.50640671e-02 4.54556363e-04 9.99886427e-01 -4.26496914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.33, Z:-0.43 [[ 9.99366355e-01 -3.21160046e-02 1.53444134e-02 2.36136420e+01] [ 3.21186662e-02 9.99484060e-01 7.30096640e-05 -3.31633840e-01] [-1.53388414e-02 4.19878690e-04 9.99882265e-01 -4.26902803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.33, Z:-0.43 [[ 9.99360791e-01 -3.22886809e-02 1.53444040e-02 2.36422028e+01] [ 3.22913332e-02 9.99478496e-01 7.49431385e-05 -3.31412499e-01] [-1.53388216e-02 4.20596027e-04 9.99882265e-01 -4.27317519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.33, Z:-0.43 [[ 9.99401746e-01 -3.10406275e-02 1.52522260e-02 2.36705334e+01] [ 3.10430617e-02 9.99518045e-01 7.71867078e-05 -3.30887425e-01] [-1.52472710e-02 3.96335261e-04 9.99883675e-01 -4.28225567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.33, Z:-0.43 [[ 9.99466787e-01 -2.91724402e-02 1.46666541e-02 2.36979682e+01] [ 2.91744330e-02 9.99574333e-01 7.81104972e-05 -3.30590812e-01] [-1.46626897e-02 3.49822470e-04 9.99892436e-01 -4.29357469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.33, Z:-0.43 [[ 9.99594008e-01 -2.49656538e-02 1.37308397e-02 2.37263448e+01] [ 2.49669844e-02 9.99688273e-01 7.45315116e-05 -3.30811087e-01] [-1.37284202e-02 2.68316408e-04 9.99905725e-01 -4.30202472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.33, Z:-0.43 [[ 9.99647031e-01 -2.26054866e-02 1.39572964e-02 2.37531099e+01] [ 2.26065743e-02 9.99744436e-01 7.98597036e-05 -3.31053355e-01] [-1.39555347e-02 2.35695142e-04 9.99902589e-01 -4.30705057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.33, Z:-0.43 [[ 9.99697756e-01 -2.01122581e-02 1.41383438e-02 2.37808305e+01] [ 2.01131010e-02 9.99797708e-01 8.25818064e-05 -3.31278209e-01] [-1.41371446e-02 2.01809091e-04 9.99900045e-01 -4.30973811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.33, Z:-0.43 [[ 9.99778284e-01 -1.51133889e-02 1.46617740e-02 2.38087965e+01] [ 1.51136951e-02 9.99885778e-01 8.99282789e-05 -3.31961621e-01] [-1.46614584e-02 1.31685241e-04 9.99892506e-01 -4.31389180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.33, Z:-0.43 [[ 9.99801050e-01 -1.27480680e-02 1.53410509e-02 2.38381868e+01] [ 1.27480587e-02 9.99918735e-01 9.83995982e-05 -3.32227216e-01] [-1.53410586e-02 9.71885963e-05 9.99882314e-01 -4.32284840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.33, Z:-0.43 [[ 9.99812933e-01 -1.05576762e-02 1.62059964e-02 2.38697420e+01] [ 1.05573801e-02 9.99944264e-01 1.03829162e-04 -3.32536374e-01] [-1.62061893e-02 6.72831240e-05 9.99868669e-01 -4.33233317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.33, Z:-0.43 [[ 9.99831531e-01 -8.82523375e-03 1.60942352e-02 2.39023151e+01] [ 8.82472706e-03 9.99961056e-01 1.02502480e-04 -3.33081045e-01] [-1.60945131e-02 3.95420217e-05 9.99870474e-01 -4.33684832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.34, Z:-0.43 [[ 9.99844067e-01 -5.53299547e-03 1.67698487e-02 2.39342992e+01] [ 5.53200265e-03 9.99984693e-01 1.05590944e-04 -3.35136730e-01] [-1.67701762e-02 -1.28036315e-05 9.99859371e-01 -4.34052536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.34, Z:-0.43 [[ 9.99842984e-01 -4.03607451e-03 1.72544895e-02 2.39668849e+01] [ 4.03482219e-03 9.99991854e-01 1.07391021e-04 -3.36130789e-01] [-1.72547824e-02 -3.77553622e-05 9.99851124e-01 -4.34836225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.34, Z:-0.44 [[ 9.99841188e-01 -2.31884867e-03 1.76697850e-02 2.39997603e+01] [ 2.31729157e-03 9.99997309e-01 1.08596314e-04 -3.37140587e-01] [-1.76699893e-02 -6.76330235e-05 9.99843871e-01 -4.35303138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.34, Z:-0.44 [[ 9.99838486e-01 -8.47313308e-04 1.79522645e-02 2.40329229e+01] [ 8.45503320e-04 9.99999637e-01 1.08411995e-04 -3.37686144e-01] [-1.79523499e-02 -9.32157857e-05 9.99838839e-01 -4.36462242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.34, Z:-0.44 [[ 9.99825734e-01 3.08111800e-03 1.84121817e-02 2.40651857e+01] [-3.08365279e-03 9.99995240e-01 1.09279981e-04 -3.36519084e-01] [-1.84117574e-02 -1.66037712e-04 9.99830475e-01 -4.38015871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.34, Z:-0.44 [[ 9.99835463e-01 4.83470488e-03 1.74834931e-02 2.40982605e+01] [-4.83723183e-03 9.99988295e-01 1.02247119e-04 -3.35071342e-01] [-1.74827941e-02 -1.86802005e-04 9.99847147e-01 -4.39272016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.33, Z:-0.44 [[ 9.99844844e-01 5.76542913e-03 1.66447539e-02 2.41302256e+01] [-5.76781410e-03 9.99983361e-01 9.52846777e-05 -3.33539890e-01] [-1.66439276e-02 -1.91273740e-04 9.99861462e-01 -4.40729462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.33, Z:-0.44 [[ 9.99866307e-01 5.78152734e-03 1.52951851e-02 2.41634894e+01] [-5.78348520e-03 9.99983272e-01 8.37752922e-05 -3.32378183e-01] [-1.52944449e-02 -1.72223569e-04 9.99883018e-01 -4.41860772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.33, Z:-0.44 [[ 9.99903002e-01 3.55945018e-03 1.34654327e-02 2.41955273e+01] [-3.56072105e-03 9.99993658e-01 7.04066491e-05 -3.30712003e-01] [-1.34650967e-02 -1.18346470e-04 9.99909334e-01 -4.43645434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.33, Z:-0.44 [[ 9.99916091e-01 2.25676360e-03 1.27560714e-02 2.42281675e+01] [-2.25775800e-03 9.99997449e-01 6.35556363e-05 -3.30509151e-01] [-1.27558955e-02 -9.23504258e-05 9.99918636e-01 -4.44321921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.33, Z:-0.44 [[ 9.99922043e-01 4.33168170e-04 1.24787978e-02 2.42614360e+01] [-4.33935446e-04 9.99999904e-01 5.87788420e-05 -3.31027145e-01] [-1.24787712e-02 -6.41892525e-05 9.99922135e-01 -4.44869759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.33, Z:-0.44 [[ 9.99921480e-01 -1.46924657e-03 1.24448535e-02 2.42941064e+01] [ 1.46867377e-03 9.99998920e-01 5.51660115e-05 -3.32417663e-01] [-1.24449211e-02 -3.68842499e-05 9.99922558e-01 -4.44961525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.33, Z:-0.45 [[ 9.99897144e-01 -5.87351394e-03 1.30844351e-02 2.43262487e+01] [ 5.87331054e-03 9.99982751e-01 5.39714202e-05 -3.33920560e-01] [-1.30845264e-02 2.28830815e-05 9.99914394e-01 -4.45434511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.33, Z:-0.45 [[ 9.99873905e-01 -7.59372490e-03 1.39466825e-02 2.43593078e+01] [ 7.59371839e-03 9.99971166e-01 5.34236403e-05 -3.33610887e-01] [-1.39466861e-02 5.24902756e-05 9.99902739e-01 -4.46173049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.33, Z:-0.45 [[ 9.99844249e-01 -9.79797108e-03 1.46791219e-02 2.43918195e+01] [ 9.79822601e-03 9.99951995e-01 5.45534492e-05 -3.33269636e-01] [-1.46789517e-02 8.92844014e-05 9.99892254e-01 -4.46684597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.33, Z:-0.45 [[ 9.99809740e-01 -1.25826505e-02 1.49050678e-02 2.44239476e+01] [ 1.25832869e-02 9.99920826e-01 5.10918287e-05 -3.33467345e-01] [-1.49045306e-02 1.36472636e-04 9.99888912e-01 -4.46691688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.33, Z:-0.45 [[ 9.99671371e-01 -1.98951353e-02 1.61658107e-02 2.44542421e+01] [ 1.98968631e-02 9.99802036e-01 5.39654198e-05 -3.33739987e-01] [-1.61636841e-02 2.67701237e-04 9.99869323e-01 -4.46641690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.33, Z:-0.45 [[ 9.99561613e-01 -2.40841408e-02 1.72201978e-02 2.44831203e+01] [ 2.40867160e-02 9.99709871e-01 5.78734657e-05 -3.33811221e-01] [-1.72165956e-02 3.56929919e-04 9.99851720e-01 -4.46840626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.33, Z:-0.45 [[ 9.99432409e-01 -2.84116198e-02 1.81008352e-02 2.45116662e+01] [ 2.84150880e-02 9.99596208e-01 6.56056124e-05 -3.33977855e-01] [-1.80953902e-02 4.48768451e-04 9.99836164e-01 -4.46491408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.33, Z:-0.45 [[ 9.99171700e-01 -3.53337748e-02 2.01850904e-02 2.45391180e+01] [ 3.53393924e-02 9.99375366e-01 7.84399908e-05 -3.32035551e-01] [-2.01752536e-02 6.34953809e-04 9.99796257e-01 -4.45488734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.33, Z:-0.45 [[ 9.99027645e-01 -3.91689220e-02 2.02375873e-02 2.45674249e+01] [ 3.91752865e-02 9.99232350e-01 8.20139434e-05 -3.31176127e-01] [-2.02252643e-02 7.10879083e-04 9.99795196e-01 -4.46011128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.33, Z:-0.45 [[ 9.98857040e-01 -4.35101366e-02 1.97859066e-02 2.45944334e+01] [ 4.35169798e-02 9.99052684e-01 8.47608638e-05 -3.30097616e-01] [-1.97708511e-02 7.76358913e-04 9.99804236e-01 -4.46631981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.33, Z:-0.45 [[ 9.98467009e-01 -5.20112625e-02 1.89330741e-02 2.46227623e+01] [ 5.20189979e-02 9.98646092e-01 8.40211298e-05 -3.27787479e-01] [-1.89118105e-02 9.00987218e-04 9.99820750e-01 -4.48381307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.33, Z:-0.45 [[ 9.98260789e-01 -5.60710313e-02 1.82053756e-02 2.46512336e+01] [ 5.60787659e-02 9.98426344e-01 8.57815416e-05 -3.26097306e-01] [-1.81815364e-02 9.35302644e-04 9.99834265e-01 -4.49347957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.32, Z:-0.45 [[ 9.98084004e-01 -5.95566507e-02 1.67728110e-02 2.46779147e+01] [ 5.95636385e-02 9.98224507e-01 8.30848048e-05 -3.23987499e-01] [-1.67479792e-02 9.16124036e-04 9.99859323e-01 -4.50357181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.32, Z:-0.45 [[ 9.97947054e-01 -6.23272326e-02 1.47307020e-02 2.47059850e+01] [ 6.23328992e-02 9.98055411e-01 7.45819687e-05 -3.22277268e-01] [-1.47067053e-02 8.43778506e-04 9.99891495e-01 -4.51191663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.32, Z:-0.45 [[ 9.97782324e-01 -6.53752940e-02 1.25102207e-02 2.47326312e+01] [ 6.53795792e-02 9.97860464e-01 6.65670421e-05 -3.19845890e-01] [-1.24878065e-02 7.51493549e-04 9.99921742e-01 -4.51270210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.32, Z:-0.45 [[ 9.97740913e-01 -6.61008893e-02 1.19892825e-02 2.47604755e+01] [ 6.61048655e-02 9.97812679e-01 6.47760347e-05 -3.18901489e-01] [-1.19673398e-02 7.27920206e-04 9.99928124e-01 -4.50832892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.32, Z:-0.45 [[ 9.97724011e-01 -6.63790819e-02 1.18581441e-02 2.47886542e+01] [ 6.63829524e-02 9.97794217e-01 6.73468965e-05 -3.17478412e-01] [-1.18364580e-02 7.19984999e-04 9.99929687e-01 -4.51953705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.32, Z:-0.45 [[ 9.97772350e-01 -6.55523229e-02 1.23786193e-02 2.48169851e+01] [ 6.55564319e-02 9.97848861e-01 7.39648783e-05 -3.15411303e-01] [-1.23568398e-02 7.37698005e-04 9.99923379e-01 -4.50559077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.31, Z:-0.45 [[ 9.97980283e-01 -6.21123195e-02 1.33197153e-02 2.48454250e+01] [ 6.21167179e-02 9.98068889e-01 8.36402994e-05 -3.09959396e-01] [-1.32991885e-02 7.43905626e-04 9.99911285e-01 -4.50982758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.31, Z:-0.45 [[ 9.98096821e-01 -6.00599005e-02 1.39837429e-02 2.48728249e+01] [ 6.00644890e-02 9.98194494e-01 9.19968861e-05 -3.07085035e-01] [-1.39640204e-02 7.48104569e-04 9.99902218e-01 -4.51255355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.30, Z:-0.45 [[ 9.98228056e-01 -5.76239566e-02 1.48400644e-02 2.48996396e+01] [ 5.76288279e-02 9.98338073e-01 9.95293420e-05 -3.04812653e-01] [-1.48211365e-02 7.55862533e-04 9.99889875e-01 -4.51403134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.30, Z:-0.45 [[ 9.98354463e-01 -5.51712894e-02 1.56363496e-02 2.49278361e+01] [ 5.51763641e-02 9.98476618e-01 1.07005145e-04 -3.02895826e-01] [-1.56184331e-02 7.55927854e-04 9.99877739e-01 -4.51187261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.30, Z:-0.45 [[ 9.98659861e-01 -4.91796632e-02 1.61196279e-02 2.49561662e+01] [ 4.91842038e-02 9.98789718e-01 1.14873531e-04 -2.98929237e-01] [-1.61057680e-02 6.78111479e-04 9.99870064e-01 -4.49971496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.30, Z:-0.45 [[ 9.98820085e-01 -4.57649937e-02 1.62481704e-02 2.49846528e+01] [ 4.57690810e-02 9.98952039e-01 1.20407541e-04 -2.96142613e-01] [-1.62366534e-02 6.23398356e-04 9.99867983e-01 -4.50420475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.29, Z:-0.45 [[ 9.98983354e-01 -4.22633600e-02 1.56865239e-02 2.50128036e+01] [ 4.22666715e-02 9.99106358e-01 1.20513846e-04 -2.93286404e-01] [-1.56775990e-02 5.42625824e-04 9.99876952e-01 -4.50459824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.29, Z:-0.45 [[ 9.99143714e-01 -3.84128455e-02 1.53718224e-02 2.50410405e+01] [ 3.84155052e-02 9.99261845e-01 1.22322389e-04 -2.90528355e-01] [-1.53651743e-02 4.68298677e-04 9.99881839e-01 -4.51490843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.29, Z:-0.45 [[ 9.99436892e-01 -3.06196905e-02 1.37234883e-02 2.50684359e+01] [ 3.06210261e-02 9.99531060e-01 1.12840207e-04 -2.85227923e-01] [-1.37205079e-02 3.07450627e-04 9.99905822e-01 -4.52793473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.28, Z:-0.45 [[ 9.99532866e-01 -2.77941837e-02 1.27095799e-02 2.50953027e+01] [ 2.77950693e-02 9.99613637e-01 1.06992734e-04 -2.82521588e-01] [-1.27076432e-02 2.46320901e-04 9.99919224e-01 -4.53814362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.28, Z:-0.45 [[ 9.99614854e-01 -2.54091194e-02 1.11588586e-02 2.51220609e+01] [ 2.54096406e-02 9.99677118e-01 9.50919977e-05 -2.80770105e-01] [-1.11576718e-02 1.88487213e-04 9.99937733e-01 -4.54805921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.28, Z:-0.46 [[ 9.99698629e-01 -2.34577415e-02 7.23783350e-03 2.51503417e+01] [ 2.34579162e-02 9.99724823e-01 6.07711623e-05 -2.78577671e-01] [-7.23726737e-03 1.09031644e-04 9.99973805e-01 -4.55892772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.28, Z:-0.46 [[ 9.99702343e-01 -2.36291047e-02 6.07376599e-03 2.51785034e+01] [ 2.36292246e-02 9.99720790e-01 5.20321935e-05 -2.78076488e-01] [-6.07329960e-03 9.15016749e-05 9.99981553e-01 -4.56778111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.28, Z:-0.46 [[ 9.99676506e-01 -2.48776262e-02 5.29021275e-03 2.52068614e+01] [ 2.48777297e-02 9.99690500e-01 4.62542326e-05 -2.77751352e-01] [-5.28972613e-03 8.53692130e-05 9.99986006e-01 -4.57459333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.28, Z:-0.46 [[ 9.99615399e-01 -2.72846524e-02 4.95999358e-03 2.52348469e+01] [ 2.72847673e-02 9.99627700e-01 4.45110837e-05 -2.77736310e-01] [-4.95936145e-03 9.08383062e-05 9.99987698e-01 -4.57954320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.28, Z:-0.46 [[ 9.99354691e-01 -3.55269935e-02 5.29476409e-03 2.52632813e+01] [ 3.55272219e-02 9.99368708e-01 5.09441333e-05 -2.79113737e-01] [-5.29323143e-03 1.37197000e-04 9.99985981e-01 -4.57738969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.28, Z:-0.46 [[ 9.99136304e-01 -4.11373204e-02 5.86227452e-03 2.52914297e+01] [ 4.11377013e-02 9.99153485e-01 5.56542391e-05 -2.80817909e-01] [-5.85960148e-03 1.85554327e-04 9.99982815e-01 -4.57584366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.28, Z:-0.46 [[ 9.98881037e-01 -4.68183692e-02 6.68691213e-03 2.53180777e+01] [ 4.68189703e-02 9.98903389e-01 6.67040900e-05 -2.82849821e-01] [-6.68270217e-03 2.46444890e-04 9.99977640e-01 -4.57223049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.29, Z:-0.46 [[ 9.98240984e-01 -5.87142338e-02 8.22048863e-03 2.53464554e+01] [ 5.87155309e-02 9.98274751e-01 8.36758896e-05 -2.86509259e-01] [-8.21121921e-03 3.99141651e-04 9.99966208e-01 -4.55925669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.29, Z:-0.46 [[ 9.97894285e-01 -6.43412040e-02 8.19795119e-03 2.53740435e+01] [ 6.43426642e-02 9.97927860e-01 8.57714770e-05 -2.87506128e-01] [-8.18648253e-03 4.41887154e-04 9.99966393e-01 -4.57534000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.29, Z:-0.46 [[ 9.97607493e-01 -6.85810715e-02 8.71356699e-03 2.54022015e+01] [ 6.85828589e-02 9.97645419e-01 9.38602047e-05 -2.88019575e-01] [-8.69948723e-03 5.03965692e-04 9.99962032e-01 -4.56143979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.29, Z:-0.46 [[ 9.97247695e-01 -7.36915965e-02 8.15991646e-03 2.54289706e+01] [ 7.36933093e-02 9.97280947e-01 9.09786697e-05 -2.88181994e-01] [-8.14443358e-03 5.10602978e-04 9.99966703e-01 -4.55945247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.29, Z:-0.46 [[ 9.97153974e-01 -7.50887907e-02 6.75464439e-03 2.54566733e+01] [ 7.50900009e-02 9.97176758e-01 7.46167769e-05 -2.87600342e-01] [-6.74117727e-03 4.32801837e-04 9.99977184e-01 -4.57856769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.29, Z:-0.46 [[ 9.97134290e-01 -7.53497406e-02 6.75462112e-03 2.54852565e+01] [ 7.53509432e-02 9.97157074e-01 7.66373345e-05 -2.87204567e-01] [-6.74119283e-03 4.32549358e-04 9.99977184e-01 -4.58270991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.29, Z:-0.46 [[ 9.97196772e-01 -7.45091087e-02 6.85504366e-03 2.55123000e+01] [ 7.45103075e-02 9.97220240e-01 8.07097959e-05 -2.86768780e-01] [-6.84200190e-03 4.30287863e-04 9.99976501e-01 -4.56716721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.29, Z:-0.46 [[ 9.97289501e-01 -7.33308144e-02 6.02028284e-03 2.55401101e+01] [ 7.33317225e-02 9.97307602e-01 7.00562690e-05 -2.85567960e-01] [-6.00921113e-03 3.71611329e-04 9.99981875e-01 -4.57189311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.28, Z:-0.46 [[ 9.97453794e-01 -7.11225187e-02 5.24557490e-03 2.55685830e+01] [ 7.11231730e-02 9.97467539e-01 6.19434040e-05 -2.83946086e-01] [-5.23669626e-03 3.11296248e-04 9.99986240e-01 -4.57759535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.28, Z:-0.46 [[ 9.97907118e-01 -6.45421360e-02 3.96180308e-03 2.55956049e+01] [ 6.45424504e-02 9.97914961e-01 4.85879215e-05 -2.80593282e-01] [-3.95667854e-03 2.07218246e-04 9.99992151e-01 -4.57996589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.28, Z:-0.46 [[ 9.98135869e-01 -6.09435162e-02 3.26737926e-03 2.56234926e+01] [ 6.09437162e-02 9.98141203e-01 3.84115215e-05 -2.78932342e-01] [-3.26364680e-03 1.60786317e-04 9.99994661e-01 -4.58361132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.28, Z:-0.46 [[ 9.98328244e-01 -5.77777004e-02 1.56688957e-03 2.56515339e+01] [ 5.77777452e-02 9.98329471e-01 1.66817761e-05 -2.77055543e-01] [-1.56523587e-03 7.38774582e-05 9.99998772e-01 -4.60261417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.27, Z:-0.46 [[ 9.98751222e-01 -4.98925338e-02 2.59441146e-03 2.56788142e+01] [ 4.98926162e-02 9.98754587e-01 3.29690334e-05 -2.74370755e-01] [-2.59282525e-03 9.65141127e-05 9.99996634e-01 -4.58190925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.27, Z:-0.46 [[ 9.98787169e-01 -4.91035087e-02 3.61072752e-03 2.57037092e+01] [ 4.91017326e-02 9.98793615e-01 5.78978006e-04 -2.70036492e-01] [-3.63480145e-03 -4.00982826e-04 9.99993314e-01 -4.58489245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.27, Z:-0.46 [[ 9.99045922e-01 -4.35012133e-02 3.85890881e-03 2.57341539e+01] [ 4.35032875e-02 9.99053180e-01 -4.55167693e-04 -2.70969850e-01] [-3.83545477e-03 6.22608647e-04 9.99992451e-01 -4.57904732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.27, Z:-0.46 [[ 9.99220656e-01 -3.88397718e-02 7.03931880e-03 2.57619874e+01] [ 3.88400693e-02 9.99245435e-01 9.44854450e-05 -2.68499189e-01] [-7.03767697e-03 1.78995822e-04 9.99975219e-01 -4.57369382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.27, Z:-0.46 [[ 9.99280228e-01 -3.71170704e-02 7.83256391e-03 2.57894949e+01] [ 3.71173570e-02 9.99310908e-01 1.08816873e-04 -2.67069397e-01] [-7.83120551e-03 1.81985521e-04 9.99969319e-01 -4.57049582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.27, Z:-0.46 [[ 9.99315472e-01 -3.59640203e-02 8.67039755e-03 2.58176510e+01] [ 3.59643257e-02 9.99353067e-01 1.20738890e-04 -2.66066736e-01] [-8.66913064e-03 1.91168760e-04 9.99962404e-01 -4.57078980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.27, Z:-0.46 [[ 9.99333161e-01 -3.51780720e-02 9.78453733e-03 2.58456925e+01] [ 3.51783913e-02 9.99381039e-01 1.39527148e-04 -2.65471127e-01] [-9.78338938e-03 2.04770177e-04 9.99952121e-01 -4.57665399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.27, Z:-0.46 [[ 9.99361743e-01 -3.42931745e-02 1.00042314e-02 2.58722663e+01] [ 3.42934275e-02 9.99411797e-01 1.46299678e-04 -2.65095693e-01] [-1.00033639e-02 1.96873083e-04 9.99949946e-01 -4.57524048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.26, Z:-0.46 [[ 9.99395883e-01 -3.32709115e-02 1.00457196e-02 2.59002669e+01] [ 3.32711097e-02 9.99446352e-01 1.47431423e-04 -2.63994561e-01] [-1.00450630e-02 1.86889882e-04 9.99949530e-01 -4.57711560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.26, Z:-0.46 [[ 9.99403739e-01 -3.30891116e-02 9.86291766e-03 2.59286594e+01] [ 3.30892673e-02 9.99452389e-01 1.47437851e-04 -2.63016011e-01] [-9.86239521e-03 1.79006779e-04 9.99951349e-01 -4.58716326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.26, Z:-0.46 [[ 9.99423393e-01 -3.29045102e-02 8.37700649e-03 2.59555176e+01] [ 3.29045933e-02 9.99458489e-01 1.27942844e-04 -2.61960738e-01] [-8.37668014e-03 1.47772920e-04 9.99964904e-01 -4.59648827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.26, Z:-0.46 [[ 9.99403292e-01 -3.36240678e-02 7.90454125e-03 2.59834466e+01] [ 3.36241661e-02 9.99434541e-01 1.20495437e-04 -2.61187594e-01] [-7.90412310e-03 1.45360072e-04 9.99968751e-01 -4.60396074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.26, Z:-0.46 [[ 9.99366794e-01 -3.47928639e-02 7.44772839e-03 2.60113914e+01] [ 3.47929694e-02 9.99394535e-01 1.15437982e-04 -2.60737083e-01] [-7.44723547e-03 1.43763700e-04 9.99972259e-01 -4.61121338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:-0.26, Z:-0.46 [[ 9.99310873e-01 -3.64009880e-02 7.26269640e-03 2.60392578e+01] [ 3.64011165e-02 9.99337253e-01 1.14543219e-04 -2.60646530e-01] [-7.26205256e-03 1.49905973e-04 9.99973620e-01 -4.61746809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.26, Z:-0.46 [[ 9.99119911e-01 -4.15158334e-02 5.98656261e-03 2.60675359e+01] [ 4.15160070e-02 9.99137834e-01 9.53086764e-05 -2.62241172e-01] [-5.98535802e-03 1.53313379e-04 9.99982076e-01 -4.61822900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.26, Z:-0.46 [[ 9.98975174e-01 -4.49160436e-02 5.58134729e-03 2.60946624e+01] [ 4.49162318e-02 9.98990753e-01 9.16716932e-05 -2.63346625e-01] [-5.57983186e-03 1.59115343e-04 9.99984420e-01 -4.62004976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:-0.26, Z:-0.46 [[ 9.98778273e-01 -4.91129157e-02 5.46648241e-03 2.61220268e+01] [ 4.91131585e-02 9.98793217e-01 8.98861136e-05 -2.64169480e-01] [-5.46430012e-03 1.78699920e-04 9.99985055e-01 -4.62512638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.26, Z:-0.46 [[ 9.98528406e-01 -5.39665817e-02 5.35068412e-03 2.61500606e+01] [ 5.39668838e-02 9.98542722e-01 8.80091328e-05 -2.64839022e-01] [-5.34763624e-03 2.00880129e-04 9.99985681e-01 -4.62870530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.27, Z:-0.46 [[ 9.97930056e-01 -6.40138042e-02 6.15111667e-03 2.61770250e+01] [ 6.40143745e-02 9.97948971e-01 1.04321306e-04 -2.66384489e-01] [-6.14517856e-03 2.89654520e-04 9.99981076e-01 -4.63355364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.27, Z:-0.46 [[ 9.97579597e-01 -6.92195402e-02 6.60319673e-03 2.62055043e+01] [ 6.92203063e-02 9.97601392e-01 1.12719858e-04 -2.66777268e-01] [-6.59516066e-03 3.44628269e-04 9.99978192e-01 -4.63763985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.27, Z:-0.46 [[ 9.97261966e-01 -7.36410423e-02 6.75042836e-03 2.62335387e+01] [ 7.36419301e-02 9.97284740e-01 1.17288968e-04 -2.67655518e-01] [-6.74073648e-03 3.80146746e-04 9.99977209e-01 -4.64392343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.27, Z:-0.46 [[ 9.96770837e-01 -8.00711377e-02 6.04245333e-03 2.62601925e+01] [ 8.00719506e-02 9.96789081e-01 1.07658339e-04 -2.70543939e-01] [-6.03167182e-03 3.76520332e-04 9.99981738e-01 -4.63408014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.27, Z:-0.46 [[ 9.96655024e-01 -8.14983496e-02 6.06482870e-03 2.62879009e+01] [ 8.14991985e-02 9.96673401e-01 1.07457970e-04 -2.71206994e-01] [-6.05341109e-03 3.87180152e-04 9.99981603e-01 -4.63459487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.27, Z:-0.46 [[ 9.96569799e-01 -8.25930559e-02 5.19844177e-03 2.63160610e+01] [ 8.25936897e-02 9.96583300e-01 9.30053468e-05 -2.70517674e-01] [-5.18836185e-03 3.36672167e-04 9.99986484e-01 -4.63886812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.27, Z:-0.47 [[ 9.96572210e-01 -8.25935133e-02 4.70555014e-03 2.63439809e+01] [ 8.25940282e-02 9.96583273e-01 8.51304975e-05 -2.69452075e-01] [-4.69650379e-03 3.03811653e-04 9.99988925e-01 -4.65073437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.27, Z:-0.47 [[ 9.96767013e-01 -8.02511002e-02 3.90939288e-03 2.63714221e+01] [ 8.02514323e-02 9.96774650e-01 7.20983101e-05 -2.67031704e-01] [-3.90256969e-03 2.41869161e-04 9.99992356e-01 -4.66782248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.27, Z:-0.47 [[ 9.96929478e-01 -7.82190949e-02 3.65920244e-03 2.63996853e+01] [ 7.82193739e-02 9.96936169e-01 6.70194267e-05 -2.65839524e-01] [-3.65323346e-03 2.19406882e-04 9.99993303e-01 -4.66973088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.26, Z:-0.47 [[ 9.97142537e-01 -7.54502241e-02 3.74499210e-03 2.64262998e+01] [ 7.54504861e-02 9.97149547e-01 7.14682947e-05 -2.64739448e-01] [-3.73970948e-03 2.11297398e-04 9.99992985e-01 -4.67183228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.26, Z:-0.47 [[ 9.97593226e-01 -6.92032976e-02 4.31953308e-03 2.64548327e+01] [ 6.92035912e-02 9.97602554e-01 8.16430809e-05 -2.63126214e-01] [-4.31482720e-03 2.17480617e-04 9.99990667e-01 -4.66343497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:-0.26, Z:-0.47 [[ 9.97816028e-01 -6.58518377e-02 5.16819161e-03 2.64821448e+01] [ 6.58521940e-02 9.97829383e-01 1.01388030e-04 -2.61559248e-01] [-5.16365004e-03 2.39170155e-04 9.99986640e-01 -4.66490750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.26, Z:-0.47 [[ 9.98036771e-01 -6.23387643e-02 6.04010628e-03 2.65093686e+01] [ 6.23391804e-02 9.98055015e-01 1.19531234e-04 -2.59601706e-01] [-6.03580979e-03 2.57238709e-04 9.99981751e-01 -4.67114959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.26, Z:-0.47 [[ 9.98229043e-01 -5.91557893e-02 6.27453177e-03 2.65373021e+01] [ 5.91561782e-02 9.98248732e-01 1.23746513e-04 -2.57189075e-01] [-6.27086371e-03 2.47649956e-04 9.99980307e-01 -4.67762917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.25, Z:-0.47 [[ 9.98610109e-01 -5.21769597e-02 7.44406812e-03 2.65652266e+01] [ 5.21772937e-02 9.98637826e-01 1.49471058e-04 -2.54106675e-01] [-7.44172695e-03 2.39148019e-04 9.99972281e-01 -4.68762546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.25, Z:-0.47 [[ 9.98795473e-01 -4.83686724e-02 8.25070119e-03 2.65932535e+01] [ 4.83689306e-02 9.98829524e-01 1.68355268e-04 -2.52886403e-01] [-8.24918706e-03 2.30925114e-04 9.99965948e-01 -4.69134638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.25, Z:-0.47 [[ 9.98971647e-01 -4.45205488e-02 8.57728497e-03 2.66201846e+01] [ 4.45206594e-02 9.99008448e-01 1.78127687e-04 -2.51845863e-01] [-8.57671049e-03 2.03921874e-04 9.99963199e-01 -4.69440757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.25, Z:-0.47 [[ 9.99287267e-01 -3.68588115e-02 8.14772737e-03 2.66479933e+01] [ 3.68586498e-02 9.99320475e-01 1.70061357e-04 -2.51377724e-01] [-8.14845905e-03 1.30374081e-04 9.99966792e-01 -4.69646712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.25, Z:-0.47 [[ 9.99393045e-01 -3.38849099e-02 8.08425545e-03 2.66756382e+01] [ 3.38846353e-02 9.99425736e-01 1.70966689e-04 -2.50607123e-01] [-8.08540614e-03 1.03069128e-04 9.99967307e-01 -4.69981230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.25, Z:-0.47 [[ 9.99548688e-01 -2.86851551e-02 8.92087341e-03 2.67032738e+01] [ 2.86845879e-02 9.99588494e-01 1.91549169e-04 -2.50128011e-01] [-8.92269704e-03 6.44288568e-05 9.99960190e-01 -4.71059449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.25, Z:-0.47 [[ 9.99616024e-01 -2.63949607e-02 8.43275582e-03 2.67302932e+01] [ 2.63943497e-02 9.99651592e-01 1.83755256e-04 -2.50356910e-01] [-8.43466799e-03 3.88924076e-05 9.99964427e-01 -4.71119167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.25, Z:-0.47 [[ 9.99672628e-01 -2.42215355e-02 8.24338293e-03 2.67580553e+01] [ 2.42208687e-02 9.99706615e-01 1.80722649e-04 -2.50750737e-01] [-8.24534183e-03 1.89984103e-05 9.99966006e-01 -4.71565287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.25, Z:-0.47 [[ 9.99725522e-01 -2.21477415e-02 7.63929000e-03 2.67862878e+01] [ 2.21470950e-02 9.99754709e-01 1.69218278e-04 -2.51243422e-01] [-7.64116395e-03 1.62502255e-08 9.99970806e-01 -4.72073251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.25, Z:-0.47 [[ 9.99810954e-01 -1.82420904e-02 6.72926622e-03 2.68133520e+01] [ 1.82414860e-02 9.99833599e-01 1.51180296e-04 -2.53399646e-01] [-6.73090431e-03 -2.83999005e-05 9.99977347e-01 -4.73318207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.25, Z:-0.47 [[ 9.99835407e-01 -1.71853058e-02 5.81579094e-03 2.68418414e+01] [ 1.71848367e-02 9.99852321e-01 1.30632959e-04 -2.54832856e-01] [-5.81717704e-03 -3.06680407e-05 9.99983080e-01 -4.73609299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.26, Z:-0.47 [[ 9.99856982e-01 -1.59445082e-02 5.63816548e-03 2.68696386e+01] [ 1.59440395e-02 9.99872878e-01 1.28072871e-04 -2.59130533e-01] [-5.63949080e-03 -3.81594206e-05 9.99984097e-01 -4.74148028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.26, Z:-0.47 [[ 9.99851890e-01 -1.61699500e-02 5.89335605e-03 2.68972106e+01] [ 1.61694221e-02 9.99869257e-01 1.37203164e-04 -2.60712602e-01] [-5.89480410e-03 -4.18906814e-05 9.99982625e-01 -4.74721043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.26, Z:-0.47 [[ 9.99836657e-01 -1.70746340e-02 5.92594766e-03 2.69247633e+01] [ 1.70741116e-02 9.99854217e-01 1.38743403e-04 -2.62978872e-01] [-5.92745275e-03 -3.75404485e-05 9.99982432e-01 -4.74904509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.27, Z:-0.48 [[ 9.99803767e-01 -1.87380459e-02 6.42746716e-03 2.69533224e+01] [ 1.87374681e-02 9.99824427e-01 1.50102075e-04 -2.65670962e-01] [-6.42915129e-03 -2.96381588e-05 9.99979332e-01 -4.75006532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.27, Z:-0.48 [[ 9.99770339e-01 -2.03475383e-02 6.72655796e-03 2.69807191e+01] [ 2.03469190e-02 9.99792967e-01 1.60484545e-04 -2.68575028e-01] [-6.72843081e-03 -2.35829580e-05 9.99977364e-01 -4.75129034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.28, Z:-0.48 [[ 9.99673552e-01 -2.46831037e-02 6.59795613e-03 2.70089467e+01] [ 2.46826056e-02 9.99695326e-01 1.56925806e-04 -2.75283132e-01] [-6.59981932e-03 5.98017063e-06 9.99978221e-01 -4.75447956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.28, Z:-0.48 [[ 9.99620024e-01 -2.68757120e-02 6.12397820e-03 2.70355976e+01] [ 2.68753069e-02 9.99638783e-01 1.48456712e-04 -2.78869962e-01] [-6.12575599e-03 1.61834911e-05 9.99981237e-01 -4.75733746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.28, Z:-0.48 [[ 9.99565879e-01 -2.89877993e-02 5.26891198e-03 2.70641002e+01] [ 2.89875345e-02 9.99579765e-01 1.26632257e-04 -2.82925047e-01] [-5.27036859e-03 2.61554841e-05 9.99986111e-01 -4.75680002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.29, Z:-0.48 [[ 9.99442044e-01 -3.31633771e-02 3.97374882e-03 2.70920955e+01] [ 3.31632591e-02 9.99449943e-01 9.55955339e-05 -2.90927831e-01] [-3.97473330e-03 3.62402659e-05 9.99992100e-01 -4.75906920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.29, Z:-0.48 [[ 9.99372111e-01 -3.52377611e-02 3.69911752e-03 2.71196425e+01] [ 3.52376637e-02 9.99378956e-01 9.15184679e-05 -2.93708023e-01] [-3.70004511e-03 3.88872545e-05 9.99993154e-01 -4.76301903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.29, Z:-0.48 [[ 9.99431620e-01 -3.33073769e-02 5.20149393e-03 2.71476082e+01] [ 3.33071589e-02 9.99445154e-01 1.28556392e-04 -2.93031467e-01] [-5.20288978e-03 4.47636612e-05 9.99986464e-01 -4.76312833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.29, Z:-0.48 [[ 9.99525441e-01 -3.02010721e-02 6.06538394e-03 2.71746490e+01] [ 3.02006955e-02 9.99543843e-01 1.53694519e-04 -2.93772020e-01] [-6.06725891e-03 2.95572323e-05 9.99981594e-01 -4.76016178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.29, Z:-0.48 [[ 9.99556747e-01 -2.92194442e-02 5.70374002e-03 2.72023195e+01] [ 2.92190996e-02 9.99573021e-01 1.43749355e-04 -2.93700996e-01] [-5.70550492e-03 2.29725100e-05 9.99983723e-01 -4.75548526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.29, Z:-0.48 [[ 9.99573302e-01 -2.87715326e-02 5.04106426e-03 2.72306649e+01] [ 2.87712530e-02 9.99586014e-01 1.27991069e-04 -2.93222129e-01] [-5.04265982e-03 1.71012799e-05 9.99987286e-01 -4.75977121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.29, Z:-0.48 [[ 9.99556533e-01 -2.94544971e-02 4.37835242e-03 2.72583801e+01] [ 2.94542898e-02 9.99566122e-01 1.11840568e-04 -2.92843289e-01] [-4.37974696e-03 1.71702909e-05 9.99990409e-01 -4.76480385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.29, Z:-0.48 [[ 9.99548780e-01 -2.97164230e-02 4.37831569e-03 2.72869656e+01] [ 2.97162121e-02 9.99558369e-01 1.13241166e-04 -2.92012161e-01] [-4.37974722e-03 1.69168888e-05 9.99990409e-01 -4.76894772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.29, Z:-0.48 [[ 9.99500033e-01 -3.12792051e-02 4.61467937e-03 2.73148660e+01] [ 3.12789818e-02 9.99510686e-01 1.20578728e-04 -2.90515692e-01] [-4.61619295e-03 2.38240295e-05 9.99989345e-01 -4.77156505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.29, Z:-0.48 [[ 9.99441438e-01 -3.30921960e-02 4.66038285e-03 2.73417901e+01] [ 3.30919742e-02 9.99452303e-01 1.24704233e-04 -2.89536338e-01] [-4.66195710e-03 2.95866915e-05 9.99989133e-01 -4.77497419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.29, Z:-0.48 [[ 9.99348786e-01 -3.58868606e-02 3.76006993e-03 2.73694891e+01] [ 3.58867419e-02 9.99355859e-01 9.90619508e-05 -2.87994829e-01] [-3.76120294e-03 3.59392188e-05 9.99992926e-01 -4.80990565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.29, Z:-0.48 [[ 9.99246448e-01 -3.85473761e-02 4.54262003e-03 2.73968947e+01] [ 3.85472168e-02 9.99256772e-01 1.22657783e-04 -2.86444867e-01] [-4.54397196e-03 5.25400050e-05 9.99989675e-01 -4.79021113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.28, Z:-0.48 [[ 9.98966023e-01 -4.52375431e-02 4.52207323e-03 2.74251721e+01] [ 4.52374539e-02 9.98976255e-01 1.22055650e-04 -2.84453247e-01] [-4.52296528e-03 8.26376319e-05 9.99989768e-01 -4.82397455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.28, Z:-0.48 [[ 9.98813296e-01 -4.83494126e-02 5.85960056e-03 2.74526448e+01] [ 4.83492955e-02 9.98830476e-01 1.61731432e-04 -2.83352027e-01] [-5.86056724e-03 1.21768054e-04 9.99982819e-01 -4.80427392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.28, Z:-0.48 [[ 9.98626665e-01 -5.20640545e-02 5.84112614e-03 2.74810245e+01] [ 5.20639992e-02 9.98643737e-01 1.61616385e-04 -2.82457723e-01] [-5.84161845e-03 1.42717956e-04 9.99982927e-01 -4.80091552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.28, Z:-0.48 [[ 9.98181297e-01 -5.99040929e-02 6.75261630e-03 2.75095613e+01] [ 5.99041825e-02 9.98204114e-01 1.89160453e-04 -2.81238119e-01] [-6.75182086e-03 2.15693533e-04 9.99977183e-01 -4.79848141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.28, Z:-0.48 [[ 9.97946940e-01 -6.36150886e-02 7.41789894e-03 2.75367093e+01] [ 6.36152727e-02 9.97974475e-01 2.11371777e-04 -2.80102082e-01] [-7.41632024e-03 2.60953845e-04 9.99972465e-01 -4.79978618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.28, Z:-0.48 [[ 9.97728265e-01 -6.68945283e-02 7.96436341e-03 2.75648222e+01] [ 6.68948447e-02 9.97760005e-01 2.26965229e-04 -2.79056602e-01] [-7.96170601e-03 3.06325229e-04 9.99968258e-01 -4.80214564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.28, Z:-0.48 [[ 9.97441413e-01 -7.09966871e-02 8.37249274e-03 2.75922209e+01] [ 7.09971512e-02 9.97476489e-01 2.42144705e-04 -2.77360660e-01] [-8.36855613e-03 3.52897977e-04 9.99964921e-01 -4.80509535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.28, Z:-0.48 [[ 9.97356660e-01 -7.21567124e-02 8.54991109e-03 2.76200788e+01] [ 7.21572380e-02 9.97393238e-01 2.47385084e-04 -2.75700190e-01] [-8.54547400e-03 3.70206808e-04 9.99963418e-01 -4.81116830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.27, Z:-0.48 [[ 9.97294572e-01 -7.30117457e-02 8.53361144e-03 2.76470506e+01] [ 7.30122718e-02 9.97331011e-01 2.50291133e-04 -2.73782244e-01] [-8.52910951e-03 3.73444369e-04 9.99963557e-01 -4.81406085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.27, Z:-0.48 [[ 9.97291236e-01 -7.30536631e-02 8.56462043e-03 2.76750629e+01] [ 7.30541936e-02 9.97327941e-01 2.51311911e-04 -2.72021059e-01] [-8.56009451e-03 3.75050273e-04 9.99963291e-01 -4.81955026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:-0.27, Z:-0.48 [[ 9.97375595e-01 -7.19458021e-02 8.10705664e-03 2.77034477e+01] [ 7.19462241e-02 9.97408484e-01 2.39954200e-04 -2.68805074e-01] [-8.10331076e-03 3.43947651e-04 9.99967108e-01 -4.82773701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.27, Z:-0.48 [[ 9.97456404e-01 -7.08233166e-02 8.04864999e-03 2.77301503e+01] [ 7.08236698e-02 9.97488822e-01 2.41483969e-04 -2.66285295e-01] [-8.04554110e-03 3.29165199e-04 9.99967580e-01 -4.83943085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.26, Z:-0.48 [[ 9.97562688e-01 -6.92910632e-02 8.21173321e-03 2.77585479e+01] [ 6.92913791e-02 9.97596433e-01 2.46371794e-04 -2.64213731e-01] [-8.20906713e-03 3.23231010e-04 9.99966253e-01 -4.84821783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.26, Z:-0.48 [[ 9.97786707e-01 -6.59564180e-02 8.45213751e-03 2.77855789e+01] [ 6.59566070e-02 9.97822459e-01 2.56679664e-04 -2.62107514e-01] [-8.45066230e-03 3.01362756e-04 9.99964247e-01 -4.84986851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.26, Z:-0.49 [[ 9.97848937e-01 -6.50115970e-02 8.42564375e-03 2.78133170e+01] [ 6.50117418e-02 9.97884466e-01 2.56993000e-04 -2.60606719e-01] [-8.42452654e-03 2.91325585e-04 9.99964471e-01 -4.85317421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.26, Z:-0.49 [[ 9.97921698e-01 -6.39548530e-02 7.87794564e-03 2.78413852e+01] [ 6.39549318e-02 9.97952758e-01 2.42177151e-04 -2.58154608e-01] [-7.87730599e-03 2.62159643e-04 9.99968939e-01 -4.85921920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.26, Z:-0.49 [[ 9.97932701e-01 -6.37794342e-02 7.90619810e-03 2.78681638e+01] [ 6.37794819e-02 9.97963986e-01 2.46347404e-04 -2.56548561e-01] [-7.90581287e-03 2.58415088e-04 9.99968715e-01 -4.86832656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.26, Z:-0.49 [[ 9.97951982e-01 -6.35495699e-02 7.30026923e-03 2.78961418e+01] [ 6.35496071e-02 9.97978655e-01 2.27098629e-04 -2.55524058e-01] [-7.29994488e-03 2.37295715e-04 9.99973327e-01 -4.87279692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.25, Z:-0.49 [[ 9.97944265e-01 -6.38045213e-02 6.01882501e-03 2.79242665e+01] [ 6.38045454e-02 9.97962396e-01 1.88210863e-04 -2.54450580e-01] [-6.01856973e-03 1.96204442e-04 9.99981869e-01 -4.90834843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.25, Z:-0.49 [[ 9.98025370e-01 -6.23786009e-02 7.36694945e-03 2.79524301e+01] [ 6.23785770e-02 9.98052533e-01 2.33245057e-04 -2.54154537e-01] [-7.36715206e-03 2.26755339e-04 9.99972836e-01 -4.89020702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.25, Z:-0.49 [[ 9.98056059e-01 -6.18617211e-02 7.56506533e-03 2.79795907e+01] [ 6.18616556e-02 9.98084704e-01 2.42873333e-04 -2.53675381e-01] [-7.56560055e-03 2.25586264e-04 9.99971355e-01 -4.89614209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.25, Z:-0.49 [[ 9.98087834e-01 -6.13707977e-02 7.36893564e-03 2.80074117e+01] [ 6.13707244e-02 9.98115013e-01 2.36280464e-04 -2.54192133e-01] [-7.36954601e-03 2.16408261e-04 9.99972821e-01 -4.89877835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.25, Z:-0.49 [[ 9.98084456e-01 -6.14297634e-02 7.33503373e-03 2.80345440e+01] [ 6.14296689e-02 9.98111386e-01 2.38395907e-04 -2.53750578e-01] [-7.33582529e-03 2.12649444e-04 9.99973070e-01 -4.90186792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.25, Z:-0.49 [[ 9.98055295e-01 -6.18944557e-02 7.39618509e-03 2.80619828e+01] [ 6.18943654e-02 9.98082677e-01 2.41313266e-04 -2.53175123e-01] [-7.39694016e-03 2.16938200e-04 9.99972619e-01 -4.90758246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.25, Z:-0.49 [[ 9.98024436e-01 -6.23350318e-02 7.84653481e-03 2.80897602e+01] [ 6.23349441e-02 9.98055254e-01 2.55976728e-04 -2.53019599e-01] [-7.84723161e-03 2.33642279e-04 9.99969183e-01 -4.90629280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.25, Z:-0.49 [[ 9.97994492e-01 -6.28016071e-02 7.93425065e-03 2.81174627e+01] [ 6.28015141e-02 9.98026002e-01 2.61112146e-04 -2.53185424e-01] [-7.93498672e-03 2.37694471e-04 9.99968489e-01 -4.90819451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.25, Z:-0.49 [[ 9.97976708e-01 -6.30195333e-02 8.42787884e-03 2.81454471e+01] [ 6.30194136e-02 9.98012262e-01 2.80032675e-04 -2.54541272e-01] [-8.42877395e-03 2.51653895e-04 9.99964446e-01 -4.90266773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.25, Z:-0.49 [[ 9.97992847e-01 -6.27149191e-02 8.78160030e-03 2.81720506e+01] [ 6.27147457e-02 9.98031449e-01 2.95393066e-04 -2.54425751e-01] [-8.78283883e-03 2.55935663e-04 9.99961397e-01 -4.90704748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.25, Z:-0.49 [[ 9.98010505e-01 -6.24542481e-02 8.63123260e-03 2.81996946e+01] [ 6.24540697e-02 9.98047797e-01 2.90467206e-04 -2.53823399e-01] [-8.63252359e-03 2.49166279e-04 9.99962708e-01 -4.91193770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.25, Z:-0.49 [[ 9.98042515e-01 -6.20228387e-02 8.01914468e-03 2.82281330e+01] [ 6.20226555e-02 9.98074705e-01 2.71775401e-04 -2.52812944e-01] [-8.02056174e-03 2.26125243e-04 9.99967809e-01 -4.92149000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.25, Z:-0.49 [[ 9.98138552e-01 -6.05199599e-02 7.53429665e-03 2.82559766e+01] [ 6.05197415e-02 9.98166967e-01 2.57182945e-04 -2.51997006e-01] [-7.53605074e-03 1.99269474e-04 9.99971584e-01 -4.93487313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.25, Z:-0.49 [[ 9.98178316e-01 -5.98484907e-02 7.62943371e-03 2.82826587e+01] [ 5.98482254e-02 9.98207454e-01 2.63268114e-04 -2.51632285e-01] [-7.63151379e-03 1.93819546e-04 9.99970861e-01 -4.93742589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.25, Z:-0.49 [[ 9.98284065e-01 -5.79607730e-02 8.33513519e-03 2.83095680e+01] [ 5.79603715e-02 9.98318842e-01 2.89918752e-04 -2.53186513e-01] [-8.33792643e-03 1.93686262e-04 9.99965220e-01 -4.92846203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.25, Z:-0.49 [[ 9.98313322e-01 -5.73472269e-02 9.04473989e-03 2.83374339e+01] [ 5.73467259e-02 9.98354273e-01 3.14945003e-04 -2.53585645e-01] [-9.04791593e-03 2.04272427e-04 9.99959046e-01 -4.92600309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.25, Z:-0.49 [[ 9.98326281e-01 -5.69541934e-02 1.00426858e-02 2.83660033e+01] [ 5.69535225e-02 9.98376768e-01 3.53011271e-04 -2.53415648e-01] [-1.00464897e-02 2.19545904e-04 9.99949509e-01 -4.92445149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.25, Z:-0.49 [[ 9.98445869e-01 -5.48543166e-02 9.84126745e-03 2.83926089e+01] [ 5.48535363e-02 9.98494350e-01 3.49396887e-04 -2.53540375e-01] [-9.84561588e-03 1.90974443e-04 9.99951513e-01 -4.93076771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.25, Z:-0.49 [[ 9.98507897e-01 -5.38031370e-02 9.33818754e-03 2.84192848e+01] [ 5.38023786e-02 9.98551548e-01 3.32597469e-04 -2.52752357e-01] [-9.34255640e-03 1.70315502e-04 9.99956343e-01 -4.94081996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.25, Z:-0.50 [[ 9.98572443e-01 -5.27128388e-02 8.62749010e-03 2.84475522e+01] [ 5.27121508e-02 9.98609701e-01 3.07281900e-04 -2.52033064e-01] [-8.63169301e-03 1.47930322e-04 9.99962735e-01 -4.95121757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.25, Z:-0.50 [[ 9.98801000e-01 -4.84071865e-02 7.30116633e-03 2.84745210e+01] [ 4.84065601e-02 9.98827681e-01 2.62584818e-04 -2.51759218e-01] [-7.30531803e-03 9.11543685e-05 9.99973312e-01 -4.96098759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.25, Z:-0.50 [[ 9.98908164e-01 -4.61974545e-02 6.94799718e-03 2.85024229e+01] [ 4.61968369e-02 9.98932325e-01 2.49437885e-04 -2.50907325e-01] [-6.95210237e-03 7.18099522e-05 9.99975831e-01 -4.96178617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.25, Z:-0.50 [[ 9.98989559e-01 -4.44300313e-02 6.77004735e-03 2.85306220e+01] [ 4.44293923e-02 9.99012497e-01 2.44821855e-04 -2.50323713e-01] [-6.77423935e-03 5.62146127e-05 9.99977053e-01 -4.96279632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.25, Z:-0.50 [[ 9.99131877e-01 -4.09263540e-02 7.77980349e-03 2.85586945e+01] [ 4.09253828e-02 9.99162165e-01 2.84055023e-04 -2.49198131e-01] [-7.78491064e-03 3.45830077e-05 9.99969697e-01 -4.96274343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.25, Z:-0.50 [[ 9.99151721e-01 -4.02551772e-02 8.68091109e-03 2.85861082e+01] [ 4.02539088e-02 9.99189431e-01 3.20852101e-04 -2.47717153e-01] [-8.68679057e-03 2.88606750e-05 9.99962269e-01 -4.96798784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-0.25, Z:-0.50 [[ 9.99149625e-01 -4.00488015e-02 9.80406488e-03 2.86142074e+01] [ 4.00471669e-02 9.99197724e-01 3.63061247e-04 -2.46189099e-01] [-9.81073948e-03 2.98725134e-05 9.99951873e-01 -4.97773013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.25, Z:-0.50 [[ 9.99140327e-01 -3.99942943e-02 1.09116324e-02 2.86415345e+01] [ 3.99922213e-02 9.99199908e-01 4.08190868e-04 -2.45170369e-01] [-1.09192274e-02 2.85404592e-05 9.99940383e-01 -4.98365556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:-0.25, Z:-0.50 [[ 9.99112046e-01 -4.03707936e-02 1.20548083e-02 2.86681892e+01] [ 4.03682709e-02 9.99184767e-01 4.52624778e-04 -2.45103982e-01] [-1.20632536e-02 3.44088970e-05 9.99927236e-01 -4.98584684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:-0.24, Z:-0.50 [[ 9.99098824e-01 -4.06787781e-02 1.21151790e-02 2.86966373e+01] [ 4.06762397e-02 9.99172275e-01 4.55960469e-04 -2.44970489e-01] [-1.21236989e-02 3.72503557e-05 9.99926505e-01 -4.98197821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.24, Z:-0.50 [[ 9.99074883e-01 -4.12311368e-02 1.22217753e-02 2.87233449e+01] [ 4.12285499e-02 9.99149634e-01 4.63647822e-04 -2.44567022e-01] [-1.22304990e-02 4.06671781e-05 9.99925204e-01 -4.98397572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.24, Z:-0.50 [[ 9.99074373e-01 -4.13496717e-02 1.18575568e-02 2.87518198e+01] [ 4.13472343e-02 9.99144736e-01 4.50734875e-04 -2.42983062e-01] [-1.18660532e-02 3.99595177e-05 9.99929595e-01 -4.98729514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.24, Z:-0.50 [[ 9.99076742e-01 -4.14696781e-02 1.12218605e-02 2.87790295e+01] [ 4.14674647e-02 9.99139762e-01 4.29944264e-04 -2.41455449e-01] [-1.12300367e-02 3.57947893e-05 9.99936941e-01 -4.99679589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.24, Z:-0.50 [[ 9.99060673e-01 -4.19861190e-02 1.07208770e-02 2.88075740e+01] [ 4.19841220e-02 9.99118193e-01 4.11362384e-04 -2.39690558e-01] [-1.07286948e-02 3.91306276e-05 9.99942445e-01 -5.00663858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.24, Z:-0.50 [[ 9.99051069e-01 -4.25127456e-02 9.46721000e-03 2.88356787e+01] [ 4.25111924e-02 9.99095924e-01 3.65318183e-04 -2.37491447e-01] [-9.47418160e-03 3.74908649e-05 9.99955118e-01 -5.02119942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.24, Z:-0.50 [[ 9.99053941e-01 -4.25075380e-02 9.18327386e-03 2.88637084e+01] [ 4.25060545e-02 9.99096146e-01 3.56753280e-04 -2.36321506e-01] [-9.19013822e-03 3.39289687e-05 9.99957769e-01 -5.03096721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.24, Z:-0.50 [[ 9.99043549e-01 -4.28958746e-02 8.48117130e-03 2.88909307e+01] [ 4.28945969e-02 9.99079548e-01 3.32570769e-04 -2.35027570e-01] [-8.48763071e-03 3.15437436e-05 9.99963979e-01 -5.03681812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.23, Z:-0.50 [[ 9.99020713e-01 -4.34830066e-02 8.17581762e-03 2.89186704e+01] [ 4.34818392e-02 9.99054166e-01 3.20564881e-04 -2.33618077e-01] [-8.18202378e-03 3.52486315e-05 9.99966526e-01 -5.03951316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.23, Z:-0.50 [[ 9.99030321e-01 -4.32832763e-02 8.06071629e-03 2.89466030e+01] [ 4.32821178e-02 9.99062839e-01 3.18195635e-04 -2.31586519e-01] [-8.06693465e-03 3.09977843e-05 9.99967461e-01 -5.04485304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.23, Z:-0.51 [[ 9.98999753e-01 -4.42191478e-02 6.64531449e-03 2.89740304e+01] [ 4.42183649e-02 9.99021855e-01 2.64762129e-04 -2.28830467e-01] [-6.65052196e-03 2.93476390e-05 9.99977885e-01 -5.05049434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.23, Z:-0.51 [[ 9.98937595e-01 -4.56608911e-02 6.22615362e-03 2.90016580e+01] [ 4.56602358e-02 9.98956997e-01 2.47416924e-04 -2.27103171e-01] [-6.23095700e-03 3.71335756e-05 9.99980587e-01 -5.05905366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.23, Z:-0.51 [[ 9.98925614e-01 -4.59222470e-02 6.22607796e-03 2.90302281e+01] [ 4.59215851e-02 9.98945016e-01 2.49297152e-04 -2.25874806e-01] [-6.23095784e-03 3.68820582e-05 9.99980587e-01 -5.06319753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.22, Z:-0.51 [[ 9.98861125e-01 -4.73092216e-02 6.18787471e-03 2.90571908e+01] [ 4.73085773e-02 9.98880291e-01 2.50542923e-04 -2.24776345e-01] [-6.19279908e-03 4.24819627e-05 9.99980824e-01 -5.06124474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.22, Z:-0.51 [[ 9.98645809e-01 -5.14560911e-02 7.66937894e-03 2.90849400e+01] [ 5.14552217e-02 9.98675254e-01 3.10773743e-04 -2.24878572e-01] [-7.67521017e-03 8.42766972e-05 9.99970542e-01 -5.05127294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.22, Z:-0.50 [[ 9.98503846e-01 -5.39479737e-02 8.92667041e-03 2.91119250e+01] [ 5.39468588e-02 9.98543741e-01 3.65805919e-04 -2.24575592e-01] [-8.93340536e-03 1.16307212e-04 9.99960090e-01 -5.04832794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.22, Z:-0.50 [[ 9.98337579e-01 -5.68581484e-02 9.44607841e-03 2.91397478e+01] [ 5.68570260e-02 9.98382256e-01 3.87544008e-04 -2.23814727e-01] [-9.45283210e-03 1.50176178e-04 9.99955310e-01 -5.04827422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.22, Z:-0.51 [[ 9.97958633e-01 -6.30651130e-02 1.00677232e-02 2.91662995e+01] [ 6.30641154e-02 9.98009391e-01 4.16840858e-04 -2.22220962e-01] [-1.00739704e-02 2.18922127e-04 9.99949232e-01 -5.05838426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.22, Z:-0.51 [[ 9.97760355e-01 -6.61124371e-02 1.01695865e-02 2.91930391e+01] [ 6.61115645e-02 9.97812148e-01 4.22317126e-04 -2.21063115e-01] [-1.01752574e-02 2.50955989e-04 9.99948199e-01 -5.06532367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.22, Z:-0.51 [[ 9.97575304e-01 -6.87842151e-02 1.05945118e-02 2.92211664e+01] [ 6.87834108e-02 9.97631519e-01 4.40699725e-04 -2.19404729e-01] [-1.05997320e-02 2.89095493e-04 9.99943779e-01 -5.07057344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.22, Z:-0.51 [[ 9.97407704e-01 -7.11968750e-02 1.04343820e-02 2.92495285e+01] [ 7.11961979e-02 9.97462235e-01 4.36803241e-04 -2.17847911e-01] [-1.04390010e-02 3.07217408e-04 9.99945465e-01 -5.07179733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.22, Z:-0.51 [[ 9.97153705e-01 -7.47439250e-02 9.89111551e-03 2.92773392e+01] [ 7.47434670e-02 9.97202708e-01 4.16470554e-04 -2.16387040e-01] [-9.89457581e-03 3.24011110e-04 9.99950995e-01 -5.06777274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.22, Z:-0.51 [[ 9.97024026e-01 -7.65930608e-02 8.75187424e-03 2.93058294e+01] [ 7.65927561e-02 9.97062391e-01 3.70468882e-04 -2.15179409e-01] [-8.75454001e-03 3.00963793e-04 9.99961633e-01 -5.06690549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:-0.21, Z:-0.51 [[ 9.96908980e-01 -7.80915325e-02 8.61386476e-03 2.93342795e+01] [ 7.80912730e-02 9.96946146e-01 3.66968728e-04 -2.13827226e-01] [-8.61621643e-03 3.06833245e-04 9.99962833e-01 -5.06824492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.21, Z:-0.51 [[ 9.96819915e-01 -7.92080257e-02 8.72611756e-03 2.93619271e+01] [ 7.92077808e-02 9.96858058e-01 3.74197513e-04 -2.12009840e-01] [-8.72834005e-03 3.18168874e-04 9.99961857e-01 -5.07208376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.21, Z:-0.51 [[ 9.96745519e-01 -8.02542457e-02 7.59125593e-03 2.93890904e+01] [ 8.02540701e-02 9.96774386e-01 3.28243232e-04 -2.08027350e-01] [-7.59311238e-03 2.82054215e-04 9.99971132e-01 -5.08389932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.21, Z:-0.51 [[ 9.96755408e-01 -8.01476555e-02 7.41688422e-03 2.94175483e+01] [ 8.01474870e-02 9.96782964e-01 3.20421937e-04 -2.05603405e-01] [-7.41870491e-03 2.75062333e-04 9.99972443e-01 -5.09508166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.20, Z:-0.51 [[ 9.96767972e-01 -8.00218011e-02 7.07966530e-03 2.94440868e+01] [ 8.00216231e-02 9.96793080e-01 3.08856457e-04 -2.03024923e-01] [-7.08167663e-03 2.58668084e-04 9.99974891e-01 -5.09862861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.20, Z:-0.51 [[ 9.96904493e-01 -7.83709527e-02 6.27890806e-03 2.94705237e+01] [ 7.83707761e-02 9.96924243e-01 2.74539229e-04 -1.99908636e-01] [-6.28111156e-03 2.18393507e-04 9.99980250e-01 -5.11213780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.20, Z:-0.51 [[ 9.97009831e-01 -7.69546884e-02 7.02655162e-03 2.94987176e+01] [ 7.69544334e-02 9.97034564e-01 3.07051868e-04 -1.98165579e-01] [-7.02934391e-03 2.34590568e-04 9.99975266e-01 -5.09139478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.20, Z:-0.51 [[ 9.97097897e-01 -7.57496441e-02 7.60097209e-03 2.95270177e+01] [ 7.57492923e-02 9.97126839e-01 3.34576981e-04 -1.96047152e-01] [-7.60447736e-03 2.42162252e-04 9.99971056e-01 -5.09650359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.19, Z:-0.51 [[ 9.97215091e-01 -7.41682136e-02 7.81914745e-03 2.95534980e+01] [ 7.41677669e-02 9.97245718e-01 3.47486327e-04 -1.93690795e-01] [-7.82338375e-03 2.33410096e-04 9.99969370e-01 -5.09579496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.19, Z:-0.51 [[ 9.97442354e-01 -7.09988365e-02 8.24113594e-03 2.95815951e+01] [ 7.09982312e-02 9.97476374e-01 3.66343401e-04 -1.89292426e-01] [-8.24634835e-03 2.19699651e-04 9.99965974e-01 -5.09971929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.19, Z:-0.51 [[ 9.97516173e-01 -6.99636794e-02 8.15889321e-03 2.96091866e+01] [ 6.99630346e-02 9.97549518e-01 3.64771492e-04 -1.86918400e-01] [-8.16442075e-03 2.06955465e-04 9.99966649e-01 -5.10315362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:-0.18, Z:-0.51 [[ 9.97588250e-01 -6.89568830e-02 7.91408142e-03 2.96361025e+01] [ 6.89562191e-02 9.97619623e-01 3.57054381e-04 -1.84627873e-01] [-7.91986428e-03 1.89531877e-04 9.99968619e-01 -5.10999856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.18, Z:-0.51 [[ 9.97645702e-01 -6.81749297e-02 7.43187679e-03 2.96629363e+01] [ 6.81743164e-02 9.97673368e-01 3.36123971e-04 -1.82593005e-01] [-7.43750077e-03 1.71330485e-04 9.99972327e-01 -5.11410751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.18, Z:-0.51 [[ 9.97723639e-01 -6.71696334e-02 5.98160616e-03 2.96914280e+01] [ 6.71692239e-02 9.97741561e-01 2.69547678e-04 -1.81829395e-01] [-5.98620249e-03 1.32845754e-04 9.99982074e-01 -5.10920306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.18, Z:-0.51 [[ 9.97725475e-01 -6.71974946e-02 5.32658465e-03 2.97196275e+01] [ 6.71971647e-02 9.97739687e-01 2.41092972e-04 -1.81501279e-01] [-5.33074574e-03 1.17386785e-04 9.99985785e-01 -5.10572879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.18, Z:-0.51 [[ 9.97718507e-01 -6.73309672e-02 4.93163638e-03 2.97476743e+01] [ 6.73306805e-02 9.97730690e-01 2.24330107e-04 -1.79786752e-01] [-4.93554933e-03 1.08232133e-04 9.99987814e-01 -5.11090544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.18, Z:-0.51 [[ 9.97717372e-01 -6.73310212e-02 5.15550614e-03 2.97753811e+01] [ 6.73306993e-02 9.97730686e-01 2.36168167e-04 -1.77657551e-01] [-5.15970812e-03 1.11494750e-04 9.99986682e-01 -5.11844160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.18, Z:-0.51 [[ 9.97719986e-01 -6.72711326e-02 5.42438328e-03 2.98028060e+01] [ 6.72707615e-02 9.97734725e-01 2.51038024e-04 -1.75774294e-01] [-5.42898317e-03 1.14436740e-04 9.99985256e-01 -5.12316275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.17, Z:-0.51 [[ 9.97704716e-01 -6.74591828e-02 5.87869891e-03 2.98306647e+01] [ 6.74587470e-02 9.97722027e-01 2.72613683e-04 -1.74566421e-01] [-5.88369768e-03 1.24581705e-04 9.99982683e-01 -5.12522417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.17, Z:-0.51 [[ 9.97712750e-01 -6.71986503e-02 7.32186023e-03 2.98586708e+01] [ 6.71979448e-02 9.97739605e-01 3.42603495e-04 -1.74696406e-01] [-7.32833242e-03 1.50194085e-04 9.99973136e-01 -5.11625538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.17, Z:-0.51 [[ 9.97715458e-01 -6.70385665e-02 8.34834734e-03 2.98872365e+01] [ 6.70376190e-02 9.97750371e-01 3.93595939e-04 -1.74110710e-01] [-8.35595277e-03 1.66956575e-04 9.99965074e-01 -5.11244549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.17, Z:-0.51 [[ 9.97732646e-01 -6.67115736e-02 8.89563044e-03 2.99149251e+01] [ 6.67104596e-02 9.97772287e-01 4.22225449e-04 -1.73321584e-01] [-8.90398085e-03 1.72163481e-04 9.99960344e-01 -5.11277360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.17, Z:-0.51 [[ 9.97884811e-01 -6.42873807e-02 9.64553656e-03 2.99418126e+01] [ 6.42859201e-02 9.97931414e-01 4.61713250e-04 -1.71727771e-01] [-9.65526627e-03 1.59335554e-04 9.99953374e-01 -5.12163594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.17, Z:-0.51 [[ 9.97979044e-01 -6.28158641e-02 9.59139805e-03 2.99687797e+01] [ 6.28143439e-02 9.98025123e-01 4.59962770e-04 -1.69582163e-01] [-9.60134918e-03 1.43444170e-04 9.99953896e-01 -5.12936854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.17, Z:-0.51 [[ 9.98120157e-01 -6.05814886e-02 9.27556298e-03 2.99956452e+01] [ 6.05799512e-02 9.98163248e-01 4.46878683e-04 -1.68218536e-01] [-9.28559864e-03 1.15874531e-04 9.99956881e-01 -5.13410737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.17, Z:-0.51 [[ 9.98374409e-01 -5.65212044e-02 7.34113888e-03 3.00235033e+01] [ 5.65201359e-02 9.98401397e-01 3.53087648e-04 -1.67385863e-01] [-7.34936026e-03 6.24084952e-05 9.99972991e-01 -5.13553818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.17, Z:-0.51 [[ 9.98490051e-01 -5.45691947e-02 6.31040569e-03 3.00519778e+01] [ 5.45683592e-02 9.98509991e-01 3.04636227e-04 -1.66445017e-01] [-6.31762688e-03 4.01722425e-05 9.99980043e-01 -5.14187947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.17, Z:-0.51 [[ 9.98564333e-01 -5.33150327e-02 5.17504560e-03 3.00802845e+01] [ 5.33144501e-02 9.98577742e-01 2.50566045e-04 -1.65167355e-01] [-5.18104429e-03 2.56983949e-05 9.99986578e-01 -5.14910153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:-0.16, Z:-0.52 [[ 9.98611648e-01 -5.25230836e-02 4.01273039e-03 3.01083212e+01] [ 5.25227261e-02 9.98619710e-01 1.94506327e-04 -1.63621807e-01] [-4.01740774e-03 1.65232555e-05 9.99991930e-01 -5.15698246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:-0.16, Z:-0.52 [[ 9.98680849e-01 -5.12555935e-02 3.07007278e-03 3.01354659e+01] [ 5.12553730e-02 9.98685568e-01 1.50536425e-04 -1.63057889e-01] [-3.07375322e-03 7.01988037e-06 9.99995276e-01 -5.16932481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.16, Z:-0.52 [[ 9.98667003e-01 -5.15342111e-02 2.90539513e-03 3.01631359e+01] [ 5.15340192e-02 9.98671230e-01 1.40925920e-04 -1.62762017e-01] [-2.90879703e-03 8.98862240e-06 9.99995769e-01 -5.16973502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.16, Z:-0.52 [[ 9.98619617e-01 -5.24448042e-02 2.89896061e-03 3.01913469e+01] [ 5.24446149e-02 9.98623824e-01 1.41323110e-04 -1.62870331e-01] [-2.90238279e-03 1.09068424e-05 9.99995788e-01 -5.17223621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.17, Z:-0.52 [[ 9.98491982e-01 -5.47845338e-02 3.52371258e-03 3.02187738e+01] [ 5.47842558e-02 9.98498200e-01 1.75426572e-04 -1.65626814e-01] [-3.52803133e-03 1.78819456e-05 9.99993776e-01 -5.16167220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:-0.17, Z:-0.52 [[ 9.98393989e-01 -5.64881479e-02 4.30497986e-03 3.02470067e+01] [ 5.64877517e-02 9.98403269e-01 2.13667855e-04 -1.65796962e-01] [-4.31017567e-03 2.98539314e-05 9.99990711e-01 -5.16329273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.17, Z:-0.52 [[ 9.98332819e-01 -5.74642512e-02 5.42608819e-03 3.02736466e+01] [ 5.74636146e-02 9.98347564e-01 2.73285741e-04 -1.65969707e-01] [-5.43282609e-03 3.89725160e-05 9.99985241e-01 -5.17129028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.17, Z:-0.52 [[ 9.98277661e-01 -5.81965694e-02 7.40752354e-03 3.03015567e+01] [ 5.81954003e-02 9.98305142e-01 3.73457438e-04 -1.66794868e-01] [-7.41670278e-03 5.82695806e-05 9.99972494e-01 -5.17377838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.17, Z:-0.52 [[ 9.98298840e-01 -5.76564695e-02 8.66930765e-03 3.03296110e+01] [ 5.76548206e-02 9.98336480e-01 4.40202003e-04 -1.66108968e-01] [-8.68026658e-03 6.03742289e-05 9.99962324e-01 -5.17895013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.17, Z:-0.52 [[ 9.98324728e-01 -5.71012469e-02 9.33734342e-03 3.03573497e+01] [ 5.70992823e-02 9.98368391e-01 4.77066635e-04 -1.65357417e-01] [-9.34934963e-03 5.68881894e-05 9.99956292e-01 -5.17964183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.17, Z:-0.52 [[ 9.98401784e-01 -5.56993773e-02 9.56331740e-03 3.03853289e+01] [ 5.56972257e-02 9.98447584e-01 4.91375170e-04 -1.65151660e-01] [-9.57584045e-03 4.20604013e-05 9.99954150e-01 -5.18187078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.17, Z:-0.52 [[ 9.98582206e-01 -5.24096973e-02 9.31669961e-03 3.04131920e+01] [ 5.24074887e-02 9.98625667e-01 4.81209626e-04 -1.65595999e-01] [-9.32911541e-03 7.73745870e-06 9.99956483e-01 -5.18000315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628000000005 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.16, Z:-0.52 [[ 9.98623080e-01 -5.17861212e-02 8.37506421e-03 3.04411845e+01] [ 5.17842984e-02 9.98658199e-01 4.34493250e-04 -1.64377090e-01] [-8.38632726e-03 -1.98163008e-07 9.99964834e-01 -5.21244378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.16, Z:-0.52 [[ 9.98723396e-01 -4.97717843e-02 8.62251566e-03 3.04694534e+01] [ 4.97697552e-02 9.98760617e-01 4.49875856e-04 -1.63185449e-01] [-8.63422018e-03 -2.01610496e-05 9.99962724e-01 -5.19128123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.16, Z:-0.52 [[ 9.98810568e-01 -4.80045683e-02 8.54458433e-03 3.04973970e+01] [ 4.80024909e-02 9.98847115e-01 4.48165071e-04 -1.61513396e-01] [-8.55624738e-03 -3.74706779e-05 9.99963394e-01 -5.19925223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.16, Z:-0.52 [[ 9.98993532e-01 -4.43265869e-02 6.86120954e-03 3.05257504e+01] [ 4.43251530e-02 9.99017092e-01 3.60990024e-04 -1.60169671e-01] [-6.87046706e-03 -5.65025364e-05 9.99976396e-01 -5.20271310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.16, Z:-0.52 [[ 9.99070006e-01 -4.27259245e-02 5.79812774e-03 3.05536038e+01] [ 4.27248678e-02 9.99086829e-01 3.06057082e-04 -1.58555285e-01] [-5.80590963e-03 -5.80482099e-05 9.99983144e-01 -5.20832585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.16, Z:-0.52 [[ 9.99124748e-01 -4.15533375e-02 4.80195214e-03 3.05820530e+01] [ 4.15525961e-02 9.99136286e-01 2.54095118e-04 -1.56312123e-01] [-4.80836313e-03 -5.43391425e-05 9.99988438e-01 -5.21619081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.15, Z:-0.52 [[ 9.99166799e-01 -4.06455641e-02 3.69390898e-03 3.06090851e+01] [ 4.06451124e-02 9.99173627e-01 1.97306491e-04 -1.53662710e-01] [-3.69887606e-03 -4.70027494e-05 9.99993158e-01 -5.22569767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.15, Z:-0.52 [[ 9.99211537e-01 -3.96195640e-02 2.56789790e-03 3.06358816e+01] [ 3.96193429e-02 9.99214836e-01 1.36947806e-04 -1.50674687e-01] [-2.57130749e-03 -3.51014001e-05 9.99996694e-01 -5.23481039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.15, Z:-0.53 [[ 9.99168458e-01 -4.07360650e-02 1.72209611e-03 3.06643893e+01] [ 4.07359714e-02 9.99169942e-01 8.94118569e-05 -1.48928028e-01] [-1.72430895e-03 -1.91862494e-05 9.99998513e-01 -5.26090785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.15, Z:-0.52 [[ 9.99165402e-01 -4.07232166e-02 3.18106924e-03 3.06922135e+01] [ 4.07228834e-02 9.99170465e-01 1.69472997e-04 -1.48074774e-01] [-3.18533192e-03 -3.97892433e-05 9.99994926e-01 -5.23542421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.15, Z:-0.52 [[ 9.99036392e-01 -4.35040835e-02 5.80359705e-03 3.07189981e+01] [ 4.35029832e-02 9.99053247e-01 3.15753522e-04 -1.47765691e-01] [-5.81183905e-03 -6.29754739e-05 9.99983109e-01 -5.22830729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.15, Z:-0.52 [[ 9.98921936e-01 -4.58793243e-02 7.07480293e-03 3.07471989e+01] [ 4.58777479e-02 9.98946988e-01 3.85027544e-04 -1.47088350e-01] [-7.08501788e-03 -6.00364345e-05 9.99974899e-01 -5.22522671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.15, Z:-0.52 [[ 9.98785251e-01 -4.85945493e-02 8.16039480e-03 3.07744739e+01] [ 4.85925140e-02 9.98818586e-01 4.47617510e-04 -1.46781855e-01] [-8.17250576e-03 -5.05396692e-05 9.99966603e-01 -5.22211322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.15, Z:-0.52 [[ 9.98776796e-01 -4.87680405e-02 8.16030257e-03 3.08029910e+01] [ 4.87659973e-02 9.98810130e-01 4.49290127e-04 -1.45121774e-01] [-8.17250387e-03 -5.07952605e-05 9.99966603e-01 -5.22625790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.14, Z:-0.52 [[ 9.98613465e-01 -5.18522601e-02 9.08247256e-03 3.08311594e+01] [ 5.18498449e-02 9.98654766e-01 5.01337129e-04 -1.44506363e-01] [-9.09624998e-03 -2.97172129e-05 9.99958628e-01 -5.22483577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.14, Z:-0.52 [[ 9.98359404e-01 -5.63977650e-02 9.88905383e-03 3.08580695e+01] [ 5.63950860e-02 9.98408379e-01 5.49771925e-04 -1.42882601e-01] [-9.90432011e-03 8.82407004e-06 9.99950951e-01 -5.22496804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.14, Z:-0.52 [[ 9.98253759e-01 -5.81094796e-02 1.06169807e-02 3.08857517e+01] [ 5.81064798e-02 9.98310216e-01 5.91055783e-04 -1.40204060e-01] [-1.06333862e-02 2.68917167e-05 9.99943464e-01 -5.23864314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.14, Z:-0.52 [[ 9.98176824e-01 -5.96132750e-02 9.44914429e-03 3.09140113e+01] [ 5.96109454e-02 9.98221547e-01 5.28248555e-04 -1.38005895e-01] [-9.46383005e-03 3.59869593e-05 9.99955216e-01 -5.24576195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.14, Z:-0.52 [[ 9.97976954e-01 -6.31746815e-02 7.13857655e-03 3.09415709e+01] [ 6.31734358e-02 9.98002483e-01 4.00076188e-04 -1.36243314e-01] [-7.14959181e-03 5.17015920e-05 9.99974440e-01 -5.24706206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.13, Z:-0.52 [[ 9.97863460e-01 -6.50525289e-02 6.05663467e-03 3.09699066e+01] [ 6.50516602e-02 9.97881839e-01 3.40531134e-04 -1.34589521e-01] [-6.06595816e-03 5.41905650e-05 9.99981600e-01 -5.24913777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.13, Z:-0.53 [[ 9.97731167e-01 -6.71284365e-02 5.12742019e-03 3.09978386e+01] [ 6.71278372e-02 9.97744341e-01 2.89096880e-04 -1.32727782e-01] [-5.13526110e-03 5.57516603e-05 9.99986813e-01 -5.25593357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.13, Z:-0.53 [[ 9.97457459e-01 -7.11500253e-02 4.03619682e-03 3.10244190e+01] [ 7.11496790e-02 9.97465624e-01 2.29504949e-04 -1.29828341e-01] [-4.04229686e-03 5.82526847e-05 9.99991828e-01 -5.26781705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.13, Z:-0.53 [[ 9.97305346e-01 -7.32751125e-02 3.57829953e-03 3.10520282e+01] [ 7.32748592e-02 9.97311764e-01 2.02003038e-04 -1.27608848e-01] [-3.58348201e-03 6.07406845e-05 9.99993577e-01 -5.27198112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.13, Z:-0.53 [[ 9.97164694e-01 -7.51571079e-02 3.73933492e-03 3.10791389e+01] [ 7.51568336e-02 9.97171703e-01 2.14005861e-04 -1.25158250e-01] [-3.74484303e-03 6.76374832e-05 9.99992986e-01 -5.27320966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.12, Z:-0.53 [[ 9.97012478e-01 -7.71084032e-02 4.51798006e-03 3.11070995e+01] [ 7.71080260e-02 9.97022711e-01 2.57889778e-04 -1.22654065e-01] [-4.52441419e-03 9.12531974e-05 9.99989761e-01 -5.27490810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.12, Z:-0.53 [[ 9.96863890e-01 -7.89607817e-02 5.25160525e-03 3.11336451e+01] [ 7.89602788e-02 9.96877717e-01 3.03347281e-04 -1.19637363e-01] [-5.25916079e-03 1.12272264e-04 9.99986164e-01 -5.26783605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.12, Z:-0.53 [[ 9.96848138e-01 -7.91597842e-02 5.24570515e-03 3.11612932e+01] [ 7.91592892e-02 9.96861934e-01 3.02243011e-04 -1.17201545e-01] [-5.25316928e-03 1.13955908e-04 9.99986196e-01 -5.26759066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.11, Z:-0.53 [[ 9.96844621e-01 -7.91843545e-02 5.53526402e-03 3.11896841e+01] [ 7.91837943e-02 9.96859982e-01 3.20619571e-04 -1.14624458e-01] [-5.54327124e-03 1.18695313e-04 9.99984629e-01 -5.26650366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.11, Z:-0.53 [[ 9.97030405e-01 -7.67685985e-02 6.07893143e-03 3.12174615e+01] [ 7.67678660e-02 9.97048930e-01 3.54095083e-04 -1.10599746e-01] [-6.08817546e-03 1.13623029e-04 9.99981460e-01 -5.26293840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.11, Z:-0.53 [[ 9.97164633e-01 -7.49958694e-02 6.18989726e-03 3.12447040e+01] [ 7.49950598e-02 9.97183839e-01 3.63122805e-04 -1.07526639e-01] [-6.19969822e-03 1.02118497e-04 9.99980776e-01 -5.26809283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.10, Z:-0.53 [[ 9.97261297e-01 -7.37472748e-02 5.58970538e-03 3.12729338e+01] [ 7.37465944e-02 9.97276959e-01 3.28022980e-04 -1.04035751e-01] [-5.59867518e-03 8.50971132e-05 9.99984324e-01 -5.28922732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.827628000000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.10, Z:-0.53 [[ 9.97560779e-01 -6.96361624e-02 4.82675822e-03 3.13007307e+01] [ 6.96356039e-02 9.97572455e-01 2.83887374e-04 -9.94699364e-02] [-4.83480987e-03 5.29193136e-05 9.99988311e-01 -5.30464619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.10, Z:-0.53 [[ 9.97707115e-01 -6.74696124e-02 5.32571714e-03 3.13291301e+01] [ 6.74688915e-02 9.97721329e-01 3.15111992e-04 -9.65545714e-02] [-5.33484206e-03 4.49307550e-05 9.99985769e-01 -5.29816255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.09, Z:-0.53 [[ 9.97828537e-01 -6.57136749e-02 4.46365639e-03 3.13568868e+01] [ 6.57131482e-02 9.97838520e-01 2.64717359e-04 -9.40848286e-02] [-4.47140384e-03 2.91783788e-05 9.99990003e-01 -5.30881463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.09, Z:-0.53 [[ 9.97922290e-01 -6.43625214e-02 2.92739524e-03 3.13849642e+01] [ 6.43622907e-02 9.97926583e-01 1.73018664e-04 -9.20316136e-02] [-2.93246145e-03 1.57546819e-05 9.99995700e-01 -5.33410362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.09, Z:-0.53 [[ 9.98182532e-01 -6.01871628e-02 3.02308302e-03 3.14131793e+01] [ 6.01868947e-02 9.98187109e-01 1.79672753e-04 -9.06319906e-02] [-3.02841649e-03 2.60377565e-06 9.99995414e-01 -5.30811945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.09, Z:-0.53 [[ 9.98230117e-01 -5.94344033e-02 2.04583948e-03 3.14397392e+01] [ 5.94342763e-02 9.98232213e-01 1.22844768e-04 -8.88064419e-02] [-2.04952408e-03 -1.03435819e-06 9.99997900e-01 -5.32722670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.007628000000004 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.09, Z:-0.53 [[ 9.98249369e-01 -5.90915360e-02 2.52718883e-03 3.14677067e+01] [ 5.90913443e-02 9.98252568e-01 1.50527728e-04 -8.69973059e-02] [-2.53166766e-03 -9.29223576e-07 9.99996795e-01 -5.33298422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.09, Z:-0.53 [[ 9.98192361e-01 -5.98567035e-02 5.40231345e-03 3.14943733e+01] [ 5.98557967e-02 9.98206980e-01 3.29517068e-04 -8.52007048e-02] [-5.41235080e-03 -5.56164474e-06 9.99985353e-01 -5.31066490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.08, Z:-0.53 [[ 9.98091711e-01 -6.14486901e-02 6.08227818e-03 3.15228874e+01] [ 6.14475723e-02 9.98110244e-01 3.70652262e-04 -8.38237336e-02] [-6.09356025e-03 3.79627792e-06 9.99981434e-01 -5.31537435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.08, Z:-0.53 [[ 9.97933543e-01 -6.39211491e-02 6.53687263e-03 3.15499742e+01] [ 6.39198887e-02 9.97954952e-01 4.01757167e-04 -8.29848868e-02] [-6.54918519e-03 1.69092184e-05 9.99978554e-01 -5.31982469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.127628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.08, Z:-0.53 [[ 9.97700526e-01 -6.75289024e-02 5.78850490e-03 3.15785145e+01] [ 6.75279801e-02 9.97717318e-01 3.54844917e-04 -8.26195328e-02] [-5.79925387e-03 3.68570833e-05 9.99983184e-01 -5.34465212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.08, Z:-0.53 [[ 9.97225615e-01 -7.41633956e-02 6.39248888e-03 3.16061091e+01] [ 7.41623880e-02 9.97246100e-01 3.94855312e-04 -8.48413359e-02] [-6.40416842e-03 8.03224094e-05 9.99979490e-01 -5.31679532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.09, Z:-0.53 [[ 9.96927742e-01 -7.80836641e-02 6.16586504e-03 3.16331909e+01] [ 7.80827911e-02 9.96946805e-01 3.82545662e-04 -8.50253171e-02] [-6.17691002e-03 1.00077569e-04 9.99980918e-01 -5.31349117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.08, Z:-0.53 [[ 9.96595572e-01 -8.22000074e-02 6.35801056e-03 3.16617091e+01] [ 8.21991659e-02 9.96615845e-01 3.93993763e-04 -8.49799908e-02] [-6.36888036e-03 1.29970726e-04 9.99979710e-01 -5.31383237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.08, Z:-0.53 [[ 9.96289909e-01 -8.58379353e-02 6.18597242e-03 3.16894499e+01] [ 8.58371990e-02 9.96309102e-01 3.84901008e-04 -8.45734398e-02] [-6.19617973e-03 1.47513555e-04 9.99980793e-01 -5.31492133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.08, Z:-0.54 [[ 9.95791188e-01 -9.15585795e-02 4.11536465e-03 3.17173872e+01] [ 9.15944741e-02 9.95750126e-01 -9.59893190e-03 -8.00085747e-02] [-3.21901030e-03 9.93547647e-03 9.99945461e-01 -5.36809212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.09, Z:-0.53 [[ 9.95622933e-01 -9.33025014e-02 5.44231573e-03 3.17449483e+01] [ 9.32404930e-02 9.95586003e-01 1.07107686e-02 -8.79285186e-02] [-6.41763487e-03 -1.01564426e-02 9.99927828e-01 -5.27875827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.08, Z:-0.53 [[ 9.95550046e-01 -9.41337768e-02 4.35170189e-03 3.17729923e+01] [ 9.41334857e-02 9.95559548e-01 2.72120165e-04 -8.44212187e-02] [-4.35799406e-03 1.38731624e-04 9.99990494e-01 -5.32375912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.08, Z:-0.53 [[ 9.95584803e-01 -9.38241766e-02 2.81501426e-03 3.17998018e+01] [ 9.38240501e-02 9.95588779e-01 1.77275404e-04 -8.34563024e-02] [-2.81922933e-03 8.76233410e-05 9.99996022e-01 -5.32528782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.08, Z:-0.53 [[ 9.95647800e-01 -9.31769071e-02 1.87705271e-03 3.18277682e+01] [ 9.31768542e-02 9.95649567e-01 1.15804730e-04 -8.19799982e-02] [-1.87967704e-03 5.95971420e-05 9.99998232e-01 -5.33525800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.08, Z:-0.53 [[ 9.95712742e-01 -9.24939137e-02 1.00598219e-03 3.18560726e+01] [ 9.24938999e-02 9.95713249e-01 6.03371210e-05 -8.04317614e-02] [-1.00725061e-03 3.29687757e-05 9.99999492e-01 -5.34142755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.08, Z:-0.54 [[ 9.95763603e-01 -9.19492103e-02 4.35306778e-04 3.18827993e+01] [ 9.19492081e-02 9.95763698e-01 2.51453094e-05 -7.88481643e-02] [-4.35774779e-04 1.49873296e-05 9.99999905e-01 -5.36839050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.08, Z:-0.53 [[ 9.95986890e-01 -8.94480169e-02 3.02760621e-03 3.19107256e+01] [ 8.94478475e-02 9.95991489e-01 1.91579247e-04 -7.73101764e-02] [-3.03260640e-03 8.00024400e-05 9.99995398e-01 -5.34727656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.08, Z:-0.53 [[ 9.96080366e-01 -8.83469037e-02 4.32775200e-03 3.19391757e+01] [ 8.83465343e-02 9.96089762e-01 2.76814266e-04 -7.55616563e-02] [-4.33528514e-03 1.06612635e-04 9.99990597e-01 -5.34259503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.07, Z:-0.53 [[ 9.96199584e-01 -8.68887145e-02 6.06144566e-03 3.19657648e+01] [ 8.68879337e-02 9.96218015e-01 3.92539348e-04 -7.39302202e-02] [-6.07262860e-03 1.35618953e-04 9.99981552e-01 -5.34206953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.07, Z:-0.53 [[ 9.96512971e-01 -8.30514205e-02 8.02244397e-03 3.19941252e+01] [ 8.30499245e-02 9.96545252e-01 5.20010852e-04 -7.28069187e-02] [-8.03791609e-03 1.48065807e-04 9.99967684e-01 -5.32324032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.07, Z:-0.53 [[ 9.96701373e-01 -8.06997670e-02 8.59768917e-03 3.20217108e+01] [ 8.06979379e-02 9.96738446e-01 5.60002730e-04 -7.07546074e-02] [-8.61483943e-03 1.35660298e-04 9.99962882e-01 -5.32531336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.07, Z:-0.53 [[ 9.96902911e-01 -7.81626630e-02 8.67088394e-03 3.20492190e+01] [ 7.81606853e-02 9.96940613e-01 5.67246229e-04 -6.82202425e-02] [-8.68869383e-03 1.12232814e-04 9.99962246e-01 -5.32928450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.06, Z:-0.54 [[ 9.97318841e-01 -7.27037656e-02 8.32417642e-03 3.20756469e+01] [ 7.27017256e-02 9.97353578e-01 5.47798435e-04 -6.40668602e-02] [-8.34197414e-03 5.88522902e-05 9.99965203e-01 -5.35495833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.06, Z:-0.54 [[ 9.97499133e-01 -7.02674093e-02 7.61380345e-03 3.21037281e+01] [ 7.02656350e-02 9.97528190e-01 5.00622881e-04 -6.15639616e-02] [-7.63016105e-03 3.56178439e-05 9.99970889e-01 -5.36422747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.06, Z:-0.54 [[ 9.97653673e-01 -6.81220707e-02 6.82149221e-03 3.21302116e+01] [ 6.81205809e-02 9.97676993e-01 4.50772811e-04 -5.94104169e-02] [-6.83635341e-03 1.49688614e-05 9.99976632e-01 -5.37363515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.06, Z:-0.54 [[ 9.97753671e-01 -6.67765280e-02 5.33920918e-03 3.21585840e+01] [ 6.67755987e-02 9.97767957e-01 3.52336531e-04 -5.75187268e-02] [-5.35081964e-03 4.98382240e-06 9.99985684e-01 -5.40390229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.06, Z:-0.54 [[ 9.98015868e-01 -6.26891303e-02 5.86515004e-03 3.21869232e+01] [ 6.26879259e-02 9.98033102e-01 3.89144002e-04 -5.69242704e-02] [-5.87800899e-03 -2.06977974e-05 9.99982724e-01 -5.37573051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.06, Z:-0.54 [[ 9.98077928e-01 -6.16675414e-02 6.12889198e-03 3.22142965e+01] [ 6.16661862e-02 9.98096745e-01 4.10027623e-04 -5.54162544e-02] [-6.14251253e-03 -3.12941270e-05 9.99981134e-01 -5.37889797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.05, Z:-0.54 [[ 9.98108621e-01 -6.12069159e-02 5.73535238e-03 3.22425005e+01] [ 6.12057267e-02 9.98125099e-01 3.82813976e-04 -5.34950431e-02] [-5.74803003e-03 -3.10535196e-05 9.99983479e-01 -5.38203846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.05, Z:-0.54 [[ 9.98158346e-01 -6.03570874e-02 6.07770894e-03 3.22708072e+01] [ 6.03557240e-02 9.98176848e-01 4.07649994e-04 -5.27800661e-02] [-6.09123292e-03 -4.00747199e-05 9.99981447e-01 -5.38633875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.05, Z:-0.54 [[ 9.98139203e-01 -6.06010168e-02 6.75641406e-03 3.22976610e+01] [ 6.05993123e-02 9.98162068e-01 4.56904637e-04 -5.17270473e-02] [-6.77168511e-03 -4.66203850e-05 9.99977071e-01 -5.39142140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.05, Z:-0.54 [[ 9.98115630e-01 -6.09714038e-02 6.90481280e-03 3.23253481e+01] [ 6.09696351e-02 9.98139512e-01 4.66552187e-04 -5.07539028e-02] [-6.92041282e-03 -4.46891135e-05 9.99976053e-01 -5.39452301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.05, Z:-0.54 [[ 9.98071712e-01 -6.16774517e-02 6.98203400e-03 3.23538935e+01] [ 6.16756465e-02 9.98096133e-01 4.73766132e-04 -4.95484866e-02] [-6.99796182e-03 -4.22311135e-05 9.99975513e-01 -5.40121944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.05, Z:-0.54 [[ 9.97978641e-01 -6.31639897e-02 6.99591511e-03 3.23820171e+01] [ 6.31621997e-02 9.98003161e-01 4.76731985e-04 -4.95212186e-02] [-7.01205769e-03 -3.38909509e-05 9.99975415e-01 -5.41396653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.05, Z:-0.54 [[ 9.97924676e-01 -6.40147885e-02 6.96051498e-03 3.24093177e+01] [ 6.40130145e-02 9.97948950e-01 4.77580302e-04 -4.87181410e-02] [-6.97681082e-03 -3.10256212e-05 9.99975661e-01 -5.41820360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.05, Z:-0.54 [[ 9.97867692e-01 -6.48765168e-02 7.14893167e-03 3.24367175e+01] [ 6.48746609e-02 9.97893299e-01 4.91445406e-04 -4.77186453e-02] [-7.16575428e-03 -2.66129754e-05 9.99974325e-01 -5.42129480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.05, Z:-0.54 [[ 9.97877919e-01 -6.46488770e-02 7.75763045e-03 3.24649625e+01] [ 6.46466851e-02 9.97908073e-01 5.33230349e-04 -4.58872942e-02] [-7.77587479e-03 -3.05936978e-05 9.99969767e-01 -5.41881825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.04, Z:-0.54 [[ 9.97880931e-01 -6.45762862e-02 7.97187710e-03 3.24923734e+01] [ 6.45739414e-02 9.97912773e-01 5.51449306e-04 -4.44651631e-02] [-7.99084853e-03 -3.55052219e-05 9.99968072e-01 -5.41248865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.04, Z:-0.54 [[ 9.97835733e-01 -6.53074722e-02 7.66707244e-03 3.25204931e+01] [ 6.53053269e-02 9.97865188e-01 5.30096582e-04 -4.21693294e-02] [-7.68532395e-03 -2.82486391e-05 9.99970467e-01 -5.41772720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.04, Z:-0.54 [[ 9.97818715e-01 -6.55669963e-02 7.66691587e-03 3.25490189e+01] [ 6.55648413e-02 9.97848169e-01 5.32347033e-04 -4.01017158e-02] [-7.68532236e-03 -2.85057097e-05 9.99970467e-01 -5.42199447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.04, Z:-0.54 [[ 9.97729206e-01 -6.69232488e-02 7.59670451e-03 3.25771672e+01] [ 6.69211586e-02 9.97758126e-01 5.29290583e-04 -3.73265232e-02] [-7.61509551e-03 -1.97084054e-05 9.99971005e-01 -5.43522433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.03, Z:-0.54 [[ 9.97515088e-01 -7.00735904e-02 7.30346316e-03 3.26037483e+01] [ 7.00717202e-02 9.97541825e-01 5.11949171e-04 -3.41374426e-02] [-7.32138409e-03 1.08920518e-06 9.99973198e-01 -5.44709823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.03, Z:-0.54 [[ 9.97313533e-01 -7.28925649e-02 7.23812631e-03 3.26321711e+01] [ 7.28908045e-02 9.97339798e-01 5.07062791e-04 -3.19464550e-02] [-7.25583254e-03 2.18922660e-05 9.99973676e-01 -5.44758940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:32.66, Y:-0.03, Z:-0.55 [[ 9.97007147e-01 -7.69942222e-02 6.97411046e-03 3.26600039e+01] [ 7.69926760e-02 9.97031538e-01 4.90328001e-04 -2.99415860e-02] [-6.99116050e-03 4.80949057e-05 9.99975560e-01 -5.46884347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.03, Z:-0.54 [[ 9.96736212e-01 -8.03162950e-02 8.13732296e-03 3.26879757e+01] [ 8.03142771e-02 9.96769425e-01 5.74991448e-04 -2.75861295e-02] [-8.15721591e-03 8.04284129e-05 9.99966726e-01 -5.44523043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.03, Z:-0.54 [[ 9.95909549e-01 -8.98841503e-02 9.22003457e-03 3.27146717e+01] [ 8.98819334e-02 9.95952212e-01 6.55363757e-04 -2.52691726e-02] [-9.24162064e-03 1.76031509e-04 9.99957280e-01 -5.43848092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.02, Z:-0.54 [[ 9.95418710e-01 -9.51555079e-02 9.32853001e-03 3.27425195e+01] [ 9.51534684e-02 9.95462394e-01 6.63231713e-04 -2.27296802e-02] [-9.34931097e-03 2.27448730e-04 9.99956268e-01 -5.43292810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.02, Z:-0.54 [[ 9.94860494e-01 -1.00789497e-01 9.69917207e-03 3.27691670e+01] [ 1.00787523e-01 9.94907732e-01 6.93358845e-04 -1.96537978e-02] [-9.71966457e-03 2.87760206e-04 9.99952722e-01 -5.44073350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.02, Z:-0.54 [[ 9.93604062e-01 -1.12575763e-01 8.81281869e-03 3.27972207e+01] [ 1.12574596e-01 9.93643077e-01 6.29941815e-04 -1.50841542e-02] [-8.82771246e-03 3.66186758e-04 9.99960968e-01 -5.44455494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.01, Z:-0.54 [[ 9.92988338e-01 -1.17878620e-01 8.87648267e-03 3.28255438e+01] [ 1.17877625e-01 9.93027925e-01 6.37007372e-04 -1.19725836e-02] [-8.88968472e-03 4.13797804e-04 9.99960400e-01 -5.44999604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.01, Z:-0.55 [[ 9.92359516e-01 -1.23022320e-01 9.38616825e-03 3.28526299e+01] [ 1.23021401e-01 9.92403787e-01 6.77401868e-04 -8.91835440e-03] [-9.39820446e-03 4.82473377e-04 9.99955720e-01 -5.45203679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.01, Z:-0.55 [[ 9.91802552e-01 -1.27384250e-01 1.00474059e-02 3.28806545e+01] [ 1.27383414e-01 9.91853285e-01 7.25693672e-04 -5.57914190e-03] [-1.00579945e-02 5.60128037e-04 9.99949260e-01 -5.45635180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.00, Z:-0.55 [[ 9.91054027e-01 -1.33025583e-01 1.07754077e-02 3.29075666e+01] [ 1.33024913e-01 9.91112386e-01 7.82052294e-04 -4.75711104e-04] [-1.07836730e-02 6.58341601e-04 9.99941638e-01 -5.45612075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:0.00, Z:-0.55 [[ 9.90896194e-01 -1.34190705e-01 1.08437832e-02 3.29358661e+01] [ 1.34190077e-01 9.90955297e-01 7.88774862e-04 3.32042685e-03] [-1.08515507e-02 6.73534101e-04 9.99940893e-01 -5.45933986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:0.01, Z:-0.55 [[ 9.90843001e-01 -1.34572762e-01 1.09689908e-02 3.29636351e+01] [ 1.34572108e-01 9.90903480e-01 8.01018333e-04 7.35412995e-03] [-1.09770064e-02 6.82436811e-04 9.99939518e-01 -5.46015481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:0.01, Z:-0.55 [[ 9.91247270e-01 -1.31503870e-01 1.16439974e-02 3.29904547e+01] [ 1.31502877e-01 9.91315421e-01 8.54216978e-04 1.35221109e-02] [-1.16552070e-02 6.84478917e-04 9.99931841e-01 -5.46163046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.687628000000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:33.02, Y:0.02, Z:-0.55 [[ 9.91496030e-01 -1.29649578e-01 1.12520971e-02 3.30187428e+01] [ 1.29648511e-01 9.91559670e-01 8.27231383e-04 1.80354140e-02] [-1.12643759e-02 6.38621003e-04 9.99936351e-01 -5.47425609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:0.02, Z:-0.55 [[ 9.91917582e-01 -1.26361318e-01 1.15033827e-02 3.30459429e+01] [ 1.26359938e-01 9.91984095e-01 8.49612076e-04 2.21653338e-02] [-1.15185308e-02 6.10821566e-04 9.99933473e-01 -5.46560095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:0.03, Z:-0.55 [[ 9.92285385e-01 -1.23446628e-01 1.14299909e-02 3.30740906e+01] [ 1.23445063e-01 9.92351048e-01 8.45033006e-04 2.67866825e-02] [-1.14468799e-02 5.72462042e-04 9.99934318e-01 -5.46818232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:33.10, Y:0.04, Z:-0.55 [[ 9.92822357e-01 -1.19100832e-01 1.08976390e-02 3.31017946e+01] [ 1.19099117e-01 9.92882041e-01 8.08530775e-04 3.57038005e-02] [-1.09163667e-02 4.95171749e-04 9.99940292e-01 -5.50190468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80762800000001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:33.13, Y:0.04, Z:-0.55 [[ 9.93040962e-01 -1.17240537e-01 1.11491663e-02 3.31300312e+01] [ 1.17238589e-01 9.93103430e-01 8.30400887e-04 4.06145549e-02] [-1.11696319e-02 4.82490430e-04 9.99937501e-01 -5.50605942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:0.04, Z:-0.55 [[ 9.93238927e-01 -1.15459875e-01 1.20603204e-02 3.31572944e+01] [ 1.15457413e-01 9.93312021e-01 9.02472962e-04 4.42381833e-02] [-1.20838606e-02 4.96082115e-04 9.99926864e-01 -5.49068292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:0.05, Z:-0.55 [[ 9.93096528e-01 -1.16574690e-01 1.30240891e-02 3.31852763e+01] [ 1.16571897e-01 9.93181776e-01 9.76013865e-04 4.92329543e-02] [-1.30490664e-02 5.48966788e-04 9.99914707e-01 -5.48434241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:0.05, Z:-0.55 [[ 9.92923611e-01 -1.18016521e-01 1.32213513e-02 3.32117535e+01] [ 1.18013715e-01 9.93011467e-01 9.94931295e-04 5.26370305e-02] [-1.32463718e-02 5.72410010e-04 9.99912099e-01 -5.48471758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.927628000000006 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:33.24, Y:0.06, Z:-0.55 [[ 9.92592079e-01 -1.20789580e-01 1.30706860e-02 3.32393065e+01] [ 1.20787061e-01 9.92677952e-01 9.84891054e-04 5.69937864e-02] [-1.30939464e-02 6.01174689e-04 9.99914090e-01 -5.50707318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:0.06, Z:-0.55 [[ 9.92409157e-01 -1.22175575e-01 1.40425952e-02 3.32661589e+01] [ 1.22172742e-01 9.92508283e-01 1.06261894e-03 6.07531731e-02] [-1.40672181e-02 6.61069598e-04 9.99900833e-01 -5.49643999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:0.07, Z:-0.55 [[ 9.92022799e-01 -1.25236594e-01 1.43722429e-02 3.32942555e+01] [ 1.25233923e-01 9.92126644e-01 1.08930089e-03 6.69789387e-02] [-1.43955054e-02 7.19281036e-04 9.99896121e-01 -5.50208305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:0.07, Z:-0.55 [[ 9.91910103e-01 -1.26104004e-01 1.45646144e-02 3.33221102e+01] [ 1.26101292e-01 9.92016752e-01 1.10808413e-03 7.11494052e-02] [-1.45880754e-02 7.37496855e-04 9.99893316e-01 -5.51042205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:0.08, Z:-0.55 [[ 9.91890712e-01 -1.26286093e-01 1.43051740e-02 3.33501023e+01] [ 1.26283438e-01 9.91993599e-01 1.09231947e-03 7.54502204e-02] [-1.43285858e-02 7.23045021e-04 9.99897079e-01 -5.51543417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:0.08, Z:-0.55 [[ 9.92177801e-01 -1.24157886e-01 1.29626940e-02 3.33769615e+01] [ 1.24155480e-01 9.92262279e-01 9.93280388e-04 8.14859176e-02] [-1.29857159e-02 6.23878749e-04 9.99915487e-01 -5.52457547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:0.09, Z:-0.55 [[ 9.92460061e-01 -1.22014984e-01 1.16349075e-02 3.34044448e+01] [ 1.22012879e-01 9.92528115e-01 8.93190317e-04 8.59494467e-02] [-1.16569555e-02 5.33152852e-04 9.99931913e-01 -5.53133250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:0.09, Z:-0.55 [[ 9.92801833e-01 -1.19282777e-01 1.07768120e-02 3.34325858e+01] [ 1.19280781e-01 9.92860215e-01 8.30019879e-04 9.05012247e-02] [-1.07988749e-02 4.61421291e-04 9.99941584e-01 -5.54007812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:0.09, Z:-0.55 [[ 9.93197931e-01 -1.16019309e-01 9.86860761e-03 3.34590838e+01] [ 1.16017442e-01 9.93246883e-01 7.63388536e-04 9.48702878e-02] [-9.89053155e-03 3.86734700e-04 9.99951013e-01 -5.54828348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:0.10, Z:-0.56 [[ 9.94025101e-01 -1.08828937e-01 8.38814396e-03 3.34854404e+01] [ 1.08827325e-01 9.94060457e-01 6.49643422e-04 1.00721881e-01] [-8.40902222e-03 2.67097403e-04 9.99964608e-01 -5.55321502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:0.10, Z:-0.56 [[ 9.94379372e-01 -1.05527123e-01 8.58429876e-03 3.35123770e+01] [ 1.05525303e-01 9.94416395e-01 6.65960114e-04 1.04464655e-01] [-8.60664428e-03 2.43643723e-04 9.99962932e-01 -5.55544133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.54, Y:0.11, Z:-0.56 [[ 9.94659043e-01 -1.02900480e-01 8.05478480e-03 3.35391313e+01] [ 1.02898788e-01 9.94691635e-01 6.25283053e-04 1.08384860e-01] [-8.07636898e-03 2.06884153e-04 9.99967364e-01 -5.57116027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.287628000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.57, Y:0.11, Z:-0.56 [[ 9.95320724e-01 -9.61108754e-02 9.96771449e-03 3.35663450e+01] [ 9.61079183e-02 9.95370617e-01 7.76347752e-04 1.12348574e-01] [-9.99618559e-03 1.85261283e-04 9.99950020e-01 -5.56228841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:0.12, Z:-0.56 [[ 9.95585142e-01 -9.32731682e-02 1.05043329e-02 3.35945399e+01] [ 9.32697082e-02 9.95640542e-01 8.19855064e-04 1.15571668e-01] [-1.05350102e-02 1.63500543e-04 9.99944492e-01 -5.56590318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:0.12, Z:-0.56 [[ 9.95868093e-01 -9.01557221e-02 1.08943540e-02 3.36222610e+01] [ 9.01517793e-02 9.95927672e-01 8.53463718e-04 1.18402524e-01] [-1.09269333e-02 1.32208114e-04 9.99940291e-01 -5.57050076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:0.12, Z:-0.56 [[ 9.96164147e-01 -8.68309061e-02 1.08344888e-02 3.36490160e+01] [ 8.68267690e-02 9.96223060e-01 8.52527068e-04 1.21060940e-01] [-1.08675933e-02 9.14667559e-05 9.99940942e-01 -5.57319204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:0.12, Z:-0.56 [[ 9.96706782e-01 -8.02663136e-02 1.15286703e-02 3.36766733e+01] [ 8.02611785e-02 9.96773454e-01 9.08150416e-04 1.24442544e-01] [-1.15643664e-02 2.01449866e-05 9.99933130e-01 -5.57588060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:0.13, Z:-0.56 [[ 9.96956845e-01 -7.70591528e-02 1.17871562e-02 3.37042165e+01] [ 7.70535195e-02 9.97026522e-01 9.31990274e-04 1.26507757e-01] [-1.18239258e-02 -2.09122102e-05 9.99930095e-01 -5.57848375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:0.13, Z:-0.56 [[ 9.97156562e-01 -7.44511922e-02 1.16538261e-02 3.37315070e+01] [ 7.44454630e-02 9.97224657e-01 9.25253114e-04 1.29040465e-01] [-1.16903689e-02 -5.50477328e-05 9.99931664e-01 -5.58323652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:0.13, Z:-0.56 [[ 9.97310489e-01 -7.23608197e-02 1.16490708e-02 3.37593700e+01] [ 7.23549418e-02 9.97378517e-01 9.25799522e-04 1.31529902e-01] [-1.16855246e-02 -8.04417309e-05 9.99931719e-01 -5.59072240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52762800000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.79, Y:0.13, Z:-0.56 [[ 9.97449150e-01 -7.06577246e-02 1.01330513e-02 3.37871713e+01] [ 7.06531660e-02 9.97500616e-01 8.07591208e-04 1.33029596e-01] [-1.01647875e-02 -8.95990085e-05 9.99948333e-01 -5.60968823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:0.13, Z:-0.56 [[ 9.97441026e-01 -7.06966397e-02 1.06482619e-02 3.38157575e+01] [ 7.06915731e-02 9.97497858e-01 8.51920575e-04 1.33955925e-01] [-1.06818463e-02 -9.69981481e-05 9.99942943e-01 -5.60369316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.587628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.84, Y:0.13, Z:-0.56 [[ 9.97406308e-01 -7.14533601e-02 8.66448049e-03 3.38434349e+01] [ 7.14500194e-02 9.97443939e-01 6.94895734e-04 1.34814734e-01] [-8.69198619e-03 -7.40160901e-05 9.99962221e-01 -5.62593790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:0.13, Z:-0.56 [[ 9.97206941e-01 -7.43109570e-02 7.49652423e-03 3.38706347e+01] [ 7.43085201e-02 9.97235118e-01 6.03472394e-04 1.33606149e-01] [-7.52064183e-03 -4.47312394e-05 9.99971719e-01 -5.63289077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:0.13, Z:-0.56 [[ 9.97057052e-01 -7.64175597e-02 6.13125865e-03 3.38974144e+01] [ 7.64159652e-02 9.97075903e-01 4.94246907e-04 1.33715234e-01] [-6.15109940e-03 -2.42663159e-05 9.99981082e-01 -5.64348079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:0.13, Z:-0.57 [[ 9.96866468e-01 -7.89311572e-02 5.20746039e-03 3.39256267e+01] [ 7.89300431e-02 9.96880069e-01 4.19427885e-04 1.33898791e-01] [-5.22431940e-03 -7.08852069e-06 9.99986353e-01 -5.65403904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70762800000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:33.95, Y:0.13, Z:-0.57 [[ 9.96643670e-01 -8.17876652e-02 3.48902375e-03 3.39528969e+01] [ 8.17871803e-02 9.96649777e-01 2.81663465e-04 1.33830171e-01] [-3.50037134e-03 4.63930516e-06 9.99993874e-01 -5.67320033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:0.13, Z:-0.57 [[ 9.96208659e-01 -8.69277486e-02 3.44591231e-03 3.39808018e+01] [ 8.69273012e-02 9.96214618e-01 2.79667164e-04 1.30266388e-01] [-3.45717905e-03 2.09370074e-05 9.99994024e-01 -5.66404648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:0.13, Z:-0.57 [[ 9.95975546e-01 -8.95482262e-02 3.71841792e-03 3.40091566e+01] [ 8.95477277e-02 9.95982487e-01 3.00677188e-04 1.29125163e-01] [-3.73040424e-03 3.35087487e-05 9.99993041e-01 -5.66171691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:0.13, Z:-0.57 [[ 9.95689248e-01 -9.26478846e-02 4.39218449e-03 3.40378717e+01] [ 9.26472111e-02 9.95698934e-01 3.56995231e-04 1.28220097e-01] [-4.40636827e-03 5.14673309e-05 9.99990291e-01 -5.65951230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.827628000000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.07, Y:0.13, Z:-0.57 [[ 9.95428047e-01 -9.54039834e-02 4.59156788e-03 3.40661711e+01] [ 9.54032699e-02 9.95438635e-01 3.74655348e-04 1.27122240e-01] [-4.60636768e-03 6.51081488e-05 9.99989389e-01 -5.66639364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628000000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:34.10, Y:0.12, Z:-0.57 [[ 9.94838336e-01 -1.01306924e-01 5.79588882e-03 3.40950116e+01] [ 1.01305871e-01 9.94855213e-01 4.75666406e-04 1.23260765e-01] [-5.81425851e-03 1.13946389e-04 9.99983091e-01 -5.67160445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:0.12, Z:-0.57 [[ 9.94532268e-01 -1.04193081e-01 7.02635439e-03 3.41218846e+01] [ 1.04191576e-01 9.94557076e-01 5.80806327e-04 1.22471760e-01] [-7.04862648e-03 1.54456307e-04 9.99975146e-01 -5.65714576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:34.15, Y:0.12, Z:-0.57 [[ 9.94211049e-01 -1.07189983e-01 7.39577795e-03 3.41501094e+01] [ 1.07188401e-01 9.94238539e-01 6.11094436e-04 1.22065927e-01] [-7.41867067e-03 1.85184774e-04 9.99972464e-01 -5.67525211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:0.12, Z:-0.57 [[ 9.93618665e-01 -1.12431463e-01 9.00635132e-03 3.41781223e+01] [ 1.12429296e-01 9.93659445e-01 7.48254868e-04 1.17272625e-01] [-9.03337345e-03 2.69097731e-04 9.99959162e-01 -5.65844793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:0.12, Z:-0.57 [[ 9.93411664e-01 -1.14249140e-01 8.96663600e-03 3.42061834e+01] [ 1.14247054e-01 9.93452089e-01 7.46168177e-04 1.16549292e-01] [-8.99317234e-03 2.83159579e-04 9.99959521e-01 -5.66269741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.007628000000004 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:34.23, Y:0.12, Z:-0.57 [[ 9.93262042e-01 -1.15633911e-01 7.70161526e-03 3.42344857e+01] [ 1.15632401e-01 9.93291868e-01 6.42489290e-04 1.16582068e-01] [-7.72424536e-03 2.52396041e-04 9.99970136e-01 -5.68651627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628000000005 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:34.26, Y:0.12, Z:-0.57 [[ 9.93204599e-01 -1.16194626e-01 6.59034630e-03 3.42622012e+01] [ 1.16193524e-01 9.93226440e-01 5.51053409e-04 1.17184449e-01] [-6.60973564e-03 2.18446782e-04 9.99978132e-01 -5.68774997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:0.12, Z:-0.57 [[ 9.93320757e-01 -1.15223352e-01 6.11990750e-03 3.42900938e+01] [ 1.15222375e-01 9.93339590e-01 5.13099591e-04 1.16126968e-01] [-6.13826746e-03 1.95477803e-04 9.99981142e-01 -5.69001331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:0.12, Z:-0.57 [[ 9.93300319e-01 -1.15399415e-01 6.11968090e-03 3.43185512e+01] [ 1.15398425e-01 9.93319152e-01 5.15781625e-04 1.18607611e-01] [-6.13831714e-03 1.93875487e-04 9.99981142e-01 -5.69427554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.127628 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:34.35, Y:0.12, Z:-0.57 [[ 9.93400975e-01 -1.14544349e-01 5.83909309e-03 3.43459997e+01] [ 1.14543429e-01 9.93418119e-01 4.92907380e-04 1.19316909e-01] [-5.85712064e-03 1.79175072e-04 9.99982831e-01 -5.71522234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:34.37, Y:0.12, Z:-0.57 [[ 9.93543429e-01 -1.13322373e-01 5.43092347e-03 3.43732450e+01] [ 1.13321550e-01 9.93558259e-01 4.60006958e-04 1.19734813e-01] [-5.44806795e-03 1.58403775e-04 9.99985147e-01 -5.71744938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.187628000000004 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:34.40, Y:0.12, Z:-0.57 [[ 9.93832709e-01 -1.10758676e-01 5.39093782e-03 3.44012777e+01] [ 1.10757832e-01 9.93847320e-01 4.55729391e-04 1.18658678e-01] [-5.40824508e-03 1.44169809e-04 9.99985365e-01 -5.72194686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:0.12, Z:-0.57 [[ 9.93982487e-01 -1.09320518e-01 6.91667077e-03 3.44286062e+01] [ 1.09319063e-01 9.94006537e-01 5.89114001e-04 1.19656319e-01] [-6.93961821e-03 1.70554972e-04 9.99975906e-01 -5.70854439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:0.12, Z:-0.57 [[ 9.94117835e-01 -1.08022548e-01 7.80124225e-03 3.44568028e+01] [ 1.08020658e-01 9.94148428e-01 6.64487697e-04 1.21048333e-01] [-7.82737237e-03 1.82116249e-04 9.99969349e-01 -5.71369732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:0.12, Z:-0.57 [[ 9.94249225e-01 -1.06733723e-01 8.74022768e-03 3.44835553e+01] [ 1.06731270e-01 9.94287623e-01 7.48005776e-04 1.22614693e-01] [-8.77013764e-03 1.89151434e-04 9.99961524e-01 -5.71679081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:0.12, Z:-0.57 [[ 9.94516473e-01 -1.04093700e-01 1.00740538e-02 3.45118327e+01] [ 1.04090285e-01 9.94567477e-01 8.64100406e-04 1.22940373e-01] [-1.01092737e-02 1.89249049e-04 9.99948882e-01 -5.71991924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:0.12, Z:-0.57 [[ 9.94649082e-01 -1.02796157e-01 1.03031131e-02 3.45393772e+01] [ 1.02792477e-01 9.94702427e-01 8.87474605e-04 1.23995553e-01] [-1.03397606e-02 1.76356721e-04 9.99946528e-01 -5.72576961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:0.13, Z:-0.57 [[ 9.94762477e-01 -1.01700181e-01 1.02316488e-02 3.45673334e+01] [ 1.01696488e-01 9.94815082e-01 8.81856605e-04 1.25038008e-01] [-1.02682835e-02 1.63284889e-04 9.99947266e-01 -5.72952909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:0.12, Z:-0.57 [[ 9.95025838e-01 -9.91424297e-02 9.71397576e-03 3.45952146e+01] [ 9.91389561e-02 9.95073245e-01 8.39654784e-04 1.24273154e-01] [-9.74936279e-03 1.27555212e-04 9.99952466e-01 -5.73645932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:0.13, Z:-0.57 [[ 9.95118427e-01 -9.82606181e-02 9.17423652e-03 3.46229067e+01] [ 9.82574618e-02 9.95160710e-01 7.95232985e-04 1.25815877e-01] [-9.20797982e-03 1.10086198e-04 9.99957600e-01 -5.74640430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:0.13, Z:-0.58 [[ 9.95207216e-01 -9.73667917e-02 9.07226995e-03 3.46511476e+01] [ 9.73636456e-02 9.95248561e-01 7.88857683e-04 1.28037021e-01] [-9.10597215e-03 9.82324174e-05 9.99958535e-01 -5.76376836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:0.13, Z:-0.58 [[ 9.95355481e-01 -9.58643502e-02 8.80305225e-03 3.46793770e+01] [ 9.58613092e-02 9.95394404e-01 7.67715300e-04 1.31470436e-01] [-8.83610548e-03 7.97224829e-05 9.99960958e-01 -5.77789782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:0.13, Z:-0.58 [[ 9.95538595e-01 -9.40530928e-02 7.54464072e-03 3.47072882e+01] [ 9.40507958e-02 9.95567182e-01 6.59463245e-04 1.33996046e-01] [-7.57322125e-03 5.30583514e-05 9.99971321e-01 -5.78557387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:0.14, Z:-0.58 [[ 9.95601672e-01 -9.33815856e-02 7.56237602e-03 3.47343455e+01] [ 9.33792334e-02 9.95630392e-01 6.64306346e-04 1.36738635e-01] [-7.59136538e-03 4.47843668e-05 9.99971184e-01 -5.78139457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:0.14, Z:-0.58 [[ 9.95349791e-01 -9.60634194e-02 7.11423671e-03 3.47627778e+01] [ 9.60614099e-02 9.95375213e-01 6.24415069e-04 1.39096040e-01] [-7.14131833e-03 6.18922009e-05 9.99974499e-01 -5.77841936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:0.14, Z:-0.58 [[ 9.95027786e-01 -9.93268699e-02 7.34013799e-03 3.47902340e+01] [ 9.93247941e-02 9.95054856e-01 6.47693004e-04 1.41042922e-01] [-7.36817327e-03 8.45851590e-05 9.99972851e-01 -5.77905934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:0.14, Z:-0.58 [[ 9.94685777e-01 -1.02608437e-01 8.46837541e-03 3.48177311e+01] [ 1.02605790e-01 9.94721817e-01 7.47567032e-04 1.43975185e-01] [-8.50038445e-03 1.25310054e-04 9.99963863e-01 -5.78102269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:0.15, Z:-0.58 [[ 9.93796470e-01 -1.10624146e-01 1.14400461e-02 3.48445150e+01] [ 1.10619787e-01 9.93862280e-01 1.01510632e-03 1.48020567e-01] [-1.14821255e-02 2.56686372e-04 9.99934045e-01 -5.78329793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:0.15, Z:-0.58 [[ 9.93297183e-01 -1.14868205e-01 1.28841878e-02 3.48723485e+01] [ 1.14863013e-01 9.93380681e-01 1.14470457e-03 1.51804668e-01] [-1.29303934e-02 3.42884805e-04 9.99916340e-01 -5.79003077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:0.16, Z:-0.58 [[ 9.92739190e-01 -1.19555832e-01 1.32402551e-02 3.48994635e+01] [ 1.19550711e-01 9.92827394e-01 1.18047684e-03 1.55160817e-01] [-1.32864208e-02 4.10976281e-04 9.99911647e-01 -5.79353384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:0.16, Z:-0.58 [[ 9.92146214e-01 -1.24405426e-01 1.30069465e-02 3.49277689e+01] [ 1.24400883e-01 9.92231360e-01 1.16092597e-03 1.58125901e-01] [-1.30503257e-02 4.66267321e-04 9.99914732e-01 -5.79792413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:0.16, Z:-0.58 [[ 9.91205674e-01 -1.31902487e-01 1.06322892e-02 3.49556776e+01] [ 1.31899858e-01 9.91262590e-01 9.51223794e-04 1.62092284e-01] [-1.06648593e-02 4.59539009e-04 9.99943023e-01 -5.79627655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:0.17, Z:-0.58 [[ 9.90905173e-01 -1.34227203e-01 9.48660936e-03 3.49832126e+01] [ 1.34225195e-01 9.90950490e-01 8.50973970e-04 1.65021892e-01] [-9.51498404e-03 4.30107479e-04 9.99954639e-01 -5.79973031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84762800000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.01, Y:0.17, Z:-0.58 [[ 9.90619543e-01 -1.36444340e-01 7.47412963e-03 3.50113459e+01] [ 1.36443147e-01 9.90647675e-01 6.71632752e-04 1.68400706e-01] [-7.49586963e-03 3.54461238e-04 9.99971843e-01 -5.81790396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:35.04, Y:0.17, Z:-0.58 [[ 9.90469332e-01 -1.37586143e-01 6.36831400e-03 3.50391923e+01] [ 1.37585293e-01 9.90489757e-01 5.73455368e-04 1.72348206e-01] [-6.38664930e-03 3.08196393e-04 9.99979558e-01 -5.82920864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:0.18, Z:-0.58 [[ 9.90621789e-01 -1.36528188e-01 5.34095783e-03 3.50657202e+01] [ 1.36527562e-01 9.90636155e-01 4.83325984e-04 1.77795518e-01] [-5.35693355e-03 2.50394700e-04 9.99985620e-01 -5.82170116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.09, Y:0.18, Z:-0.58 [[ 9.90818608e-01 -1.35116424e-01 4.69453173e-03 3.50936866e+01] [ 1.35115930e-01 9.90829706e-01 4.23548263e-04 1.81642687e-01] [-4.70870982e-03 2.14646523e-04 9.99988891e-01 -5.82556096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:0.19, Z:-0.58 [[ 9.91156282e-01 -1.32639650e-01 3.99346872e-03 3.51208131e+01] [ 1.32639264e-01 9.91164312e-01 3.62550351e-04 1.85746463e-01] [-4.00627223e-03 1.70346696e-04 9.99991960e-01 -5.83104886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.15, Y:0.19, Z:-0.58 [[ 9.92043845e-01 -1.25857404e-01 2.98738696e-03 3.51482052e+01] [ 1.25857162e-01 9.92048337e-01 2.69387141e-04 1.91447239e-01] [-2.99753663e-03 1.08740191e-04 9.99995501e-01 -5.83084456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:0.20, Z:-0.58 [[ 9.92567643e-01 -1.21662379e-01 2.78208266e-03 3.51764111e+01] [ 1.21662153e-01 9.92571538e-01 2.51213622e-04 1.95094544e-01] [-2.79197931e-03 8.91276530e-05 9.99996098e-01 -5.83270749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:0.20, Z:-0.58 [[ 9.93124183e-01 -1.17026923e-01 3.00942346e-03 3.52028515e+01] [ 1.17026627e-01 9.93128739e-01 2.74799823e-04 1.98118262e-01] [-3.02090390e-03 7.92723269e-05 9.99995434e-01 -5.83120643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:0.20, Z:-0.58 [[ 9.93637027e-01 -1.12557295e-01 4.03893466e-03 3.52309414e+01] [ 1.12556728e-01 9.93645232e-01 3.68227483e-04 2.01219143e-01] [-4.05471485e-03 8.87248057e-05 9.99991776e-01 -5.82809895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:0.21, Z:-0.58 [[ 9.94640965e-01 -1.03142602e-01 7.13821129e-03 3.52573878e+01] [ 1.03140541e-01 9.94666576e-01 6.57120367e-04 2.05622316e-01] [-7.16791728e-03 8.26401410e-05 9.99974307e-01 -5.82370778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:0.21, Z:-0.58 [[ 9.95071670e-01 -9.87535651e-02 8.95008842e-03 3.52854686e+01] [ 9.87501431e-02 9.95111918e-01 8.24536980e-04 2.09919900e-01] [-8.98776562e-03 6.33491227e-05 9.99959607e-01 -5.82687278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:0.21, Z:-0.58 [[ 9.95453741e-01 -9.46342206e-02 1.07802590e-02 3.53132309e+01] [ 9.46289740e-02 9.95512111e-01 9.96877978e-04 2.13984979e-01] [-1.08262171e-02 2.77789314e-05 9.99941394e-01 -5.83262883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.34, Y:0.22, Z:-0.58 [[ 9.96114563e-01 -8.70219306e-02 1.35263289e-02 3.53396937e+01] [ 8.70129016e-02 9.96206393e-01 1.25571249e-03 2.17764495e-01] [-1.35842898e-02 -7.38683719e-05 9.99907727e-01 -5.83148437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:0.22, Z:-0.58 [[ 9.96331932e-01 -8.44114587e-02 1.40494103e-02 3.53680891e+01] [ 8.44014360e-02 9.96430977e-01 1.30584787e-03 2.20520568e-01] [-1.41094961e-02 -1.15267532e-04 9.99900449e-01 -5.83465082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.267628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:35.40, Y:0.22, Z:-0.59 [[ 9.96491018e-01 -8.25977002e-02 1.35377278e-02 3.53952841e+01] [ 8.25881748e-02 9.96582962e-01 1.26212415e-03 2.22722539e-01] [-1.35957175e-02 -1.39639145e-04 9.99907564e-01 -5.85196370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:0.22, Z:-0.58 [[ 9.96577209e-01 -8.14284640e-02 1.42573662e-02 3.54228969e+01] [ 8.14177548e-02 9.96679175e-01 1.33092577e-03 2.24599701e-01] [-1.43183952e-02 -1.65567547e-04 9.99897473e-01 -5.84342356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.327628000000004 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:35.45, Y:0.23, Z:-0.59 [[ 9.96597970e-01 -8.15477890e-02 1.19349815e-02 3.54503949e+01] [ 8.15402584e-02 9.96669423e-01 1.11703679e-03 2.25788657e-01] [-1.19863230e-02 -1.40055125e-04 9.99928152e-01 -5.87425155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:0.23, Z:-0.59 [[ 9.96580331e-01 -8.17754154e-02 1.18501550e-02 3.54782323e+01] [ 8.17679844e-02 9.96650773e-01 1.11103694e-03 2.27962996e-01] [-1.19013216e-02 -1.38274271e-04 9.99929167e-01 -5.86773706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:0.23, Z:-0.59 [[ 9.96486720e-01 -8.30422697e-02 1.08718748e-02 3.55067023e+01] [ 8.30360610e-02 9.96546019e-01 1.02200487e-03 2.29938903e-01] [-1.09191932e-02 -1.15656621e-04 9.99940377e-01 -5.88614958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:0.23, Z:-0.59 [[ 9.96238213e-01 -8.62751630e-02 8.12525216e-03 3.55337370e+01] [ 8.62717879e-02 9.96271345e-01 7.65627146e-04 2.28803326e-01] [-8.16101050e-03 -6.17669887e-05 9.99966696e-01 -5.90750255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:0.23, Z:-0.59 [[ 9.96048983e-01 -8.85434530e-02 6.81769128e-03 3.55620816e+01] [ 8.85411288e-02 9.96072314e-01 6.42570214e-04 2.28726427e-01] [-6.84780892e-03 -3.63853258e-05 9.99976553e-01 -5.91534811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:0.23, Z:-0.59 [[ 9.95817608e-01 -9.11800353e-02 5.78736672e-03 3.55903362e+01] [ 9.11783994e-02 9.95834424e-01 5.46423985e-04 2.28199089e-01] [-5.81308197e-03 -1.64557912e-05 9.99983104e-01 -5.91936802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:0.22, Z:-0.59 [[ 9.95347340e-01 -9.62481018e-02 4.46934489e-03 3.56178422e+01] [ 9.62471688e-02 9.95357374e-01 4.23881677e-04 2.23917246e-01] [-4.48939320e-03 8.25229248e-06 9.99989923e-01 -5.92719871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628000000005 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:35.65, Y:0.22, Z:-0.59 [[ 9.95027763e-01 -9.95539705e-02 2.95950502e-03 3.56457382e+01] [ 9.95535820e-02 9.95032164e-01 2.78659393e-04 2.23956624e-01] [-2.97254433e-03 1.73554933e-05 9.99995582e-01 -5.94534082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:0.23, Z:-0.59 [[ 9.95223927e-01 -9.74423484e-02 5.85869397e-03 3.56737183e+01] [ 9.74407572e-02 9.95241171e-01 5.57104354e-04 2.26869120e-01] [-5.88509900e-03 1.64319937e-05 9.99982683e-01 -5.93005551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59762800000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:35.70, Y:0.23, Z:-0.59 [[ 9.95274687e-01 -9.69072476e-02 6.10604242e-03 3.57015673e+01] [ 9.69054982e-02 9.95293417e-01 5.82421034e-04 2.30097899e-01] [-6.13374464e-03 1.20401701e-05 9.99981188e-01 -5.94959109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:0.23, Z:-0.59 [[ 9.95466250e-01 -9.48109958e-02 7.60398902e-03 3.57285414e+01] [ 9.48081904e-02 9.95495291e-01 7.29368885e-04 2.30465310e-01] [-7.63888746e-03 -5.14166956e-06 9.99970823e-01 -5.92374118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:0.23, Z:-0.59 [[ 9.95465350e-01 -9.47509665e-02 8.42561633e-03 3.57561805e+01] [ 9.47475182e-02 9.95501007e-01 8.08378622e-04 2.32872423e-01] [-8.46430419e-03 -6.40667118e-06 9.99964177e-01 -5.92174482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:0.24, Z:-0.59 [[ 9.95460804e-01 -9.46915689e-02 9.55479464e-03 3.57838471e+01] [ 9.46871027e-02 9.95506658e-01 9.19737901e-04 2.35688354e-01] [-9.59895311e-03 -1.08472097e-05 9.99953929e-01 -5.92280734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:0.24, Z:-0.59 [[ 9.95347068e-01 -9.56372759e-02 1.17356180e-02 3.58103373e+01] [ 9.56305518e-02 9.95416250e-01 1.13408225e-03 2.38664388e-01] [-1.17902854e-02 -6.52181513e-06 9.99930492e-01 -5.92512036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:0.24, Z:-0.59 [[ 9.95254284e-01 -9.65040616e-02 1.24850675e-02 3.58377588e+01] [ 9.64965047e-02 9.95332591e-01 1.20768138e-03 2.42008037e-01] [-1.25433407e-02 2.81530396e-06 9.99921329e-01 -5.93140801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:0.25, Z:-0.59 [[ 9.95164425e-01 -9.73895199e-02 1.27690738e-02 3.58659201e+01] [ 9.73816453e-02 9.95246342e-01 1.23849851e-03 2.45689055e-01] [-1.28289908e-02 1.09637574e-05 9.99917705e-01 -5.94013876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:0.25, Z:-0.60 [[ 9.94961404e-01 -9.95573263e-02 1.18382513e-02 3.58926534e+01] [ 9.95506736e-02 9.95031827e-01 1.15138193e-03 2.49956281e-01] [-1.18940654e-02 3.29253123e-05 9.99929263e-01 -5.95729160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:0.25, Z:-0.60 [[ 9.94836950e-01 -1.00917946e-01 1.07243493e-02 3.59192204e+01] [ 1.00912554e-01 9.94894751e-01 1.04407215e-03 2.52882908e-01] [-1.07749644e-02 4.35399249e-05 9.99941947e-01 -5.96479373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:0.26, Z:-0.60 [[ 9.94658484e-01 -1.02602086e-01 1.12832985e-02 3.59473094e+01] [ 1.02596217e-01 9.94722478e-01 1.09927987e-03 2.55958408e-01] [-1.13365391e-02 6.42156877e-05 9.99935737e-01 -5.96755988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:0.26, Z:-0.60 [[ 9.94508866e-01 -1.04082218e-01 1.09090671e-02 3.59754928e+01] [ 1.04076793e-01 9.94568694e-01 1.06534559e-03 2.59436481e-01] [-1.09607002e-02 7.58850869e-05 9.99939927e-01 -5.97233378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:0.26, Z:-0.60 [[ 9.94229268e-01 -1.06849822e-01 9.55397523e-03 3.60020195e+01] [ 1.06845761e-01 9.94275167e-01 9.35959717e-04 2.63264295e-01] [-9.59928744e-03 9.02432099e-05 9.99953922e-01 -5.97459460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:36.03, Y:0.27, Z:-0.60 [[ 9.93969958e-01 -1.09330366e-01 8.40196262e-03 3.60296045e+01] [ 1.09327316e-01 9.94005463e-01 8.22813573e-04 2.66400272e-01] [-8.44155525e-03 1.00712047e-04 9.99964364e-01 -5.99706145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:36.06, Y:0.27, Z:-0.60 [[ 9.93941192e-01 -1.09591592e-01 8.40171976e-03 3.60580607e+01] [ 1.09588530e-01 9.93976696e-01 8.25283074e-04 2.69273341e-01] [-8.44155774e-03 1.00449278e-04 9.99964364e-01 -6.00132866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:0.27, Z:-0.60 [[ 9.93830531e-01 -1.10514115e-01 9.35451812e-03 3.60850138e+01] [ 1.10510325e-01 9.93874548e-01 9.22598603e-04 2.71971705e-01] [-9.39917763e-03 1.16864183e-04 9.99955820e-01 -5.98608041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:0.28, Z:-0.60 [[ 9.93646425e-01 -1.12113492e-01 9.86644422e-03 3.61133626e+01] [ 1.12109348e-01 9.93695399e-01 9.73797848e-04 2.75637016e-01] [-9.91341610e-03 1.38509880e-04 9.99950851e-01 -5.99182655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628000000004 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:36.14, Y:0.28, Z:-0.60 [[ 9.93274081e-01 -1.15412851e-01 9.29917678e-03 3.61398641e+01] [ 1.15409288e-01 9.93317597e-01 9.20617602e-04 2.80769249e-01] [-9.34328704e-03 1.58785774e-04 9.99956338e-01 -6.01953467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:0.28, Z:-0.60 [[ 9.93174576e-01 -1.16179830e-01 1.03202620e-02 3.61675859e+01] [ 1.16175479e-01 9.93228178e-01 1.02212098e-03 2.83930757e-01] [-1.03691249e-02 1.83816814e-04 9.99946222e-01 -6.00790266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:0.29, Z:-0.60 [[ 9.93029478e-01 -1.17439435e-01 1.00216783e-02 3.61946776e+01] [ 1.17435364e-01 9.93080029e-01 9.95752623e-04 2.86905423e-01] [-1.00692692e-02 1.88087734e-04 9.99949286e-01 -6.00848220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:0.29, Z:-0.60 [[ 9.92800369e-01 -1.19334453e-01 1.03303342e-02 3.62229056e+01] [ 1.19330212e-01 9.92854090e-01 1.02810254e-03 2.89929262e-01] [-1.03792026e-02 2.12020393e-04 9.99946112e-01 -6.00888001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:0.29, Z:-0.60 [[ 9.92738169e-01 -1.19820811e-01 1.06724091e-02 3.62501349e+01] [ 1.19816271e-01 9.92795510e-01 1.06604493e-03 2.92634114e-01] [-1.07232542e-02 2.20424766e-04 9.99942480e-01 -6.00904030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:0.30, Z:-0.60 [[ 9.92716218e-01 -1.19954065e-01 1.12041005e-02 3.62778497e+01] [ 1.19949060e-01 9.92779416e-01 1.12005618e-03 2.95488161e-01] [-1.12575556e-02 2.32023379e-04 9.99936605e-01 -6.01326350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:0.30, Z:-0.60 [[ 9.92945640e-01 -1.18034971e-01 1.12561463e-02 3.63046384e+01] [ 1.18029754e-01 9.93009417e-01 1.12904155e-03 3.00046670e-01] [-1.13107257e-02 2.07483288e-04 9.99936010e-01 -6.01823897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:0.30, Z:-0.60 [[ 9.93163674e-01 -1.16168349e-01 1.14381756e-02 3.63328366e+01] [ 1.16162827e-01 9.93229520e-01 1.14817380e-03 3.03677073e-01] [-1.14941151e-02 1.88366305e-04 9.99933923e-01 -6.02494221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:0.31, Z:-0.60 [[ 9.93460414e-01 -1.13606278e-01 1.14025936e-02 3.63611512e+01] [ 1.13600585e-01 9.93525837e-01 1.14780910e-03 3.07364803e-01] [-1.14591697e-02 1.55038407e-04 9.99934330e-01 -6.02763295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:0.31, Z:-0.60 [[ 9.94099046e-01 -1.07817610e-01 1.19351935e-02 3.63891026e+01] [ 1.07810913e-01 9.94170687e-01 1.20495355e-03 3.11845501e-01] [-1.19955347e-02 8.89009252e-05 9.99928047e-01 -6.03759161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:0.32, Z:-0.60 [[ 9.94381363e-01 -1.05190029e-01 1.18643615e-02 3.64170889e+01] [ 1.05183184e-01 9.94452138e-01 1.20113514e-03 3.15487674e-01] [-1.19248871e-02 5.35449235e-05 9.99928895e-01 -6.04442136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:0.32, Z:-0.60 [[ 9.94641963e-01 -1.02724993e-01 1.16164578e-02 3.64451499e+01] [ 1.02718225e-01 9.94709795e-01 1.17926571e-03 3.18666029e-01] [-1.16761444e-02 2.02747752e-05 9.99931831e-01 -6.04827273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:36.47, Y:0.32, Z:-0.61 [[ 9.94908975e-01 -1.00177643e-01 1.09805116e-02 3.64725719e+01] [ 1.00171410e-01 9.94969567e-01 1.11757597e-03 3.22117758e-01] [-1.10372310e-02 -1.19530295e-05 9.99939088e-01 -6.07409419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:0.32, Z:-0.61 [[ 9.94997925e-01 -9.92734116e-02 1.11318776e-02 3.64995671e+01] [ 9.92669051e-02 9.95060194e-01 1.13687413e-03 3.24464697e-01] [-1.11897497e-02 -2.61603641e-05 9.99937392e-01 -6.05894920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:0.33, Z:-0.61 [[ 9.94962831e-01 -9.96797756e-02 1.06258121e-02 3.65279048e+01] [ 9.96738646e-02 9.95019569e-01 1.08574522e-03 3.26760883e-01] [-1.06811178e-02 -2.11603821e-05 9.99942955e-01 -6.06429588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:0.33, Z:-0.61 [[ 9.94847347e-01 -1.00880105e-01 1.00975358e-02 3.65564022e+01] [ 1.00874802e-01 9.94898590e-01 1.03443484e-03 3.28523406e-01] [-1.01503780e-02 -1.05178299e-05 9.99948484e-01 -6.06704303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:0.33, Z:-0.61 [[ 9.94520853e-01 -1.04085036e-01 9.72511398e-03 3.65849567e+01] [ 1.04080245e-01 9.94568401e-01 9.98866414e-04 3.28785354e-01] [-9.77625811e-03 1.87987682e-05 9.99952211e-01 -6.07492192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.587628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:36.61, Y:0.33, Z:-0.61 [[ 9.94286357e-01 -1.06348007e-01 9.20554272e-03 3.66120114e+01] [ 1.06343780e-01 9.94328970e-01 9.48825343e-04 3.30217075e-01] [-9.25424349e-03 3.55481201e-05 9.99957178e-01 -6.08212615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:0.33, Z:-0.61 [[ 9.94078730e-01 -1.08256600e-01 9.38016227e-03 3.66404245e+01] [ 1.08252293e-01 9.94122983e-01 9.67137826e-04 3.32085673e-01] [-9.42973395e-03 5.40129345e-05 9.99955538e-01 -6.08125698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:0.34, Z:-0.61 [[ 9.93977589e-01 -1.09104569e-01 1.02345724e-02 3.66677192e+01] [ 1.09099446e-01 9.94030276e-01 1.05926798e-03 3.35750580e-01] [-1.02890458e-02 6.36975371e-05 9.99947064e-01 -6.08376134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628000000006 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:36.70, Y:0.34, Z:-0.61 [[ 9.93831033e-01 -1.10549637e-01 8.86880525e-03 3.66954847e+01] [ 1.10545848e-01 9.93870602e-01 9.17798067e-04 3.39008826e-01] [-8.91590705e-03 6.82733936e-05 9.99960250e-01 -6.10850135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:0.34, Z:-0.61 [[ 9.93735619e-01 -1.11417996e-01 8.69192102e-03 3.67235107e+01] [ 1.11414370e-01 9.93773629e-01 9.01857652e-04 3.41486512e-01] [-8.73828506e-03 7.21968301e-05 9.99961818e-01 -6.09056717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:0.34, Z:-0.61 [[ 9.93483518e-01 -1.13726564e-01 7.53450575e-03 3.67511493e+01] [ 1.13723894e-01 9.93512085e-01 7.83320002e-04 3.43320909e-01] [-7.57470681e-03 7.86378227e-05 9.99971308e-01 -6.08606332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.767628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:36.78, Y:0.35, Z:-0.61 [[ 9.93355369e-01 -1.14862283e-01 7.19486261e-03 3.67790085e+01] [ 1.14859864e-01 9.93381422e-01 7.49869380e-04 3.46453348e-01] [-7.23337456e-03 8.15141655e-05 9.99973835e-01 -6.10820095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:0.35, Z:-0.61 [[ 9.93398927e-01 -1.14389461e-01 8.58034640e-03 3.68062522e+01] [ 1.14385967e-01 9.93435978e-01 8.98508142e-04 3.49799604e-01] [-8.62680468e-03 8.88941914e-05 9.99962784e-01 -6.08705620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:0.35, Z:-0.61 [[ 9.93356107e-01 -1.14752541e-01 8.68899392e-03 3.68339636e+01] [ 1.14748971e-01 9.93394104e-01 9.09983506e-04 3.53876361e-01] [-8.73601825e-03 9.31154349e-05 9.99961836e-01 -6.09098998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628000000005 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:36.86, Y:0.36, Z:-0.61 [[ 9.93155220e-01 -1.16549541e-01 7.67548708e-03 3.68612573e+01] [ 1.16546796e-01 9.93184875e-01 8.05499741e-04 3.58935911e-01] [-7.71705829e-03 9.45671524e-05 9.99970219e-01 -6.12738168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:0.36, Z:-0.61 [[ 9.93051359e-01 -1.17419883e-01 7.84657481e-03 3.68879942e+01] [ 1.17417014e-01 9.93082354e-01 8.26895805e-04 3.61948486e-01] [-7.88938898e-03 1.00171378e-04 9.99968873e-01 -6.11511385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:0.37, Z:-0.61 [[ 9.92846835e-01 -1.19160099e-01 7.48556604e-03 3.69152671e+01] [ 1.19157531e-01 9.92875047e-01 7.89696475e-04 3.65022377e-01] [-7.52633204e-03 1.07913921e-04 9.99971671e-01 -6.11633144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:0.37, Z:-0.61 [[ 9.92585037e-01 -1.21331931e-01 7.31489588e-03 3.69435848e+01] [ 1.21329540e-01 9.92611982e-01 7.71299097e-04 3.68021026e-01] [-7.35443651e-03 1.21933014e-04 9.99972948e-01 -6.11588847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:0.37, Z:-0.61 [[ 9.91930728e-01 -1.26546179e-01 7.71335277e-03 3.69717104e+01] [ 1.26543660e-01 9.91960703e-01 8.15740796e-04 3.71808674e-01] [-7.75457172e-03 1.66917530e-04 9.99969919e-01 -6.11253293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:0.38, Z:-0.61 [[ 9.91552977e-01 -1.29437145e-01 8.28971579e-03 3.70000220e+01] [ 1.29434314e-01 9.91587608e-01 8.79357284e-04 3.75604383e-01] [-8.33380095e-03 2.01044345e-04 9.99965253e-01 -6.11656441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:0.38, Z:-0.61 [[ 9.91036478e-01 -1.33294865e-01 8.89818951e-03 3.70280149e+01] [ 1.33291733e-01 9.91076393e-01 9.46731692e-04 3.80111612e-01] [-8.94498004e-03 2.47809459e-04 9.99959962e-01 -6.11798276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:0.38, Z:-0.61 [[ 9.90856153e-01 -1.34601495e-01 9.30173902e-03 3.70558890e+01] [ 1.34598104e-01 9.90899776e-01 9.92434159e-04 3.83764551e-01] [-9.35067423e-03 2.68636946e-04 9.99956245e-01 -6.12357435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:0.39, Z:-0.61 [[ 9.90766701e-01 -1.35294396e-01 8.76185783e-03 3.70829545e+01] [ 1.35291386e-01 9.90805410e-01 9.38085768e-04 3.87017743e-01] [-8.80821389e-03 2.55979746e-04 9.99961174e-01 -6.12675932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12762800000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:37.11, Y:0.39, Z:-0.62 [[ 9.90656864e-01 -1.36149844e-01 7.88653035e-03 3.71106457e+01] [ 1.36147435e-01 9.90688227e-01 8.44039527e-04 3.90174364e-01] [-7.92800862e-03 2.37577329e-04 9.99968545e-01 -6.15227910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:0.39, Z:-0.61 [[ 9.90592952e-01 -1.36627047e-01 7.65858931e-03 3.71382887e+01] [ 1.36624773e-01 9.90622530e-01 8.21700792e-04 3.94404373e-01] [-7.69903766e-03 2.32382014e-04 9.99970335e-01 -6.13970912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.187628000000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:37.17, Y:0.40, Z:-0.62 [[ 9.90515772e-01 -1.37220988e-01 6.99331490e-03 3.71659864e+01] [ 1.37219096e-01 9.90540435e-01 7.51952360e-04 3.98549656e-01] [-7.03034484e-03 2.14795677e-04 9.99975264e-01 -6.17004608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628000000005 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.19, Y:0.40, Z:-0.62 [[ 9.90501622e-01 -1.37293893e-01 7.54482527e-03 3.71940768e+01] [ 1.37291675e-01 9.90530330e-01 8.13683549e-04 4.02573116e-01] [-7.58509205e-03 2.29886821e-04 9.99971206e-01 -6.17369751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:0.41, Z:-0.62 [[ 9.90568213e-01 -1.36759003e-01 8.46106343e-03 3.72209368e+01] [ 1.36756160e-01 9.90604317e-01 9.16465444e-04 4.05924583e-01] [-8.50690086e-03 2.49281004e-04 9.99963785e-01 -6.15375935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:0.41, Z:-0.61 [[ 9.90810360e-01 -1.34976268e-01 8.73144692e-03 3.72478875e+01] [ 1.34973161e-01 9.90848802e-01 9.46911858e-04 4.09373839e-01] [-8.77935436e-03 2.40300912e-04 9.99961432e-01 -6.14565845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:0.41, Z:-0.62 [[ 9.91004809e-01 -1.33523503e-01 8.99678428e-03 3.72753634e+01] [ 1.33520142e-01 9.91045619e-01 9.75856344e-04 4.13221842e-01] [-9.04652340e-03 2.34173583e-04 9.99959052e-01 -6.15497471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:37.30, Y:0.42, Z:-0.62 [[ 9.91530142e-01 -1.29610642e-01 8.31015647e-03 3.73028258e+01] [ 1.29607620e-01 9.91564949e-01 9.03381136e-04 4.18337283e-01] [-8.35714769e-03 1.81329977e-04 9.99965062e-01 -6.17698935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.367628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:37.33, Y:0.42, Z:-0.62 [[ 9.91826311e-01 -1.27304758e-01 8.60621237e-03 3.73297795e+01] [ 1.27301398e-01 9.91863636e-01 9.39228693e-04 4.22359042e-01] [-8.65575737e-03 1.64031140e-04 9.99962525e-01 -6.18879070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628000000005 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:37.36, Y:0.43, Z:-0.62 [[ 9.92161038e-01 -1.24641573e-01 8.99732490e-03 3.73576014e+01] [ 1.24637790e-01 9.92201823e-01 9.82196238e-04 4.26232823e-01] [-9.04958465e-03 1.46909853e-04 9.99959041e-01 -6.19556961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:0.43, Z:-0.62 [[ 9.92840431e-01 -1.19013836e-01 1.01777439e-02 3.73857075e+01] [ 1.19008663e-01 9.92892590e-01 1.11448489e-03 4.30812098e-01] [-1.02380457e-02 1.04734040e-04 9.99947584e-01 -6.18514464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:0.43, Z:-0.62 [[ 9.93083783e-01 -1.16944282e-01 1.04227782e-02 3.74131378e+01] [ 1.16938712e-01 9.93138474e-01 1.14431950e-03 4.34492432e-01] [-1.04850837e-02 8.24211161e-05 9.99945027e-01 -6.19261696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:0.44, Z:-0.62 [[ 9.93355396e-01 -1.14601581e-01 1.05610500e-02 3.74400207e+01] [ 1.14595690e-01 9.93411533e-01 1.16324628e-03 4.37558649e-01] [-1.06247787e-02 5.47338435e-05 9.99943554e-01 -6.19781439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:0.44, Z:-0.62 [[ 9.93785507e-01 -1.10782226e-01 1.08473014e-02 3.74675778e+01] [ 1.10775776e-01 9.93844705e-01 1.19549991e-03 4.41058583e-01] [-1.09129732e-02 1.35477402e-05 9.99940452e-01 -6.20703374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.547628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:37.50, Y:0.44, Z:-0.62 [[ 9.93887467e-01 -1.09950618e-01 9.92793634e-03 3.74954982e+01] [ 1.09945149e-01 9.93937051e-01 1.09663064e-03 4.44474801e-01] [-9.98831899e-03 1.60099400e-06 9.99950115e-01 -6.23456643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:0.45, Z:-0.62 [[ 9.94054443e-01 -1.08378251e-01 1.04842712e-02 3.75224242e+01] [ 1.08372022e-01 9.94109730e-01 1.16208963e-03 4.47006593e-01] [-1.05484613e-02 -1.89786856e-05 9.99944363e-01 -6.22706276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:0.45, Z:-0.62 [[ 9.94151339e-01 -1.07527717e-01 1.00451708e-02 3.75505286e+01] [ 1.07521952e-01 9.94202087e-01 1.11381992e-03 4.49504044e-01] [-1.01066963e-02 -2.72291918e-05 9.99948926e-01 -6.23415803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:0.45, Z:-0.62 [[ 9.94173209e-01 -1.07338212e-01 9.90650740e-03 3.75778243e+01] [ 1.07332563e-01 9.94222564e-01 1.10168094e-03 4.51204185e-01] [-9.96752565e-03 -3.19708435e-05 9.99950322e-01 -6.24820845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:0.45, Z:-0.63 [[ 9.94128780e-01 -1.07777927e-01 9.58583137e-03 3.76061809e+01] [ 1.07772646e-01 9.94174993e-01 1.06731954e-03 4.53217487e-01] [-9.64502733e-03 -2.79626648e-05 9.99953485e-01 -6.25062253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:0.45, Z:-0.63 [[ 9.94077086e-01 -1.08256758e-01 9.55099691e-03 3.76343061e+01] [ 1.08251511e-01 9.94122967e-01 1.06616257e-03 4.54575455e-01] [-9.61028469e-03 -2.59379318e-05 9.99953820e-01 -6.25459706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:0.46, Z:-0.63 [[ 9.93977293e-01 -1.09177318e-01 9.45802403e-03 3.76617380e+01] [ 1.09172181e-01 9.94022290e-01 1.05928960e-03 4.55678647e-01] [-9.51713711e-03 -2.03566962e-05 9.99954711e-01 -6.25577100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:0.45, Z:-0.63 [[ 9.93785571e-01 -1.10971525e-01 8.69244240e-03 3.76890265e+01] [ 1.10967247e-01 9.93823586e-01 9.74473431e-04 4.54794485e-01] [-8.74689308e-03 -3.84123719e-06 9.99961745e-01 -6.26135876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:0.46, Z:-0.63 [[ 9.93657820e-01 -1.12104750e-01 8.75568396e-03 3.77174670e+01] [ 1.12100452e-01 9.93696395e-01 9.81650652e-04 4.56235961e-01] [-8.81053929e-03 6.09128357e-06 9.99961186e-01 -6.26844056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:0.46, Z:-0.63 [[ 9.93558059e-01 -1.12937976e-01 9.34866522e-03 3.77450607e+01] [ 1.12933081e-01 9.93602040e-01 1.05157367e-03 4.57531308e-01] [-9.40761543e-03 1.09740690e-05 9.99955747e-01 -6.27217996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:0.46, Z:-0.63 [[ 9.93539841e-01 -1.12938109e-01 1.11161524e-02 3.77730366e+01] [ 1.12931162e-01 9.93602025e-01 1.25270780e-03 4.58741326e-01] [-1.11865100e-02 1.07448998e-05 9.99937429e-01 -6.27151250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:0.46, Z:-0.63 [[ 9.93571660e-01 -1.12614799e-01 1.15439663e-02 3.77997348e+01] [ 1.12607240e-01 9.93638721e-01 1.30473715e-03 4.61764392e-01] [-1.16174646e-02 3.58433176e-06 9.99932515e-01 -6.27496680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:0.47, Z:-0.63 [[ 9.93542993e-01 -1.12867457e-01 1.15437350e-02 3.78281395e+01] [ 1.12859892e-01 9.93610053e-01 1.30677952e-03 4.65068439e-01] [-1.16174641e-02 4.48304864e-06 9.99932515e-01 -6.27923925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:0.47, Z:-0.63 [[ 9.93585649e-01 -1.12512995e-01 1.13307071e-02 3.78558327e+01] [ 1.12505652e-01 9.93650253e-01 1.28544899e-03 4.68151675e-01] [-1.14033897e-02 -2.43507743e-06 9.99934979e-01 -6.28306044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:0.47, Z:-0.63 [[ 9.93640333e-01 -1.12156171e-01 9.99406853e-03 3.78828418e+01] [ 1.12150410e-01 9.93690592e-01 1.13683881e-03 4.70732683e-01] [-1.00585154e-02 -8.77001398e-06 9.99949412e-01 -6.28938200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:0.47, Z:-0.63 [[ 9.93536924e-01 -1.13128795e-01 9.28739560e-03 3.79110378e+01] [ 1.13123861e-01 9.93580332e-01 1.05659009e-03 4.73664053e-01] [-9.34730436e-03 8.64781751e-07 9.99956313e-01 -6.29420163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.48, Z:-0.63 [[ 9.93187711e-01 -1.16168453e-01 9.11382264e-03 3.79392429e+01] [ 1.16163808e-01 9.93229525e-01 1.03916073e-03 4.75914930e-01] [-9.17283543e-03 2.66146838e-05 9.99957928e-01 -6.30332085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:0.48, Z:-0.63 [[ 9.92965742e-01 -1.18022874e-01 9.46761102e-03 3.79657739e+01] [ 1.18017914e-01 9.93010876e-01 1.08285983e-03 4.78787732e-01] [-9.52924294e-03 4.21049926e-05 9.99954595e-01 -6.30272403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:0.48, Z:-0.63 [[ 9.92780177e-01 -1.19532940e-01 9.96979311e-03 3.79938642e+01] [ 1.19527499e-01 9.92830234e-01 1.14194806e-03 4.82260074e-01] [-1.00348124e-02 5.79610439e-05 9.99949648e-01 -6.30184706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:38.02, Y:0.49, Z:-0.63 [[ 9.92558781e-01 -1.21342337e-01 1.01539758e-02 3.80221608e+01] [ 1.21336758e-01 9.92610715e-01 1.16596223e-03 4.86282772e-01] [-1.02204258e-02 7.47644572e-05 9.99947767e-01 -6.32346095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:0.49, Z:-0.63 [[ 9.92362984e-01 -1.22907532e-01 1.04616425e-02 3.80489963e+01] [ 1.22901657e-01 9.92418123e-01 1.20511088e-03 4.90062560e-01] [-1.05304409e-02 8.98457766e-05 9.99944549e-01 -6.29953924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:0.49, Z:-0.63 [[ 9.92195887e-01 -1.24299172e-01 9.85073752e-03 3.80766856e+01] [ 1.24294029e-01 9.92244781e-01 1.13501546e-03 4.93786534e-01] [-9.91542438e-03 9.82301752e-05 9.99950836e-01 -6.29821497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:0.50, Z:-0.63 [[ 9.92020842e-01 -1.25728768e-01 9.32338899e-03 3.81041020e+01] [ 1.25724200e-01 9.92064648e-01 1.07672107e-03 4.97844194e-01] [-9.38477943e-03 1.04045881e-04 9.99955957e-01 -6.30574306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:0.50, Z:-0.63 [[ 9.91711454e-01 -1.28122276e-01 9.64753112e-03 3.81314980e+01] [ 1.28117471e-01 9.91758371e-01 1.11702518e-03 5.02572310e-01] [-9.71113555e-03 1.28250626e-04 9.99952838e-01 -6.30944210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.16, Y:0.51, Z:-0.63 [[ 9.91537487e-01 -1.29426127e-01 1.01138513e-02 3.81588256e+01] [ 1.29420877e-01 9.91589056e-01 1.17462634e-03 5.05966471e-01] [-1.01808116e-02 1.44257453e-04 9.99948164e-01 -6.31054775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:0.51, Z:-0.63 [[ 9.91396746e-01 -1.30467472e-01 1.05228966e-02 3.81855998e+01] [ 1.30461820e-01 9.91452578e-01 1.22465982e-03 5.09254037e-01] [-1.05927312e-02 1.58712488e-04 9.99943883e-01 -6.30899481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:0.51, Z:-0.63 [[ 9.91246313e-01 -1.31556586e-01 1.11180342e-02 3.82139150e+01] [ 1.31550336e-01 9.91308646e-01 1.29479886e-03 5.12911102e-01] [-1.11917427e-02 1.79116538e-04 9.99937354e-01 -6.30768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:0.52, Z:-0.63 [[ 9.91033140e-01 -1.33058678e-01 1.21944093e-02 3.82406112e+01] [ 1.33051220e-01 9.91108139e-01 1.42443516e-03 5.17380831e-01] [-1.22755117e-02 2.10818583e-04 9.99924631e-01 -6.30829464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:0.52, Z:-0.63 [[ 9.90951468e-01 -1.33667738e-01 1.21706385e-02 3.82685098e+01] [ 1.33660342e-01 9.91026180e-01 1.42270519e-03 5.21569082e-01] [-1.22515912e-02 2.16899911e-04 9.99924923e-01 -6.31519998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:0.53, Z:-0.63 [[ 9.90920738e-01 -1.33932881e-01 1.17505385e-02 3.82965576e+01] [ 1.33925968e-01 9.90990383e-01 1.37680362e-03 5.25325819e-01] [-1.18290699e-02 2.09398982e-04 9.99930012e-01 -6.32031355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:0.53, Z:-0.63 [[ 9.90947341e-01 -1.33802705e-01 1.09637682e-02 3.83235445e+01] [ 1.33796641e-01 9.91007972e-01 1.28808662e-03 5.28870547e-01] [-1.10375311e-02 1.90489336e-04 9.99939066e-01 -6.32557390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:38.35, Y:0.53, Z:-0.64 [[ 9.90847742e-01 -1.34653424e-01 9.44493559e-03 3.83513854e+01] [ 1.34648962e-01 9.90892742e-01 1.10970848e-03 5.32510132e-01] [-9.50834417e-03 1.72198624e-04 9.99954780e-01 -6.35343456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.38, Y:0.54, Z:-0.63 [[ 9.90952866e-01 -1.33897247e-01 9.16213578e-03 3.83792480e+01] [ 1.33892993e-01 9.90995208e-01 1.07884873e-03 5.35619415e-01] [-9.22408753e-03 1.57657538e-04 9.99957445e-01 -6.33628856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628000000005 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:38.41, Y:0.54, Z:-0.64 [[ 9.90965716e-01 -1.33896726e-01 7.65613745e-03 3.84055989e+01] [ 1.33893739e-01 9.90995283e-01 9.03707662e-04 5.40166150e-01] [-7.70819959e-03 1.29565558e-04 9.99970283e-01 -6.37122519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567628000000006 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:38.43, Y:0.54, Z:-0.64 [[ 9.90994219e-01 -1.33690221e-01 7.57511995e-03 3.84319277e+01] [ 1.33687275e-01 9.91023163e-01 8.96151175e-04 5.43858103e-01] [-7.62692598e-03 1.24616509e-04 9.99970907e-01 -6.37954251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:0.55, Z:-0.64 [[ 9.91077058e-01 -1.33049140e-01 8.01192673e-03 3.84595471e+01] [ 1.33045824e-01 9.91109434e-01 9.47805151e-04 5.46442265e-01] [-8.06680083e-03 1.26605457e-04 9.99967455e-01 -6.35911578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:0.55, Z:-0.64 [[ 9.91012814e-01 -1.33518205e-01 8.15424549e-03 3.84863364e+01] [ 1.33514758e-01 9.91046352e-01 9.68151249e-04 5.49157489e-01] [-8.21050107e-03 1.29261816e-04 9.99966285e-01 -6.35761798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:0.55, Z:-0.64 [[ 9.90901763e-01 -1.34326237e-01 8.37605367e-03 3.85144138e+01] [ 1.34322628e-01 9.90937154e-01 9.94513786e-04 5.51991453e-01] [-8.43373208e-03 1.39628076e-04 9.99964426e-01 -6.35591489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:0.56, Z:-0.64 [[ 9.90593776e-01 -1.36547387e-01 8.87591398e-03 3.85415039e+01] [ 1.36543390e-01 9.90633527e-01 1.05765639e-03 5.55182438e-01] [-8.93719819e-03 1.64239550e-04 9.99960049e-01 -6.35911443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:0.56, Z:-0.64 [[ 9.90342463e-01 -1.38285521e-01 9.94591209e-03 3.85691427e+01] [ 1.38280583e-01 9.90392384e-01 1.18581220e-03 5.58608549e-01] [-1.00143362e-02 2.00966341e-04 9.99949835e-01 -6.36655360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:0.56, Z:-0.64 [[ 9.89995813e-01 -1.40620727e-01 1.15802450e-02 3.85960212e+01] [ 1.40614138e-01 9.90063506e-01 1.38525983e-03 5.61524001e-01] [-1.16599742e-02 2.56944736e-04 9.99931987e-01 -6.37020071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:0.56, Z:-0.64 [[ 9.89831722e-01 -1.41715016e-01 1.22481337e-02 3.86236595e+01] [ 1.41707714e-01 9.89907457e-01 1.46638149e-03 5.64479111e-01] [-1.23323272e-02 2.84184111e-04 9.99923914e-01 -6.37057300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:38.65, Y:0.57, Z:-0.64 [[ 9.89632609e-01 -1.43085706e-01 1.24008256e-02 3.86518778e+01] [ 1.43078284e-01 9.89710255e-01 1.48819634e-03 5.67693367e-01] [-1.24861639e-02 3.01521228e-04 9.99921999e-01 -6.39185513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:38.68, Y:0.57, Z:-0.64 [[ 9.89482209e-01 -1.44118726e-01 1.24398876e-02 3.86803053e+01] [ 1.44111294e-01 9.89560355e-01 1.49647515e-03 5.70787475e-01] [-1.25256897e-02 3.11992761e-04 9.99921502e-01 -6.39653305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:0.57, Z:-0.64 [[ 9.89581990e-01 -1.43447290e-01 1.22621190e-02 3.87075371e+01] [ 1.43439969e-01 9.89657915e-01 1.47901723e-03 5.73974401e-01] [-1.23474642e-02 2.95269159e-04 9.99923724e-01 -6.38409789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:0.58, Z:-0.64 [[ 9.89734447e-01 -1.42480660e-01 1.11797076e-02 3.87357462e+01] [ 1.42474506e-01 9.89797553e-01 1.34909814e-03 5.78159045e-01] [-1.12578676e-02 2.57574416e-04 9.99936595e-01 -6.40252521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.927628000000006 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:38.76, Y:0.58, Z:-0.64 [[ 9.89827000e-01 -1.41907915e-01 1.02299983e-02 3.87620404e+01] [ 1.41902697e-01 9.89879837e-01 1.23783319e-03 5.81998161e-01] [-1.03021273e-02 2.26423632e-04 9.99946906e-01 -6.43208529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:38.79, Y:0.59, Z:-0.64 [[ 9.89979125e-01 -1.40877014e-01 9.74675712e-03 3.87896067e+01] [ 1.40872225e-01 9.90027083e-01 1.17966289e-03 5.85500527e-01] [-9.81574091e-03 2.05205721e-04 9.99951803e-01 -6.44067870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:0.59, Z:-0.64 [[ 9.90193763e-01 -1.39393491e-01 9.26097951e-03 3.88172133e+01] [ 1.39389080e-01 9.90237054e-01 1.12330149e-03 5.88731435e-01] [-9.32714598e-03 1.78593280e-04 9.99956485e-01 -6.42051739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:38.84, Y:0.59, Z:-0.64 [[ 9.90491202e-01 -1.37369186e-01 7.54226125e-03 3.88439415e+01] [ 1.37366182e-01 9.90519909e-01 9.17395715e-04 5.93378323e-01] [-7.59678183e-03 1.27379244e-04 9.99971136e-01 -6.44975219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:0.60, Z:-0.64 [[ 9.90688301e-01 -1.35928741e-01 7.75029516e-03 3.88707435e+01] [ 1.35925517e-01 9.90718609e-01 9.43721560e-04 5.97231268e-01] [-7.80664053e-03 1.18528969e-04 9.99969521e-01 -6.43239089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:0.60, Z:-0.64 [[ 9.90779227e-01 -1.35271915e-01 7.61784073e-03 3.88982590e+01] [ 1.35268782e-01 9.90808506e-01 9.27378932e-04 6.00938009e-01] [-7.67326972e-03 1.11628257e-04 9.99970554e-01 -6.43122326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:0.60, Z:-0.64 [[ 9.90790208e-01 -1.35089499e-01 9.25151145e-03 3.89259074e+01] [ 1.35084839e-01 9.90833392e-01 1.12969284e-03 6.04478580e-01] [-9.31931610e-03 1.30450328e-04 9.99956566e-01 -6.42898471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:0.61, Z:-0.64 [[ 9.90664149e-01 -1.35959236e-01 9.98148954e-03 3.89542339e+01] [ 1.35953823e-01 9.90714421e-01 1.22199258e-03 6.08182335e-01] [-1.00549468e-02 1.46437420e-04 9.99949437e-01 -6.43057696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16762800000001 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:38.98, Y:0.61, Z:-0.65 [[ 9.90415236e-01 -1.37750356e-01 1.01242054e-02 3.89811751e+01] [ 1.37744843e-01 9.90466967e-01 1.24320235e-03 6.12418079e-01] [-1.01989425e-02 1.63270526e-04 9.99947976e-01 -6.46259631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:39.01, Y:0.62, Z:-0.65 [[ 9.89904308e-01 -1.41287767e-01 1.12794900e-02 3.90093527e+01] [ 1.41281141e-01 9.89968544e-01 1.38611574e-03 6.16373034e-01] [-1.13621814e-02 2.21457276e-04 9.99935424e-01 -6.47369465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:0.62, Z:-0.64 [[ 9.89621053e-01 -1.43204284e-01 1.19459396e-02 3.90378037e+01] [ 1.43196948e-01 9.89693118e-01 1.47161548e-03 6.19102744e-01] [-1.20335558e-02 2.54280428e-04 9.99927562e-01 -6.44515294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:0.62, Z:-0.64 [[ 9.89181016e-01 -1.46147788e-01 1.27177572e-02 3.90660121e+01] [ 1.46139667e-01 9.89262721e-01 1.57051920e-03 6.22262883e-01] [-1.28107310e-02 3.05041018e-04 9.99917893e-01 -6.44630979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:0.62, Z:-0.64 [[ 9.88381778e-01 -1.51251451e-01 1.49820055e-02 3.90933592e+01] [ 1.51240691e-01 9.88495226e-01 1.85514668e-03 6.24752231e-01] [-1.50902345e-02 4.32295687e-04 9.99886042e-01 -6.43241394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:0.63, Z:-0.64 [[ 9.87891058e-01 -1.54334471e-01 1.58785643e-02 3.91208693e+01] [ 1.54322747e-01 9.88018530e-01 1.96838882e-03 6.28612328e-01] [-1.59921060e-02 5.05869950e-04 9.99871990e-01 -6.43271582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:0.63, Z:-0.64 [[ 9.87406821e-01 -1.57326685e-01 1.66157619e-02 3.91486483e+01] [ 1.57314190e-01 9.87546446e-01 2.06453873e-03 6.33061347e-01] [-1.67336436e-02 5.75355493e-04 9.99859817e-01 -6.44087787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:0.64, Z:-0.65 [[ 9.86449000e-01 -1.63265551e-01 1.62089458e-02 3.91766411e+01] [ 1.63254389e-01 9.86581943e-01 2.01834650e-03 6.38980259e-01] [-1.63209797e-02 6.55185663e-04 9.99866589e-01 -6.45501056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:0.64, Z:-0.65 [[ 9.86030257e-01 -1.65817349e-01 1.57777799e-02 3.92042730e+01] [ 1.65807029e-01 9.86156251e-01 1.96905976e-03 6.43185177e-01] [-1.58858606e-02 6.74514321e-04 9.99873584e-01 -6.46068974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:0.65, Z:-0.65 [[ 9.85673907e-01 -1.67973485e-01 1.52268922e-02 3.92325061e+01] [ 1.67964066e-01 9.85791279e-01 1.90449224e-03 6.47139620e-01] [-1.53304418e-02 6.80362414e-04 9.99882250e-01 -6.46332158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:0.65, Z:-0.65 [[ 9.85212941e-01 -1.70815864e-01 1.33192006e-02 3.92600322e+01] [ 1.70808872e-01 9.85302767e-01 1.66918103e-03 6.52029504e-01] [-1.34085678e-02 6.30538878e-04 9.99909902e-01 -6.46769500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:0.66, Z:-0.65 [[ 9.85086022e-01 -1.71641413e-01 1.20313941e-02 3.92870255e+01] [ 1.71635730e-01 9.85159324e-01 1.51106859e-03 6.57383293e-01] [-1.21122021e-02 5.76484565e-04 9.99926478e-01 -6.47390035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:0.66, Z:-0.65 [[ 9.85072648e-01 -1.71768968e-01 1.12827492e-02 3.93146492e+01] [ 1.71763959e-01 9.85137112e-01 1.41873752e-03 6.63257651e-01] [-1.13587501e-02 5.40410157e-04 9.99935341e-01 -6.48883740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55762800000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:39.34, Y:0.67, Z:-0.65 [[ 9.85059672e-01 -1.71949478e-01 9.52992690e-03 3.93425472e+01] [ 1.71945894e-01 9.85105664e-01 1.20036052e-03 6.69896467e-01] [-9.59438633e-03 4.56205056e-04 9.99953869e-01 -6.52307119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:0.68, Z:-0.66 [[ 9.85336085e-01 -1.70074305e-01 1.36941766e-02 3.93683374e+01] [ 1.70139774e-01 9.85412773e-01 -3.75824552e-03 6.82241855e-01] [-1.28552356e-02 6.03305904e-03 9.99899167e-01 -6.56341906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.68, Z:-0.65 [[ 9.86016275e-01 -1.66279270e-01 1.10955081e-02 3.93981431e+01] [ 1.66209892e-01 9.86066165e-01 6.91307330e-03 6.81178491e-01] [-1.20904059e-02 -4.97221958e-03 9.99914546e-01 -6.48000797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:0.69, Z:-0.65 [[ 9.86424191e-01 -1.63740572e-01 1.25036120e-02 3.94259668e+01] [ 1.63733620e-01 9.86503315e-01 1.58467982e-03 6.88730850e-01] [-1.25943311e-02 4.84095139e-04 9.99920571e-01 -6.49600630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:0.69, Z:-0.65 [[ 9.86940044e-01 -1.60559525e-01 1.30379257e-02 3.94522460e+01] [ 1.60551635e-01 9.87026053e-01 1.65646372e-03 6.93638551e-01] [-1.31347334e-02 4.58429914e-04 9.99913631e-01 -6.48938170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:0.70, Z:-0.65 [[ 9.88240770e-01 -1.52242497e-01 1.42267983e-02 3.94798933e+01] [ 1.52232198e-01 9.88343098e-01 1.81046730e-03 7.01934514e-01] [-1.43365880e-02 3.76599179e-04 9.99897155e-01 -6.48789294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:0.71, Z:-0.65 [[ 9.88935360e-01 -1.47615602e-01 1.47135110e-02 3.95060122e+01] [ 1.47604008e-01 9.89044759e-01 1.87679470e-03 7.08700324e-01] [-1.48293651e-02 3.15744549e-04 9.99889989e-01 -6.49389462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:0.72, Z:-0.65 [[ 9.89597560e-01 -1.43088174e-01 1.49145342e-02 3.95332733e+01] [ 1.43075718e-01 9.89709913e-01 1.90432141e-03 7.15767995e-01] [-1.50335482e-02 2.49395874e-04 9.99886959e-01 -6.50048540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:0.72, Z:-0.65 [[ 9.89572494e-01 -1.43261482e-01 1.49139985e-02 3.95615914e+01] [ 1.43248983e-01 9.89684842e-01 1.90850799e-03 7.19471415e-01] [-1.50335739e-02 2.47808102e-04 9.99886959e-01 -6.50475013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:0.73, Z:-0.65 [[ 9.90774653e-01 -1.34537675e-01 1.62849814e-02 3.95879802e+01] [ 1.34521541e-01 9.90908472e-01 2.08711334e-03 7.27844033e-01] [-1.64177214e-02 1.22821795e-04 9.99865213e-01 -6.51147613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:0.73, Z:-0.65 [[ 9.91215980e-01 -1.31237878e-01 1.63554169e-02 3.96152696e+01] [ 1.31221100e-01 9.91350904e-01 2.09947316e-03 7.32876819e-01] [-1.64894878e-02 6.51444461e-05 9.99864037e-01 -6.50719027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:0.74, Z:-0.65 [[ 9.91856531e-01 -1.26303461e-01 1.63724567e-02 3.96421389e+01] [ 1.26285900e-01 9.91991651e-01 2.10622343e-03 7.39484723e-01] [-1.65073637e-02 -2.14610305e-05 9.99863744e-01 -6.51501129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:0.74, Z:-0.65 [[ 9.91989577e-01 -1.25294255e-01 1.60633016e-02 3.96701912e+01] [ 1.25277183e-01 9.92119624e-01 2.06864944e-03 7.44330116e-01] [-1.61959066e-02 -3.97135186e-05 9.99868837e-01 -6.52763447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:0.75, Z:-0.65 [[ 9.92055890e-01 -1.24809344e-01 1.57397379e-02 3.96964489e+01] [ 1.24792823e-01 9.92180742e-01 2.03130369e-03 7.48829456e-01] [-1.58701905e-02 -5.09604645e-05 9.99874059e-01 -6.53709650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:0.75, Z:-0.66 [[ 9.92032084e-01 -1.25100469e-01 1.49069488e-02 3.97240154e+01] [ 1.25085642e-01 9.92144078e-01 1.92656688e-03 7.53379769e-01] [-1.50308554e-02 -4.65708923e-05 9.99887029e-01 -6.55348047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.76, Z:-0.66 [[ 9.91963863e-01 -1.25717702e-01 1.42391947e-02 3.97521985e+01] [ 1.25704182e-01 9.92066055e-01 1.84413418e-03 7.56995383e-01] [-1.43580621e-02 -3.93881361e-05 9.99896917e-01 -6.56377524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.76, Z:-0.66 [[ 9.91894839e-01 -1.26374582e-01 1.31944690e-02 3.97788139e+01] [ 1.26362982e-01 9.91982593e-01 1.71255013e-03 7.59699462e-01] [-1.33051063e-02 -3.13771895e-05 9.99911483e-01 -6.56626858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:0.76, Z:-0.66 [[ 9.91679783e-01 -1.28132402e-01 1.23812560e-02 3.98069226e+01] [ 1.28122299e-01 9.91757071e-01 1.60909055e-03 7.61541128e-01] [-1.24853748e-02 -9.38759593e-06 9.99922055e-01 -6.56981333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.84, Y:0.76, Z:-0.66 [[ 9.91570484e-01 -1.28997001e-01 1.21552213e-02 3.98350470e+01] [ 1.28987286e-01 9.91644984e-01 1.58311780e-03 7.64651333e-01] [-1.22578816e-02 -1.90388003e-06 9.99924869e-01 -6.57915864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:0.77, Z:-0.66 [[ 9.91461240e-01 -1.29901617e-01 1.14096354e-02 3.98625155e+01] [ 1.29893083e-01 9.91526888e-01 1.48900704e-03 7.67603032e-01] [-1.15063847e-02 5.73995253e-06 9.99933799e-01 -6.58787072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:0.77, Z:-0.66 [[ 9.91357802e-01 -1.30724913e-01 1.09866527e-02 3.98899935e+01] [ 1.30717017e-01 9.91418679e-01 1.43680377e-03 7.70367043e-01] [-1.10801987e-02 1.17558417e-05 9.99938613e-01 -6.59971957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.92, Y:0.77, Z:-0.66 [[ 9.91289313e-01 -1.31315323e-01 1.00887933e-02 3.99179371e+01] [ 1.31308670e-01 9.91340651e-01 1.32190460e-03 7.72807501e-01] [-1.01750172e-02 1.43561277e-05 9.99948233e-01 -6.60534535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:0.78, Z:-0.67 [[ 9.90719458e-01 -1.35142391e-01 1.45426653e-02 3.99408364e+01] [ 1.35289164e-01 9.90759377e-01 -9.62801659e-03 7.82430907e-01] [-1.31071288e-02 1.15061284e-02 9.99847895e-01 -6.72478951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:0.77, Z:-0.66 [[ 9.91217829e-01 -1.32039680e-01 7.26217857e-03 3.99751158e+01] [ 1.31941066e-01 9.91176172e-01 1.27024226e-02 7.70965126e-01] [-8.87532217e-03 -1.16326882e-02 9.99892949e-01 -6.57585108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:0.78, Z:-0.66 [[ 9.91160066e-01 -1.32404038e-01 8.41987481e-03 4.00026140e+01] [ 1.32399407e-01 9.91195829e-01 1.10747183e-03 7.76254713e-01] [-8.49237853e-03 1.71045809e-05 9.99963939e-01 -6.62690384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:0.78, Z:-0.66 [[ 9.91060376e-01 -1.33146233e-01 8.45055751e-03 4.00306918e+01] [ 1.33141575e-01 9.91096403e-01 1.11393776e-03 7.78009944e-01] [-8.52363376e-03 2.11409636e-05 9.99963673e-01 -6.62733176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:0.78, Z:-0.66 [[ 9.90950083e-01 -1.33940497e-01 8.82470399e-03 4.00586995e+01] [ 1.33935424e-01 9.90989376e-01 1.16598146e-03 7.79697998e-01] [-8.90136003e-03 2.65110414e-05 9.99960382e-01 -6.63069011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:0.78, Z:-0.66 [[ 9.90786987e-01 -1.35143915e-01 8.79027049e-03 4.00864708e+01] [ 1.35138898e-01 9.90825979e-01 1.16488603e-03 7.79367994e-01] [-8.86705562e-03 3.37535500e-05 9.99960686e-01 -6.63308068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628000000005 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:40.11, Y:0.78, Z:-0.67 [[ 9.90646479e-01 -1.36267671e-01 7.11874489e-03 4.01130454e+01] [ 1.36264406e-01 9.90672055e-01 9.43918570e-04 7.81308410e-01] [-7.18096722e-03 3.49419351e-05 9.99974216e-01 -6.65548911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:0.78, Z:-0.66 [[ 9.90653571e-01 -1.36196343e-01 7.48719392e-03 4.01411221e+01] [ 1.36192730e-01 9.90681864e-01 9.92656257e-04 7.80048988e-01] [-7.55262338e-03 3.63229169e-05 9.99971478e-01 -6.64582917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:0.78, Z:-0.67 [[ 9.90585123e-01 -1.36732156e-01 6.74028131e-03 4.01688050e+01] [ 1.36729231e-01 9.90608054e-01 8.95026497e-04 7.81261120e-01] [-6.79935585e-03 3.49935460e-05 9.99976884e-01 -6.65119054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:0.78, Z:-0.67 [[ 9.90504614e-01 -1.37349287e-01 5.98186914e-03 4.01965322e+01] [ 1.37346988e-01 9.90522676e-01 7.95514803e-04 7.82523716e-01] [-6.03444042e-03 3.36306227e-05 9.99981792e-01 -6.65220546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:40.22, Y:0.78, Z:-0.67 [[ 9.90321828e-01 -1.38708317e-01 4.76235913e-03 4.02238378e+01] [ 1.38706865e-01 9.90333278e-01 6.35492397e-04 7.84426424e-01] [-4.80447081e-03 3.12299128e-05 9.99988458e-01 -6.67472179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:0.78, Z:-0.67 [[ 9.90099879e-01 -1.40187723e-01 7.04496380e-03 4.02524904e+01] [ 1.40184579e-01 9.90124941e-01 9.40608572e-04 7.83166190e-01] [-7.10725614e-03 5.62988508e-05 9.99974742e-01 -6.66624527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:0.78, Z:-0.67 [[ 9.89907403e-01 -1.41502140e-01 7.77675661e-03 4.02791834e+01] [ 1.41498319e-01 9.89937947e-01 1.04213878e-03 7.84227936e-01] [-7.84597134e-03 6.87770938e-05 9.99969218e-01 -6.66706802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:0.79, Z:-0.67 [[ 9.89659564e-01 -1.43191645e-01 8.37255353e-03 4.03077600e+01] [ 1.43187275e-01 9.89694976e-01 1.12214188e-03 7.85166146e-01] [-8.44695551e-03 8.83046839e-05 9.99964320e-01 -6.66725131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:0.79, Z:-0.67 [[ 9.89653834e-01 -1.43069345e-01 1.07912286e-02 4.03343337e+01] [ 1.43062025e-01 9.89712661e-01 1.45125601e-03 7.87042185e-01] [-1.08878458e-02 1.07573943e-04 9.99940720e-01 -6.65519875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:0.79, Z:-0.67 [[ 9.89714085e-01 -1.42595230e-01 1.15164984e-02 4.03617030e+01] [ 1.42586849e-01 9.89781081e-01 1.54982608e-03 7.90747577e-01] [-1.16198101e-02 1.08216516e-04 9.99932482e-01 -6.65906692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:0.79, Z:-0.67 [[ 9.89710855e-01 -1.42603704e-01 1.16879068e-02 4.03893190e+01] [ 1.42595031e-01 9.89779861e-01 1.57628782e-03 7.94474210e-01] [-1.17932392e-02 1.06568273e-04 9.99930452e-01 -6.66475972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:0.80, Z:-0.67 [[ 9.89804488e-01 -1.42013582e-01 1.09187208e-02 4.04167897e+01] [ 1.42005947e-01 9.89864705e-01 1.47536986e-03 7.99523028e-01] [-1.10175789e-02 9.01955745e-05 9.99939301e-01 -6.67216162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:0.80, Z:-0.67 [[ 9.89702655e-01 -1.42736293e-01 1.07240882e-02 4.04441659e+01] [ 1.42728938e-01 9.89760750e-01 1.45197927e-03 8.03195341e-01] [-1.08215317e-02 9.36099883e-05 9.99941441e-01 -6.68458962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:0.81, Z:-0.67 [[ 9.89501873e-01 -1.44130344e-01 1.06059978e-02 4.04706487e+01] [ 1.44123194e-01 9.89558706e-01 1.43935987e-03 8.07091164e-01] [-1.07027129e-02 1.04320986e-04 9.99942719e-01 -6.68719826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:0.81, Z:-0.67 [[ 9.88823387e-01 -1.48680867e-01 1.10593206e-02 4.04982134e+01] [ 1.48673356e-01 9.88885218e-01 1.50282690e-03 8.12209872e-01] [-1.11598403e-02 1.58195929e-04 9.99937715e-01 -6.69438913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:0.82, Z:-0.67 [[ 9.88169701e-01 -1.52978879e-01 1.08675663e-02 4.05257904e+01] [ 1.52971852e-01 9.88229438e-01 1.47976628e-03 8.16967674e-01] [-1.09660219e-02 2.00171549e-04 9.99939851e-01 -6.69834202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:0.82, Z:-0.67 [[ 9.87373685e-01 -1.58034377e-01 1.08785356e-02 4.05533087e+01] [ 1.58027609e-01 9.87433578e-01 1.48431912e-03 8.22274609e-01] [-1.09764047e-02 2.53531323e-04 9.99939725e-01 -6.70585230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:0.83, Z:-0.67 [[ 9.86480079e-01 -1.63525985e-01 1.07845162e-02 4.05809041e+01] [ 1.63519629e-01 9.86538979e-01 1.47449321e-03 8.27701612e-01] [-1.08804636e-02 3.08921916e-04 9.99940758e-01 -6.71813624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:0.83, Z:-0.67 [[ 9.84665579e-01 -1.74147061e-01 1.03197812e-02 4.06074125e+01] [ 1.74141786e-01 9.84719573e-01 1.41438353e-03 8.33224902e-01] [-1.04084012e-02 4.04410348e-04 9.99945749e-01 -6.72292608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.967628000000005 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:40.63, Y:0.84, Z:-0.67 [[ 9.83656887e-01 -1.79798348e-01 9.57513394e-03 4.06348144e+01] [ 1.79794073e-01 9.83703395e-01 1.31252789e-03 8.37483293e-01] [-9.65508211e-03 4.30475231e-04 9.99953296e-01 -6.74287629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:0.84, Z:-0.67 [[ 9.82946097e-01 -1.83606506e-01 1.02772070e-02 4.06624818e+01] [ 1.83601754e-01 9.82999696e-01 1.41198079e-03 8.41588217e-01] [-1.03617403e-02 4.99012236e-04 9.99946191e-01 -6.73005269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:0.85, Z:-0.67 [[ 9.81853415e-01 -1.89342812e-01 1.06382260e-02 4.06893128e+01] [ 1.89338015e-01 9.81910876e-01 1.46545253e-03 8.47695919e-01] [-1.07232627e-02 5.75361022e-04 9.99942339e-01 -6.74583423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:0.85, Z:-0.68 [[ 9.81540218e-01 -1.90963783e-01 1.05657173e-02 4.07172863e+01] [ 1.90959138e-01 9.81596907e-01 1.45606520e-03 8.53100221e-01] [-1.06493312e-02 5.88433716e-04 9.99943121e-01 -6.75468374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.087628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:40.75, Y:0.86, Z:-0.68 [[ 9.81321427e-01 -1.92142030e-01 9.47087901e-03 4.07452197e+01] [ 1.92138331e-01 9.81366981e-01 1.30752176e-03 8.58693754e-01] [-9.54563783e-03 5.36619761e-04 9.99954295e-01 -6.77684793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.77, Y:0.86, Z:-0.68 [[ 9.82041495e-01 -1.88360295e-01 1.07192058e-02 4.07712385e+01] [ 1.88355284e-01 9.82099834e-01 1.48419355e-03 8.64824362e-01] [-1.08068933e-02 5.61479397e-04 9.99941446e-01 -6.76102731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:0.87, Z:-0.68 [[ 9.82555665e-01 -1.85639398e-01 1.10624728e-02 4.07991037e+01] [ 1.85633880e-01 9.82617786e-01 1.53256360e-03 8.70531063e-01] [-1.11546867e-02 5.47740702e-04 9.99937635e-01 -6.76205197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:0.88, Z:-0.68 [[ 9.83239756e-01 -1.81980535e-01 1.10755497e-02 4.08256455e+01] [ 1.81974729e-01 9.83302004e-01 1.53821588e-03 8.76281307e-01] [-1.11705355e-02 5.03035138e-04 9.99937481e-01 -6.76443263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:0.88, Z:-0.68 [[ 9.84082022e-01 -1.77348461e-01 1.14060117e-02 4.08524889e+01] [ 1.77341975e-01 9.84148012e-01 1.58561727e-03 8.82391136e-01] [-1.15064105e-02 4.62387185e-04 9.99933692e-01 -6.77390374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:0.89, Z:-0.68 [[ 9.85840836e-01 -1.67342385e-01 1.06944967e-02 4.08800437e+01] [ 1.67336089e-01 9.85898789e-01 1.48726148e-03 8.90632501e-01] [-1.07925733e-02 3.23372158e-04 9.99941706e-01 -6.78099245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:0.90, Z:-0.68 [[ 9.86675718e-01 -1.62315708e-01 1.11641465e-02 4.09073380e+01] [ 1.62308486e-01 9.86738838e-01 1.55594042e-03 8.96341349e-01] [-1.12686505e-02 2.76827087e-04 9.99936468e-01 -6.78587336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:0.90, Z:-0.68 [[ 9.87472469e-01 -1.57387320e-01 1.12851446e-02 4.09336307e+01] [ 1.57379575e-01 9.87536928e-01 1.57664188e-03 9.01967842e-01] [-1.13926405e-02 2.19160814e-04 9.99935078e-01 -6.78810162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:0.91, Z:-0.68 [[ 9.88708067e-01 -1.49394238e-01 1.17353780e-02 4.09607797e+01] [ 1.49385287e-01 9.88777702e-01 1.64059870e-03 9.09803012e-01] [-1.18487761e-02 1.31019646e-04 9.99929792e-01 -6.80241526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:0.91, Z:-0.68 [[ 9.89141365e-01 -1.46525676e-01 1.13835525e-02 4.09882856e+01] [ 1.46517028e-01 9.89206863e-01 1.59452881e-03 9.14745397e-01] [-1.14943277e-02 9.06698787e-05 9.99933934e-01 -6.81005906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:0.92, Z:-0.68 [[ 9.89440475e-01 -1.44496458e-01 1.13278845e-02 4.10163709e+01] [ 1.44487725e-01 9.89505316e-01 1.58990991e-03 9.19555927e-01] [-1.14387383e-02 6.36190386e-05 9.99934573e-01 -6.81657296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:0.92, Z:-0.68 [[ 9.89703652e-01 -1.42641121e-01 1.18402822e-02 4.10439439e+01] [ 1.42631405e-01 9.89774474e-01 1.66538820e-03 9.24474754e-01] [-1.19567619e-02 4.05552972e-05 9.99928515e-01 -6.82658179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:0.93, Z:-0.68 [[ 9.89697202e-01 -1.42638107e-01 1.24023331e-02 4.10714767e+01] [ 1.42627400e-01 9.89774908e-01 1.74813914e-03 9.27947681e-01] [-1.25248693e-02 3.87841082e-05 9.99921560e-01 -6.83275583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:0.93, Z:-0.68 [[ 9.89544031e-01 -1.43690830e-01 1.24722075e-02 4.10997398e+01] [ 1.43680041e-01 9.89622627e-01 1.76152828e-03 9.31422675e-01] [-1.25958943e-02 4.88974972e-05 9.99920667e-01 -6.83973386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:0.93, Z:-0.68 [[ 9.89048829e-01 -1.47090097e-01 1.21209755e-02 4.11265561e+01] [ 1.47080115e-01 9.89123094e-01 1.71574640e-03 9.33029514e-01] [-1.22415061e-02 8.57975105e-05 9.99925066e-01 -6.84256577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:0.94, Z:-0.68 [[ 9.88656178e-01 -1.49725053e-01 1.18899259e-02 4.11544847e+01] [ 1.49715626e-01 9.88727665e-01 1.68404091e-03 9.35515846e-01] [-1.20080418e-02 1.15170255e-04 9.99927894e-01 -6.84662962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:0.94, Z:-0.69 [[ 9.88288830e-01 -1.52153243e-01 1.16008300e-02 4.11811362e+01] [ 1.52144393e-01 9.88356905e-01 1.64683600e-03 9.37307010e-01] [-1.17163319e-02 1.37451609e-04 9.99931352e-01 -6.85141103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:0.94, Z:-0.69 [[ 9.87939171e-01 -1.54450359e-01 1.10127556e-02 4.12089433e+01] [ 1.54442518e-01 9.88000538e-01 1.56402916e-03 9.39131445e-01] [-1.11221733e-02 1.55672033e-04 9.99938135e-01 -6.85347805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:0.94, Z:-0.69 [[ 9.87426633e-01 -1.57736268e-01 1.03881925e-02 4.12375224e+01] [ 1.57729444e-01 9.87481259e-01 1.47808226e-03 9.39804210e-01] [-1.04912926e-02 1.79026050e-04 9.99944949e-01 -6.85604603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:0.94, Z:-0.69 [[ 9.87238759e-01 -1.58923200e-01 1.01513454e-02 4.12654045e+01] [ 1.58916718e-01 9.87290931e-01 1.44717725e-03 9.42522155e-01] [-1.02523213e-02 1.84509030e-04 9.99947427e-01 -6.86688888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:0.94, Z:-0.69 [[ 9.87054953e-01 -1.60149455e-01 8.64129351e-03 4.12935192e+01] [ 1.60144789e-01 9.87092764e-01 1.23373345e-03 9.43828082e-01] [-8.72734003e-03 1.66095417e-04 9.99961902e-01 -6.88003164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:0.95, Z:-0.69 [[ 9.87026859e-01 -1.60322536e-01 8.64085288e-03 4.13217812e+01] [ 1.60317850e-01 9.87064667e-01 1.23680978e-03 9.47956197e-01] [-8.72736906e-03 1.64518477e-04 9.99961902e-01 -6.88426149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:0.95, Z:-0.69 [[ 9.86892415e-01 -1.61195503e-01 7.70526330e-03 4.13496341e+01] [ 1.61191801e-01 9.86922482e-01 1.10321305e-03 9.49814968e-01] [-7.78233056e-03 1.53272674e-04 9.99969705e-01 -6.88799707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:0.95, Z:-0.69 [[ 9.86738969e-01 -1.62139963e-01 7.53924611e-03 4.13782537e+01] [ 1.62136430e-01 9.86767758e-01 1.08153462e-03 9.51455548e-01] [-7.61484497e-03 1.55194095e-04 9.99970995e-01 -6.89298497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:0.95, Z:-0.69 [[ 9.86410989e-01 -1.64134214e-01 7.30210585e-03 4.14065660e+01] [ 1.64130940e-01 9.86438003e-01 1.04948907e-03 9.51209922e-01] [-7.37533177e-03 1.63273942e-04 9.99972789e-01 -6.89777661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:0.95, Z:-0.69 [[ 9.86259036e-01 -1.65058801e-01 6.97902930e-03 4.14342892e+01] [ 1.65055820e-01 9.86283715e-01 1.00488593e-03 9.53634325e-01] [-7.04916821e-03 1.60851583e-04 9.99975141e-01 -6.90197211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.867628 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.46, Y:0.96, Z:-0.69 [[ 9.86251083e-01 -1.65134833e-01 6.26795218e-03 4.14610417e+01] [ 1.65132417e-01 9.86270990e-01 9.04672633e-04 9.56129011e-01] [-6.33129236e-03 1.42807726e-04 9.99979947e-01 -6.91911709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:0.96, Z:-0.69 [[ 9.86618747e-01 -1.62882937e-01 7.25239165e-03 4.14879428e+01] [ 1.62879627e-01 9.86645391e-01 1.04865734e-03 9.59977383e-01] [-7.32634718e-03 1.46641863e-04 9.99973151e-01 -6.90699296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.927628000000006 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.52, Y:0.96, Z:-0.69 [[ 9.87217340e-01 -1.59254169e-01 6.32721077e-03 4.15159594e+01] [ 1.59251575e-01 9.87237610e-01 9.14961933e-04 9.62871708e-01] [-6.39217194e-03 1.04351993e-04 9.99979564e-01 -6.91976658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:0.97, Z:-0.69 [[ 9.87610086e-01 -1.56768380e-01 7.07053077e-03 4.15423367e+01] [ 1.56765050e-01 9.87635391e-01 1.02624532e-03 9.66887315e-01] [-7.14398923e-03 9.48818772e-05 9.99974477e-01 -6.90574683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:0.97, Z:-0.69 [[ 9.87912653e-01 -1.54831862e-01 7.46219652e-03 4.15698983e+01] [ 1.54828098e-01 9.87940832e-01 1.08294836e-03 9.71202925e-01] [-7.53988354e-03 8.54993121e-05 9.99971571e-01 -6.90868445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:0.98, Z:-0.69 [[ 9.88525845e-01 -1.50797869e-01 8.75533485e-03 4.15980866e+01] [ 1.50792501e-01 9.88564615e-01 1.27388648e-03 9.75496847e-01] [-8.84731359e-03 6.09691305e-05 9.99960860e-01 -6.91110134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:0.98, Z:-0.69 [[ 9.88788965e-01 -1.49022383e-01 9.41869637e-03 4.16244278e+01] [ 1.49016053e-01 9.88833822e-01 1.37426333e-03 9.79846119e-01] [-9.51832153e-03 4.46805477e-05 9.99954699e-01 -6.91678120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628000000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:41.65, Y:0.98, Z:-0.69 [[ 9.88841789e-01 -1.48668168e-01 9.47056681e-03 4.16518662e+01] [ 1.48661749e-01 9.88887139e-01 1.38213855e-03 9.84964437e-01] [-9.57080173e-03 4.11946691e-05 9.99954198e-01 -6.94526366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:0.99, Z:-0.69 [[ 9.89158334e-01 -1.46234253e-01 1.34659831e-02 4.16782276e+01] [ 1.46220969e-01 9.89249990e-01 1.97116384e-03 9.91125153e-01] [-1.36094753e-02 1.92159537e-05 9.99907387e-01 -6.93383586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:1.00, Z:-0.69 [[ 9.89227038e-01 -1.45652356e-01 1.46717220e-02 4.17055600e+01] [ 1.45636492e-01 9.89335833e-01 2.14966951e-03 9.95559034e-01] [-1.48283647e-02 1.02269110e-05 9.99890054e-01 -6.93540660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:1.00, Z:-0.69 [[ 9.89339372e-01 -1.44658482e-01 1.67788493e-02 4.17333612e+01] [ 1.44637498e-01 9.89481644e-01 2.46386909e-03 1.00005543e+00] [-1.69587829e-02 -1.07519157e-05 9.99856189e-01 -6.93267403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:1.00, Z:-0.69 [[ 9.89363342e-01 -1.44444866e-01 1.72005348e-02 4.17604885e+01] [ 1.44422701e-01 9.89512850e-01 2.53047983e-03 1.00470089e+00] [-1.73856651e-02 -1.94162883e-05 9.99848858e-01 -6.93586082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:1.01, Z:-0.69 [[ 9.89343561e-01 -1.44569315e-01 1.72925434e-02 4.17878200e+01] [ 1.44546886e-01 9.89494675e-01 2.54659381e-03 1.00933469e+00] [-1.74790390e-02 -1.98728875e-05 9.99847230e-01 -6.94670203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:1.01, Z:-0.70 [[ 9.89340930e-01 -1.44661897e-01 1.66571011e-02 4.18155070e+01] [ 1.44641023e-01 9.89481144e-01 2.45749436e-03 1.01380852e+00] [-1.68373933e-02 -2.19996147e-05 9.99858241e-01 -6.95049354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:1.02, Z:-0.70 [[ 9.89244105e-01 -1.45436342e-01 1.56323481e-02 4.18434797e+01] [ 1.45417990e-01 9.89367611e-01 2.31038622e-03 1.01883909e+00] [-1.58021530e-02 -1.23113115e-05 9.99875138e-01 -6.97313505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:1.02, Z:-0.70 [[ 9.89131269e-01 -1.46284180e-01 1.48415272e-02 4.18708656e+01] [ 1.46267674e-01 9.89242609e-01 2.19747516e-03 1.02326294e+00] [-1.50033269e-02 -2.75573242e-06 9.99887444e-01 -6.98519735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:1.03, Z:-0.70 [[ 9.88982646e-01 -1.47382260e-01 1.38490010e-02 4.18987886e+01] [ 1.47367945e-01 9.89079607e-01 2.05412476e-03 1.02738443e+00] [-1.40005060e-02 9.40506955e-06 9.99901988e-01 -6.99281868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:1.03, Z:-0.70 [[ 9.88825038e-01 -1.48523787e-01 1.28735739e-02 4.19259469e+01] [ 1.48511468e-01 9.88908835e-01 1.91304394e-03 1.03067200e+00] [-1.30149235e-02 2.02076052e-05 9.99915302e-01 -6.99736208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:1.03, Z:-0.70 [[ 9.88261418e-01 -1.52290256e-01 1.21263154e-02 4.19535165e+01] [ 1.52279597e-01 9.88335810e-01 1.80293873e-03 1.03309256e+00] [-1.22594418e-02 6.48156431e-05 9.99924848e-01 -7.00893471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:1.04, Z:-0.70 [[ 9.87890552e-01 -1.54695370e-01 1.18995487e-02 4.19802514e+01] [ 1.54685235e-01 9.87962213e-01 1.77300098e-03 1.03653991e+00] [-1.20305795e-02 8.91535569e-05 9.99927626e-01 -7.01713129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:1.04, Z:-0.70 [[ 9.87127694e-01 -1.59438048e-01 1.25866426e-02 4.20077661e+01] [ 1.59427078e-01 9.87207924e-01 1.87669136e-03 1.03998677e+00] [-1.27248493e-02 1.54117628e-04 9.99919024e-01 -7.02499913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:1.04, Z:-0.70 [[ 9.86804404e-01 -1.61384222e-01 1.31225660e-02 4.20344732e+01] [ 1.61372413e-01 9.86891635e-01 1.96082827e-03 1.04371044e+00] [-1.32669974e-02 1.82666167e-04 9.99911973e-01 -7.03407139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:1.05, Z:-0.70 [[ 9.86486337e-01 -1.63295908e-01 1.33848348e-02 4.20624763e+01] [ 1.63283778e-01 9.86577114e-01 2.00151121e-03 1.04742433e+00] [-1.35320103e-02 2.11062944e-04 9.99908416e-01 -7.03994784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:1.05, Z:-0.70 [[ 9.86251035e-01 -1.64698806e-01 1.35351349e-02 4.20889006e+01] [ 1.64686477e-01 9.86343881e-01 2.02813511e-03 1.05084766e+00] [-1.36843290e-02 2.28803332e-04 9.99906339e-01 -7.04351209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:1.05, Z:-0.70 [[ 9.85912792e-01 -1.66731844e-01 1.32837500e-02 4.21166593e+01] [ 1.66720135e-01 9.86002246e-01 1.99185718e-03 1.05461909e+00] [-1.34299133e-02 2.50871112e-04 9.99909783e-01 -7.04152424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:1.06, Z:-0.71 [[ 9.85842457e-01 -1.67123253e-01 1.35819032e-02 4.21432874e+01] [ 1.67110991e-01 9.85935978e-01 2.04078927e-03 1.05936211e+00] [-1.37319503e-02 2.57788590e-04 9.99905679e-01 -7.05115501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:1.06, Z:-0.71 [[ 9.85757249e-01 -1.67614725e-01 1.37095147e-02 4.21708934e+01] [ 1.67602257e-01 9.85852541e-01 2.06155014e-03 1.06422927e+00] [-1.38611060e-02 2.65557609e-04 9.99903895e-01 -7.05786091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:1.07, Z:-0.71 [[ 9.85656087e-01 -1.68202357e-01 1.37856732e-02 4.21984071e+01] [ 1.68189752e-01 9.85752450e-01 2.07694656e-03 1.06887375e+00] [-1.39386084e-02 2.71453942e-04 9.99902816e-01 -7.06699828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:1.07, Z:-0.71 [[ 9.85619739e-01 -1.68453980e-01 1.33036287e-02 4.22263320e+01] [ 1.68442215e-01 9.85709485e-01 2.00796942e-03 1.07407386e+00] [-1.34517635e-02 2.61798402e-04 9.99909487e-01 -7.07339043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:1.08, Z:-0.71 [[ 9.85630653e-01 -1.68415934e-01 1.29726018e-02 4.22539722e+01] [ 1.68404696e-01 9.85715989e-01 1.96164490e-03 1.07888599e+00] [-1.31176733e-02 2.51189724e-04 9.99913928e-01 -7.07700312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:1.08, Z:-0.71 [[ 9.85600059e-01 -1.68608259e-01 1.27976316e-02 4.22817791e+01] [ 1.68597293e-01 9.85683110e-01 1.93879743e-03 1.08393067e+00] [-1.29413066e-02 2.46767181e-04 9.99916227e-01 -7.07991272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:1.09, Z:-0.71 [[ 9.85621086e-01 -1.68471410e-01 1.29791614e-02 4.23089112e+01] [ 1.68460069e-01 9.85706510e-01 1.97006098e-03 1.08966333e+00] [-1.31255428e-02 2.44736773e-04 9.99913826e-01 -7.08000543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.827628000000004 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:42.34, Y:1.09, Z:-0.71 [[ 9.85513681e-01 -1.69163114e-01 1.21088893e-02 4.23367398e+01] [ 1.69153255e-01 9.85588041e-01 1.84118985e-03 1.09475876e+00] [-1.22458379e-02 2.33740252e-04 9.99924990e-01 -7.09324974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:1.10, Z:-0.71 [[ 9.85505054e-01 -1.69106032e-01 1.35254598e-02 4.23647428e+01] [ 1.69093667e-01 9.85597831e-01 2.06098270e-03 1.10028717e+00] [-1.36791884e-02 2.55960719e-04 9.99906403e-01 -7.08246326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:1.11, Z:-0.71 [[ 9.85428303e-01 -1.69582453e-01 1.31473242e-02 4.23925660e+01] [ 1.69570762e-01 9.85515971e-01 2.00702163e-03 1.10696848e+00] [-1.32972536e-02 2.51625861e-04 9.99911556e-01 -7.08952535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:1.11, Z:-0.71 [[ 9.85384281e-01 -1.69881985e-01 1.25669880e-02 4.24204344e+01] [ 1.69871285e-01 9.85464385e-01 1.92181848e-03 1.11225407e+00] [-1.27108014e-02 2.41040676e-04 9.99919185e-01 -7.09727229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:1.12, Z:-0.71 [[ 9.85408501e-01 -1.69781250e-01 1.20172121e-02 4.24471107e+01] [ 1.69771413e-01 9.85481748e-01 1.84147712e-03 1.11701704e+00] [-1.21553914e-02 2.25571868e-04 9.99926095e-01 -7.10464184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:1.12, Z:-0.71 [[ 9.85597740e-01 -1.68689397e-01 1.18735807e-02 4.24747408e+01] [ 1.68679703e-01 9.85669236e-01 1.82047987e-03 1.12153876e+00] [-1.20105189e-02 2.08571217e-04 9.99927849e-01 -7.10307419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:1.13, Z:-0.71 [[ 9.85736329e-01 -1.67858680e-01 1.21389168e-02 4.25011460e+01] [ 1.67848435e-01 9.85811049e-01 1.86514977e-03 1.12595325e+00] [-1.22797599e-02 1.98952315e-04 9.99924581e-01 -7.10493923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:1.13, Z:-0.71 [[ 9.85810726e-01 -1.67393535e-01 1.25146996e-02 4.25292821e+01] [ 1.67382593e-01 9.85890139e-01 1.92415637e-03 1.13094793e+00] [-1.26602103e-02 1.97888887e-04 9.99919837e-01 -7.11337364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:1.13, Z:-0.71 [[ 9.86126039e-01 -1.65517097e-01 1.26303278e-02 4.25572745e+01] [ 1.65505752e-01 9.86206906e-01 1.94553056e-03 1.13442706e+00] [-1.27781351e-02 1.71853557e-04 9.99918342e-01 -7.11243550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:1.14, Z:-0.71 [[ 9.86304539e-01 -1.64485254e-01 1.21638164e-02 4.25851276e+01] [ 1.64474612e-01 9.86379531e-01 1.87698540e-03 1.13826357e+00] [-1.23068760e-02 1.49359771e-04 9.99924256e-01 -7.11391460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:1.14, Z:-0.71 [[ 9.86599593e-01 -1.62726217e-01 1.18920887e-02 4.26119466e+01] [ 1.62715872e-01 9.86671254e-01 1.83882694e-03 1.14172192e+00] [-1.20328074e-02 1.20845672e-04 9.99927596e-01 -7.11490956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:1.15, Z:-0.71 [[ 9.86956332e-01 -1.60567420e-01 1.16319654e-02 4.26399711e+01] [ 1.60557362e-01 9.87024871e-01 1.79952670e-03 1.14568996e+00] [-1.17699845e-02 9.15434098e-05 9.99930727e-01 -7.11667771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:1.15, Z:-0.71 [[ 9.87709545e-01 -1.55959907e-01 1.03132229e-02 4.26677585e+01] [ 1.55951723e-01 9.87763386e-01 1.59795171e-03 1.14997038e+00] [-1.04362403e-02 3.00527208e-05 9.99945541e-01 -7.12507988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:1.15, Z:-0.71 [[ 9.88126153e-01 -1.53317905e-01 1.00163118e-02 4.26940477e+01] [ 1.53310016e-01 9.88176917e-01 1.55537635e-03 1.15394101e+00] [-1.01363552e-02 -1.30712343e-06 9.99948626e-01 -7.13047529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:1.16, Z:-0.71 [[ 9.88483722e-01 -1.51025966e-01 9.54407637e-03 4.27218308e+01] [ 1.51018693e-01 9.88529796e-01 1.48232034e-03 1.15796240e+00] [-9.65847272e-03 -2.39155824e-05 9.99953356e-01 -7.13349602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:1.16, Z:-0.71 [[ 9.89111818e-01 -1.46890356e-01 9.00191812e-03 4.27502024e+01] [ 1.46883694e-01 9.89152779e-01 1.40038688e-03 1.16158342e+00] [-9.10997565e-03 -6.29042253e-05 9.99958501e-01 -7.14016811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:1.17, Z:-0.71 [[ 9.89324772e-01 -1.45442754e-01 9.10495065e-03 4.27785838e+01] [ 1.45435854e-01 9.89366666e-01 1.41896709e-03 1.16502217e+00] [-9.21451315e-03 -7.96330209e-05 9.99957542e-01 -7.14213285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:1.17, Z:-0.71 [[ 9.89517680e-01 -1.44118731e-01 9.19523853e-03 4.28065007e+01] [ 1.44111613e-01 9.89560398e-01 1.43554916e-03 1.16792266e+00] [-9.30613343e-03 -9.53606223e-05 9.99956692e-01 -7.14030182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:1.17, Z:-0.71 [[ 9.89811106e-01 -1.42064361e-01 9.57560280e-03 4.28343886e+01] [ 1.42056518e-01 9.89857415e-01 1.49779276e-03 1.16928469e+00] [-9.69126441e-03 -1.22255111e-04 9.99953031e-01 -7.13254863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:1.17, Z:-0.71 [[ 9.89872745e-01 -1.41632494e-01 9.60136353e-03 4.28612108e+01] [ 1.41624553e-01 9.89919300e-01 1.50546554e-03 1.17261500e+00] [-9.71779790e-03 -1.30430490e-04 9.99952773e-01 -7.13467314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:1.18, Z:-0.71 [[ 9.89729055e-01 -1.42702896e-01 8.50184303e-03 4.28894337e+01] [ 1.42696709e-01 9.89765564e-01 1.33295646e-03 1.17581027e+00] [-8.60504821e-03 -1.06080717e-04 9.99962970e-01 -7.14163977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:1.18, Z:-0.71 [[ 9.89515336e-01 -1.44218324e-01 7.77661210e-03 4.29169614e+01] [ 1.44213181e-01 9.89545890e-01 1.22103217e-03 1.18002104e+00] [-7.87140975e-03 -8.67400928e-05 9.99969016e-01 -7.14628776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:1.18, Z:-0.72 [[ 9.89270787e-01 -1.45947410e-01 6.53169880e-03 4.29433407e+01] [ 1.45943807e-01 9.89292348e-01 1.02754132e-03 1.18451435e+00] [-6.61172663e-03 -6.32556251e-05 9.99978140e-01 -7.15515928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:1.19, Z:-0.72 [[ 9.88699560e-01 -1.49862362e-01 3.80170229e-03 4.29703730e+01] [ 1.49861176e-01 9.88706869e-01 5.96654046e-04 1.19106271e+00] [-3.84818515e-03 -2.01840176e-05 9.99992596e-01 -7.17031686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:1.20, Z:-0.72 [[ 9.88345824e-01 -1.52205668e-01 2.44255032e-03 4.29980209e+01] [ 1.52205187e-01 9.88348843e-01 3.82546426e-04 1.19636631e+00] [-2.47231752e-03 -6.31933406e-06 9.99996944e-01 -7.17565121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:1.20, Z:-0.72 [[ 9.88030985e-01 -1.54247078e-01 1.61607889e-03 4.30257679e+01] [ 1.54246872e-01 9.88032307e-01 2.52094247e-04 1.20122027e+00] [-1.63562295e-03 1.98186395e-07 9.99998662e-01 -7.17460512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:1.21, Z:-0.72 [[ 9.87990105e-01 -1.54508711e-01 1.61597074e-03 4.30539998e+01] [ 1.54508504e-01 9.87991426e-01 2.52778996e-04 1.20577082e+00] [-1.63562180e-03 -6.19240758e-08 9.99998662e-01 -7.17883965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:1.21, Z:-0.72 [[ 9.87625196e-01 -1.56827830e-01 1.22661258e-03 4.30806708e+01] [ 1.56827711e-01 9.87625957e-01 1.93211466e-04 1.21052336e+00] [-1.24173536e-03 1.54633160e-06 9.99999229e-01 -7.17855969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.21, Z:-0.72 [[ 9.86988430e-01 -1.60784104e-01 1.51995769e-03 4.31087366e+01] [ 1.60783929e-01 9.86989601e-01 2.37855822e-04 1.21419360e+00] [-1.53842587e-03 9.62382400e-06 9.99998817e-01 -7.16431295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:1.22, Z:-0.72 [[ 9.86651297e-01 -1.62833599e-01 2.10648370e-03 4.31357207e+01] [ 1.62833257e-01 9.86653546e-01 3.33993548e-04 1.21790310e+00] [-2.13275498e-03 1.34704334e-05 9.99997726e-01 -7.16333702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:1.22, Z:-0.72 [[ 9.86280313e-01 -1.65062136e-01 2.37393145e-03 4.31638228e+01] [ 1.65061712e-01 9.86283170e-01 3.74936550e-04 1.22205857e+00] [-2.40325646e-03 2.20526510e-05 9.99997112e-01 -7.15845299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:1.23, Z:-0.72 [[ 9.85847628e-01 -1.67609771e-01 3.37921092e-03 4.31916091e+01] [ 1.67608916e-01 9.85853419e-01 5.36479601e-04 1.22687091e+00] [-3.42132586e-03 3.74987371e-05 9.99994147e-01 -7.16376782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:1.23, Z:-0.72 [[ 9.85074915e-01 -1.72044436e-01 5.30312155e-03 4.32194308e+01] [ 1.72042374e-01 9.85089187e-01 8.45879058e-04 1.23232712e+00] [-5.36957648e-03 7.91073814e-05 9.99985581e-01 -7.17575000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:1.24, Z:-0.72 [[ 9.84686651e-01 -1.74242146e-01 5.64570417e-03 4.32471573e+01] [ 1.74239835e-01 9.84702831e-01 9.02402783e-04 1.23725790e+00] [-5.71657748e-03 9.51225913e-05 9.99983656e-01 -7.17892318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:1.24, Z:-0.72 [[ 9.84322289e-01 -1.76273926e-01 6.09383860e-03 4.32742534e+01] [ 1.76271251e-01 9.84341145e-01 9.77536836e-04 1.24199793e+00] [-6.17073032e-03 1.11957256e-04 9.99980955e-01 -7.17771865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:1.25, Z:-0.72 [[ 9.83712777e-01 -1.79611954e-01 6.97979405e-03 4.33024783e+01] [ 1.79608529e-01 9.83737527e-01 1.11954524e-03 1.24639734e+00] [-7.06736905e-03 1.52319587e-04 9.99975014e-01 -7.16753078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:1.25, Z:-0.72 [[ 9.83512676e-01 -1.80717702e-01 6.62791204e-03 4.33300294e+01] [ 1.80714627e-01 9.83534997e-01 1.06481958e-03 1.25107302e+00] [-6.71121519e-03 1.50497104e-04 9.99977468e-01 -7.16497752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:1.26, Z:-0.72 [[ 9.83342218e-01 -1.81644512e-01 6.58435867e-03 4.33577521e+01] [ 1.81641486e-01 9.83364250e-01 1.05968150e-03 1.25655623e+00] [-6.66730825e-03 1.53963131e-04 9.99977761e-01 -7.17349971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:1.26, Z:-0.72 [[ 9.83298132e-01 -1.81899694e-01 6.10611375e-03 4.33837400e+01] [ 1.81897079e-01 9.83317081e-01 9.85539557e-04 1.26210522e+00] [-6.18351529e-03 1.41605051e-04 9.99980872e-01 -7.18025871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:1.27, Z:-0.72 [[ 9.83381449e-01 -1.81490550e-01 4.70175629e-03 4.34099931e+01] [ 1.81488994e-01 9.83392683e-01 7.59058493e-04 1.26974657e+00] [-4.76143468e-03 1.06872981e-04 9.99988659e-01 -7.19843659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:1.28, Z:-0.72 [[ 9.83451605e-01 -1.81125098e-01 4.07904345e-03 4.34373197e+01] [ 1.81123929e-01 9.83460060e-01 6.57148117e-04 1.27540810e+00] [-4.13060233e-03 9.25390069e-05 9.99991465e-01 -7.20792154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:1.28, Z:-0.72 [[ 9.83536074e-01 -1.80678777e-01 3.45982849e-03 4.34638629e+01] [ 1.80677926e-01 9.83542157e-01 5.59484098e-04 1.28090991e+00] [-3.50397408e-03 7.48418421e-05 9.99993858e-01 -7.20953347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:1.29, Z:-0.72 [[ 9.83684466e-01 -1.79874919e-01 3.14391050e-03 4.34913837e+01] [ 1.79874217e-01 9.83689488e-01 5.06865943e-04 1.28638200e+00] [-3.18380418e-03 6.69122856e-05 9.99994929e-01 -7.20449116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:1.29, Z:-0.72 [[ 9.83700800e-01 -1.79787355e-01 3.04023658e-03 4.35194859e+01] [ 1.79786696e-01 9.83705496e-01 4.90807916e-04 1.29164183e+00] [-3.07893849e-03 6.37859521e-05 9.99995258e-01 -7.20084297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:1.30, Z:-0.72 [[ 9.84009408e-01 -1.78069088e-01 4.10922849e-03 4.35468304e+01] [ 1.78067859e-01 9.84017985e-01 6.65814814e-04 1.29826953e+00] [-4.16211578e-03 7.65534814e-05 9.99991335e-01 -7.19633637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:1.30, Z:-0.72 [[ 9.84248758e-01 -1.76725595e-01 4.73774596e-03 4.35733752e+01] [ 1.76723930e-01 9.84260158e-01 7.71250064e-04 1.30428000e+00] [-4.79947421e-03 7.81711675e-05 9.99988479e-01 -7.20170628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:1.31, Z:-0.72 [[ 9.84474552e-01 -1.75431881e-01 5.78889703e-03 4.36008254e+01] [ 1.75429374e-01 9.84491568e-01 9.42032915e-04 1.31004506e+00] [-5.86438292e-03 8.81351523e-05 9.99982800e-01 -7.20740372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:1.32, Z:-0.72 [[ 9.85111369e-01 -1.71790458e-01 6.60521415e-03 4.36282213e+01] [ 1.71787096e-01 9.85133510e-01 1.07733999e-03 1.31513705e+00] [-6.69209453e-03 7.33906855e-05 9.99977605e-01 -7.20252888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:1.32, Z:-0.72 [[ 9.85393877e-01 -1.70159409e-01 6.68457415e-03 4.36552227e+01] [ 1.70155906e-01 9.85416547e-01 1.09358554e-03 1.31994494e+00] [-6.77317385e-03 5.98072743e-05 9.99977060e-01 -7.20777896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:1.33, Z:-0.72 [[ 9.85650845e-01 -1.68677435e-01 6.35096810e-03 4.36828638e+01] [ 1.68674246e-01 9.85671305e-01 1.03836698e-03 1.32524887e+00] [-6.43511609e-03 4.77774671e-05 9.99979293e-01 -7.21122334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:1.33, Z:-0.72 [[ 9.86187943e-01 -1.65503859e-01 6.46631102e-03 4.37098414e+01] [ 1.65500472e-01 9.86209142e-01 1.05917816e-03 1.33142814e+00] [-6.55243311e-03 2.56287874e-05 9.99978532e-01 -7.22643104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:1.34, Z:-0.72 [[ 9.86429899e-01 -1.64044885e-01 6.73282595e-03 4.37372431e+01] [ 1.64041165e-01 9.86452875e-01 1.10493325e-03 1.33628182e+00] [-6.82287417e-03 1.45214172e-05 9.99976724e-01 -7.23355258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:1.34, Z:-0.72 [[ 9.86860548e-01 -1.61424612e-01 6.95368606e-03 4.37628790e+01] [ 1.61439756e-01 9.86881154e-01 -1.67095733e-03 1.34165291e+00] [-6.59272808e-03 2.77160324e-03 9.99974427e-01 -7.24846418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:1.34, Z:-0.72 [[ 9.86976930e-01 -1.60702817e-01 7.15156417e-03 4.37916936e+01] [ 1.60677992e-01 9.86999081e-01 3.92393579e-03 1.34388465e+00] [-7.68917480e-03 -2.72373513e-03 9.99966728e-01 -7.22849583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:1.35, Z:-0.72 [[ 9.87521249e-01 -1.57338058e-01 6.82039936e-03 4.38197739e+01] [ 1.57334052e-01 9.87544801e-01 1.12339383e-03 1.34871828e+00] [-6.91220253e-03 -3.62942094e-05 9.99976110e-01 -7.24804411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:1.35, Z:-0.73 [[ 9.87727791e-01 -1.56060074e-01 6.25007669e-03 4.38465610e+01] [ 1.56056666e-01 9.87747565e-01 1.03226606e-03 1.35298671e+00] [-6.33459354e-03 -4.42317396e-05 9.99979935e-01 -7.25864920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:1.36, Z:-0.73 [[ 9.87950233e-01 -1.54680078e-01 5.33025107e-03 4.38740412e+01] [ 1.54677585e-01 9.87964611e-01 8.79198002e-04 1.35714726e+00] [-5.40209383e-03 -4.41335075e-05 9.99985408e-01 -7.26778513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:1.36, Z:-0.73 [[ 9.88031828e-01 -1.54190774e-01 4.27935056e-03 4.39009287e+01] [ 1.54189157e-01 9.88041094e-01 7.07230455e-04 1.36097473e+00] [-4.33722262e-03 -3.89367453e-05 9.99990593e-01 -7.27862162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:1.36, Z:-0.73 [[ 9.88042155e-01 -1.54163725e-01 2.49916697e-03 4.39287756e+01] [ 1.54163178e-01 9.88045316e-01 4.11179538e-04 1.36234893e+00] [-2.53267919e-03 -2.09831950e-05 9.99996793e-01 -7.28450207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:1.37, Z:-0.73 [[ 9.87948871e-01 -1.54760417e-01 2.49843883e-03 4.39556906e+01] [ 1.54759866e-01 9.87952030e-01 4.13786529e-04 1.36537060e+00] [-2.53237549e-03 -2.21418762e-05 9.99996793e-01 -7.28562583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:1.37, Z:-0.73 [[ 9.87682429e-01 -1.56431347e-01 3.55705283e-03 4.39837543e+01] [ 1.56430242e-01 9.87688834e-01 5.88569834e-04 1.36714430e+00] [-3.60533214e-03 -2.48894502e-05 9.99993500e-01 -7.28465119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:1.37, Z:-0.73 [[ 9.87442628e-01 -1.57917007e-01 4.39035543e-03 4.40118549e+01] [ 1.57915328e-01 9.87452388e-01 7.28642644e-04 1.37021934e+00] [-4.45033202e-03 -2.61883892e-05 9.99990097e-01 -7.28457026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:1.37, Z:-0.73 [[ 9.87252055e-01 -1.59088644e-01 4.91768786e-03 4.40384540e+01] [ 1.59086534e-01 9.87264302e-01 8.19745919e-04 1.37251680e+00] [-4.98546994e-03 -2.69579250e-05 9.99987572e-01 -7.28233418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:1.37, Z:-0.73 [[ 9.86563661e-01 -1.63267916e-01 5.97752252e-03 4.40662994e+01] [ 1.63264877e-01 9.86581769e-01 9.96182090e-04 1.37353088e+00] [-6.05995932e-03 -6.87757020e-06 9.99981638e-01 -7.27988477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:1.38, Z:-0.73 [[ 9.86150985e-01 -1.65724497e-01 6.45181285e-03 4.40939059e+01] [ 1.65720995e-01 9.86172090e-01 1.07745381e-03 1.37689293e+00] [-6.54115825e-03 6.66870953e-06 9.99978606e-01 -7.28692649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:1.38, Z:-0.73 [[ 9.85679517e-01 -1.68494043e-01 6.75625175e-03 4.41208926e+01] [ 1.68490244e-01 9.85702672e-01 1.13173268e-03 1.38013585e+00] [-6.85034561e-03 2.28367844e-05 9.99976536e-01 -7.29451549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:1.39, Z:-0.73 [[ 9.85268228e-01 -1.70856393e-01 7.38995438e-03 4.41482110e+01] [ 1.70851915e-01 9.85295941e-01 1.23780812e-03 1.38512241e+00] [-7.49277949e-03 4.30148390e-05 9.99971928e-01 -7.29471967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:1.39, Z:-0.73 [[ 9.84951746e-01 -1.72687174e-01 7.01415703e-03 4.41757758e+01] [ 1.72683173e-01 9.84976719e-01 1.17664195e-03 1.38960104e+00] [-7.11197235e-03 5.22913454e-05 9.99974708e-01 -7.29602028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:1.39, Z:-0.73 [[ 9.84748506e-01 -1.73865461e-01 6.41721106e-03 4.42024061e+01] [ 1.73862122e-01 9.84769414e-01 1.07878333e-03 1.39441234e+00] [-6.50703633e-03 5.33796574e-05 9.99978828e-01 -7.29463736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:1.40, Z:-0.73 [[ 9.84054485e-01 -1.77794074e-01 5.10278646e-03 4.42300827e+01] [ 1.77792018e-01 9.84067713e-01 8.57382808e-04 1.39950747e+00] [-5.17392498e-03 6.35233026e-05 9.99986613e-01 -7.29487084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:1.40, Z:-0.73 [[ 9.83498629e-01 -1.80845544e-01 5.03343792e-03 4.42575828e+01] [ 1.80843577e-01 9.83511506e-01 8.47099383e-04 1.40414718e+00] [-5.10363826e-03 7.71438339e-05 9.99986973e-01 -7.29996090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:1.41, Z:-0.73 [[ 9.82926333e-01 -1.83927983e-01 5.13045036e-03 4.42849462e+01] [ 1.83925973e-01 9.82939718e-01 8.65003054e-04 1.40905901e+00] [-5.20202169e-03 9.33887919e-05 9.99986465e-01 -7.30373585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:1.41, Z:-0.73 [[ 9.82432487e-01 -1.86539668e-01 5.41852764e-03 4.43112679e+01] [ 1.86537447e-01 9.82447424e-01 9.16897919e-04 1.41480410e+00] [-5.49445636e-03 1.09968011e-04 9.99984899e-01 -7.30794506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:1.42, Z:-0.73 [[ 9.81220180e-01 -1.92789269e-01 6.26553743e-03 4.43376678e+01] [ 1.92786420e-01 9.81240169e-01 1.06131056e-03 1.42177794e+00] [-6.35260629e-03 1.66531192e-04 9.99979808e-01 -7.32142645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.047628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:44.37, Y:1.43, Z:-0.73 [[ 9.80380910e-01 -1.97033323e-01 5.58044867e-03 4.43652160e+01] [ 1.97031137e-01 9.80396777e-01 9.44323046e-04 1.42741699e+00] [-5.65711700e-03 1.73725858e-04 9.99983983e-01 -7.34769965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628000000004 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:44.39, Y:1.43, Z:-0.74 [[ 9.79575471e-01 -2.00987214e-01 6.00304712e-03 4.43926076e+01] [ 2.00984746e-01 9.79593842e-01 1.01788061e-03 1.43284688e+00] [-6.08512898e-03 2.09430020e-04 9.99981464e-01 -7.35445884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:1.44, Z:-0.73 [[ 9.78379504e-01 -2.06683303e-01 7.45381591e-03 4.44192486e+01] [ 2.06679630e-01 9.78407851e-01 1.26810415e-03 1.43806303e+00] [-7.55496796e-03 2.99864809e-04 9.99971416e-01 -7.31974734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:1.44, Z:-0.73 [[ 9.77957784e-01 -2.08625620e-01 8.59788078e-03 4.44460202e+01] [ 2.08620800e-01 9.77995511e-01 1.46366861e-03 1.44324834e+00] [-8.71404758e-03 3.62290659e-04 9.99961966e-01 -7.31701834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:1.45, Z:-0.73 [[ 9.77696858e-01 -2.09805423e-01 9.51517578e-03 4.44739164e+01] [ 2.09799559e-01 9.77743072e-01 1.62147499e-03 1.44930142e+00] [-9.64359145e-03 4.10968682e-04 9.99953415e-01 -7.31655785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:1.46, Z:-0.73 [[ 9.77915829e-01 -2.08707559e-01 1.10356481e-02 4.45007523e+01] [ 2.08699562e-01 9.77977987e-01 1.88417358e-03 1.45830532e+00] [-1.11858622e-02 4.60571759e-04 9.99937330e-01 -7.32351086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:1.47, Z:-0.74 [[ 9.77697153e-01 -2.09575047e-01 1.36593382e-02 4.45254903e+01] [ 2.09608612e-01 9.77784798e-01 -1.05773705e-03 1.47006426e+00] [-1.31342180e-02 3.89726143e-03 9.99906147e-01 -7.37384688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:1.47, Z:-0.73 [[ 9.78787534e-01 -2.04572514e-01 1.11825777e-02 4.45560504e+01] [ 2.04523311e-01 9.78846845e-01 5.39163348e-03 1.47249852e+00] [-1.20490109e-02 -2.99016582e-03 9.99922937e-01 -7.32964043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:1.48, Z:-0.73 [[ 9.80185718e-01 -1.97738322e-01 1.16410706e-02 4.45818384e+01] [ 1.97728545e-01 9.80254782e-01 1.99636195e-03 1.48262862e+00] [-1.18059724e-02 3.44966478e-04 9.99930248e-01 -7.34792542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:1.49, Z:-0.73 [[ 9.80876934e-01 -1.94308929e-01 1.11570819e-02 4.46096735e+01] [ 1.94299717e-01 9.80940343e-01 1.91414506e-03 1.48911524e+00] [-1.13163672e-02 2.90277123e-04 9.99935926e-01 -7.34652970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:1.50, Z:-0.74 [[ 9.80876690e-01 -1.94008310e-01 1.55465327e-02 4.46324506e+01] [ 1.94135603e-01 9.80948779e-01 -7.13167430e-03 1.50318036e+00] [-1.38667482e-02 1.00134286e-02 9.99853712e-01 -7.44157280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:1.50, Z:-0.73 [[ 9.82722817e-01 -1.84917510e-01 7.83452767e-03 4.46644884e+01] [ 1.84824666e-01 9.82706889e-01 1.12699728e-02 1.50273772e+00] [-9.78305964e-03 -9.62724550e-03 9.99905800e-01 -7.33236030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:1.51, Z:-0.74 [[ 9.83260881e-01 -1.81984122e-01 8.93417460e-03 4.46904806e+01] [ 1.81977659e-01 9.83301463e-01 1.53789504e-03 1.51454375e+00] [-9.06485943e-03 1.13668149e-04 9.99958907e-01 -7.38383128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:1.52, Z:-0.74 [[ 9.83756600e-01 -1.79297831e-01 8.67409901e-03 4.47169467e+01] [ 1.79291605e-01 9.83794837e-01 1.49643487e-03 1.52136911e+00] [-8.80184135e-03 8.30654576e-05 9.99961260e-01 -7.39139496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:1.53, Z:-0.74 [[ 9.84164212e-01 -1.77072801e-01 8.12568232e-03 4.47446785e+01] [ 1.77097853e-01 9.84190152e-01 -2.46897106e-03 1.52918169e+00] [-7.56002890e-03 3.86891385e-03 9.99963938e-01 -7.41584855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:1.53, Z:-0.74 [[ 9.84668545e-01 -1.74284027e-01 7.27555088e-03 4.47728812e+01] [ 1.74250565e-01 9.84688605e-01 5.00919996e-03 1.53266074e+00] [-8.03717558e-03 -3.66463279e-03 9.99960986e-01 -7.38515506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:1.54, Z:-0.74 [[ 9.84626572e-01 -1.74493571e-01 7.90615752e-03 4.48007398e+01] [ 1.74488222e-01 9.84658313e-01 1.36676170e-03 1.53919619e+00] [-8.02335485e-03 3.37814758e-05 9.99967812e-01 -7.40399800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:1.54, Z:-0.74 [[ 9.84717588e-01 -1.73997208e-01 7.49953864e-03 4.48268941e+01] [ 1.73992358e-01 9.84746146e-01 1.29934230e-03 1.54470357e+00] [-7.61122370e-03 2.53771921e-05 9.99971034e-01 -7.41184114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:1.55, Z:-0.74 [[ 9.84798942e-01 -1.73568824e-01 6.70134941e-03 4.48543228e+01] [ 1.73564945e-01 9.84821742e-01 1.16051448e-03 1.55054309e+00] [-6.80106373e-03 2.02459139e-05 9.99976872e-01 -7.41828252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:1.56, Z:-0.74 [[ 9.84831137e-01 -1.73384679e-01 6.73686328e-03 4.48821356e+01] [ 1.73380742e-01 9.84854178e-01 1.16853060e-03 1.55648131e+00] [-6.83743325e-03 1.72370324e-05 9.99976624e-01 -7.42677975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:1.56, Z:-0.74 [[ 9.85081699e-01 -1.71892550e-01 8.18523025e-03 4.49089690e+01] [ 1.71886651e-01 9.85115705e-01 1.42399550e-03 1.56171542e+00] [-8.30817308e-03 4.17991183e-06 9.99965487e-01 -7.42533048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:1.57, Z:-0.74 [[ 9.84740300e-01 -1.73743585e-01 9.98540438e-03 4.49335789e+01] [ 1.73745425e-01 9.84790359e-01 6.89554388e-04 1.56871981e+00] [-9.95333562e-03 1.05588634e-03 9.99949907e-01 -7.43949217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:1.57, Z:-0.74 [[ 9.85301915e-01 -1.70502602e-01 1.04402284e-02 4.49651949e+01] [ 1.70480708e-01 9.85356572e-01 2.95885819e-03 1.56932648e+00] [-1.07918407e-02 -1.13551111e-03 9.99941122e-01 -7.40689093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:1.57, Z:-0.74 [[ 9.85228193e-01 -1.70889154e-01 1.10591602e-02 4.49924795e+01] [ 1.70878285e-01 9.85290260e-01 1.92738793e-03 1.57423198e+00] [-1.12258525e-02 -9.14659653e-06 9.99936988e-01 -7.41200032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:1.58, Z:-0.74 [[ 9.85091662e-01 -1.71672576e-01 1.10879959e-02 4.50199387e+01] [ 1.71661663e-01 9.85154062e-01 1.93566484e-03 1.57872798e+00] [-1.12556848e-02 -3.42348515e-06 9.99936653e-01 -7.41993909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:1.58, Z:-0.74 [[ 9.84988230e-01 -1.72278555e-01 1.08759791e-02 4.50466838e+01] [ 1.72268051e-01 9.85048273e-01 1.90233085e-03 1.58244770e+00] [-1.10410952e-02 -1.89768524e-07 9.99939045e-01 -7.42081222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:1.58, Z:-0.74 [[ 9.84592752e-01 -1.74561723e-01 1.02624313e-02 4.50743931e+01] [ 1.74552490e-01 9.84646233e-01 1.79550828e-03 1.58444405e+00] [-1.04182914e-02 2.34885047e-05 9.99945728e-01 -7.42719319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:1.59, Z:-0.74 [[ 9.84373512e-01 -1.75843444e-01 9.37398744e-03 4.51009241e+01] [ 1.75835772e-01 9.84418144e-01 1.64293370e-03 1.58757983e+00] [-9.51682244e-03 3.10218956e-05 9.99954714e-01 -7.43502555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:1.59, Z:-0.74 [[ 9.84135215e-01 -1.77230309e-01 8.20342312e-03 4.51279569e+01] [ 1.77224467e-01 9.84169404e-01 1.43952046e-03 1.59086098e+00] [-8.32868470e-03 3.71645159e-05 9.99965315e-01 -7.43949014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:1.59, Z:-0.74 [[ 9.83840458e-01 -1.78903911e-01 7.16550663e-03 4.51557514e+01] [ 1.78899501e-01 9.83866550e-01 1.25691071e-03 1.59414428e+00] [-7.27476853e-03 4.53059515e-05 9.99973537e-01 -7.44537318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:1.60, Z:-0.75 [[ 9.83051106e-01 -1.83247217e-01 5.56610082e-03 4.51838333e+01] [ 1.83244622e-01 9.83066861e-01 9.76906346e-04 1.59502536e+00] [-5.65086463e-03 5.96091787e-05 9.99984032e-01 -7.45124054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:1.60, Z:-0.75 [[ 9.82553951e-01 -1.85912665e-01 4.92084223e-03 4.52118363e+01] [ 1.85910666e-01 9.82566271e-01 8.64612021e-04 1.59795590e+00] [-4.99579593e-03 6.53090993e-05 9.99987519e-01 -7.45212040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:1.60, Z:-0.75 [[ 9.81572481e-01 -1.91029355e-01 4.82191436e-03 4.52393977e+01] [ 1.91027483e-01 9.81584320e-01 8.50180045e-04 1.59848265e+00] [-4.89552488e-03 8.66048274e-05 9.99988013e-01 -7.45186805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:1.60, Z:-0.75 [[ 9.81047953e-01 -1.93702701e-01 4.91696845e-03 4.52677725e+01] [ 1.93700793e-01 9.81060270e-01 8.66047730e-04 1.60107975e+00] [-4.99159818e-03 1.02786332e-04 9.99987537e-01 -7.45184894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.067628000000006 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:45.29, Y:1.60, Z:-0.75 [[ 9.80422803e-01 -1.96843747e-01 4.86491749e-03 4.52947571e+01] [ 1.96841905e-01 9.80434866e-01 8.59154942e-04 1.60341412e+00] [-4.93885401e-03 1.15284533e-04 9.99987797e-01 -7.47720264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:1.60, Z:-0.74 [[ 9.79719787e-01 -2.00236666e-01 7.37678203e-03 4.53226495e+01] [ 2.00232503e-01 9.79747538e-01 1.30620103e-03 1.60376236e+00] [-7.48893338e-03 1.97360532e-04 9.99971938e-01 -7.43971331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:1.61, Z:-0.74 [[ 9.79275717e-01 -2.02356645e-01 8.41778898e-03 4.53502500e+01] [ 2.02351299e-01 9.79311865e-01 1.49087927e-03 1.60677262e+00] [-8.54532996e-03 2.43368674e-04 9.99963458e-01 -7.43891627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:1.61, Z:-0.74 [[ 9.78846608e-01 -2.04371435e-01 9.57258675e-03 4.53782979e+01] [ 2.04364586e-01 9.78893370e-01 1.69869482e-03 1.60996263e+00] [-9.71770641e-03 2.93536064e-04 9.99952739e-01 -7.44050663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:1.61, Z:-0.74 [[ 9.78018581e-01 -2.08228598e-01 1.09774795e-02 4.54060556e+01] [ 2.08219793e-01 9.78080114e-01 1.95168532e-03 1.61290070e+00] [-1.11432511e-02 3.76943997e-04 9.99937841e-01 -7.44605913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:1.62, Z:-0.75 [[ 9.77664954e-01 -2.09880893e-01 1.10112699e-02 4.54336548e+01] [ 2.09872103e-01 9.77726882e-01 1.96086308e-03 1.61731812e+00] [-1.11775623e-02 3.93891264e-04 9.99937452e-01 -7.45574408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:1.62, Z:-0.75 [[ 9.77383407e-01 -2.11211069e-01 1.05621745e-02 4.54610891e+01] [ 2.11203028e-01 9.77440398e-01 1.88380531e-03 1.62159167e+00] [-1.07217766e-02 3.89563181e-04 9.99942444e-01 -7.45991259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:1.63, Z:-0.75 [[ 9.77174288e-01 -2.12172353e-01 1.06444295e-02 4.54885540e+01] [ 2.12164208e-01 9.77232179e-01 1.90164189e-03 1.62560409e+00] [-1.08055549e-02 4.00131388e-04 9.99941538e-01 -7.46338740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:1.63, Z:-0.75 [[ 9.76878635e-01 -2.13522188e-01 1.07892226e-02 4.55158031e+01] [ 2.13513861e-01 9.76938126e-01 1.93131321e-03 1.62959804e+00] [-1.09527811e-02 4.16989953e-04 9.99939930e-01 -7.45442885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:1.64, Z:-0.75 [[ 9.76745812e-01 -2.14127082e-01 1.08264580e-02 4.55425350e+01] [ 2.14118722e-01 9.76805719e-01 1.93910126e-03 1.63546746e+00] [-1.09905602e-02 4.24138326e-04 9.99939512e-01 -7.45888088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:1.64, Z:-0.75 [[ 9.76723545e-01 -2.14215268e-01 1.10876194e-02 4.55695886e+01] [ 2.14206483e-01 9.76786379e-01 1.98782796e-03 1.64158485e+00] [-1.12560587e-02 4.33481588e-04 9.99936555e-01 -7.46785508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:1.65, Z:-0.75 [[ 9.76790885e-01 -2.13918188e-01 1.08892432e-02 4.55965529e+01] [ 2.13909663e-01 9.76851490e-01 1.95527194e-03 1.64802838e+00] [-1.10554417e-02 4.19422527e-04 9.99938799e-01 -7.47358307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:1.65, Z:-0.75 [[ 9.77428413e-01 -2.11024274e-01 1.01218710e-02 4.56241956e+01] [ 2.11016727e-01 9.77480756e-01 1.82006955e-03 1.65491038e+00] [-1.02780130e-02 3.56896404e-04 9.99947116e-01 -7.48020669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:1.66, Z:-0.75 [[ 9.77796622e-01 -2.09339585e-01 9.52391308e-03 4.56512286e+01] [ 2.09332800e-01 9.77842952e-01 1.71495569e-03 1.66108322e+00] [-9.67189939e-03 3.16789504e-04 9.99953176e-01 -7.48463079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:1.67, Z:-0.75 [[ 9.78819500e-01 -2.04528679e-01 8.96698300e-03 4.56781488e+01] [ 2.04522441e-01 9.78860540e-01 1.61700855e-03 1.66897139e+00] [-9.10815044e-03 2.51189751e-04 9.99958488e-01 -7.49279930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:1.68, Z:-0.75 [[ 9.79310920e-01 -2.02172052e-01 8.75113972e-03 4.57042123e+01] [ 2.02165987e-01 9.79349995e-01 1.58149724e-03 1.67600303e+00] [-8.89016318e-03 2.20405280e-04 9.99960457e-01 -7.50091303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:1.68, Z:-0.75 [[ 9.79813022e-01 -1.99732948e-01 8.55517974e-03 4.57312681e+01] [ 1.99727057e-01 9.79850352e-01 1.54618168e-03 1.68337549e+00] [-8.69161930e-03 1.93731928e-04 9.99962208e-01 -7.51436588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:1.69, Z:-0.75 [[ 9.80841708e-01 -1.94640586e-01 8.03652386e-03 4.57572095e+01] [ 1.94635196e-01 9.80874622e-01 1.45510540e-03 1.69167337e+00] [-8.16604487e-03 1.36962328e-04 9.99966648e-01 -7.52916671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:1.70, Z:-0.75 [[ 9.81228093e-01 -1.92692230e-01 7.81883759e-03 4.57844338e+01] [ 1.92687059e-01 9.81259237e-01 1.41652247e-03 1.69723235e+00] [-7.94525948e-03 1.16657180e-04 9.99968429e-01 -7.52999869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:1.70, Z:-0.75 [[ 9.82097877e-01 -1.88228885e-01 7.32438206e-03 4.58122590e+01] [ 1.88224209e-01 9.82125186e-01 1.32882339e-03 1.70300228e+00] [-7.44358304e-03 7.35913854e-05 9.99972293e-01 -7.52128765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:1.71, Z:-0.75 [[ 9.82494729e-01 -1.86149848e-01 7.23471106e-03 4.58397468e+01] [ 1.86145214e-01 9.82521364e-01 1.31462117e-03 1.70905307e+00] [-7.35297471e-03 5.50984708e-05 9.99972965e-01 -7.52738558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:1.72, Z:-0.75 [[ 9.82868376e-01 -1.84171627e-01 7.11101577e-03 4.58675598e+01] [ 1.84167084e-01 9.82894099e-01 1.29412844e-03 1.71555829e+00] [-7.22771718e-03 3.76571217e-05 9.99973879e-01 -7.53756184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:1.72, Z:-0.75 [[ 9.83214494e-01 -1.82314702e-01 7.11390722e-03 4.58945808e+01] [ 1.82310092e-01 9.83240230e-01 1.29672346e-03 1.72168661e+00] [-7.23109152e-03 2.19797800e-05 9.99973855e-01 -7.54921671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:1.73, Z:-0.76 [[ 9.83977145e-01 -1.78145159e-01 7.29935530e-03 4.59217576e+01] [ 1.78140174e-01 9.84004219e-01 1.33272754e-03 1.72721128e+00] [-7.42001536e-03 -1.10650149e-05 9.99972471e-01 -7.55730024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:1.73, Z:-0.76 [[ 9.84227279e-01 -1.76731279e-01 7.91952008e-03 4.59487613e+01] [ 1.76725340e-01 9.84259140e-01 1.44918327e-03 1.73210846e+00] [-8.05097604e-03 -2.67458267e-05 9.99967590e-01 -7.56017802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:1.74, Z:-0.76 [[ 9.84426961e-01 -1.75594990e-01 8.36407405e-03 4.59761542e+01] [ 1.75588313e-01 9.84462492e-01 1.53179580e-03 1.73638255e+00] [-8.50309285e-03 -3.93074318e-05 9.99963847e-01 -7.55972012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:1.74, Z:-0.76 [[ 9.84576605e-01 -1.74727183e-01 8.90619568e-03 4.60034535e+01] [ 1.74719552e-01 9.84616884e-01 1.63385420e-03 1.74070351e+00] [-9.05466938e-03 -5.25681056e-05 9.99959004e-01 -7.55802058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:1.74, Z:-0.76 [[ 9.84645522e-01 -1.74269897e-01 1.01586450e-02 4.60311457e+01] [ 1.74259909e-01 9.84697922e-01 1.86704876e-03 1.74472126e+00] [-1.03285670e-02 -6.81366503e-05 9.99946657e-01 -7.56210246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:1.75, Z:-0.76 [[ 9.84642992e-01 -1.74255982e-01 1.06316400e-02 4.60583743e+01] [ 1.74245002e-01 9.84700384e-01 1.95761164e-03 1.74902666e+00] [-1.08101056e-02 -7.50384384e-05 9.99941566e-01 -7.56265368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:1.76, Z:-0.76 [[ 9.84664762e-01 -1.74186362e-01 9.71693348e-03 4.60855083e+01] [ 1.74284080e-01 9.84641306e-01 -1.03227118e-02 1.75860598e+00] [-7.76961846e-03 1.18579173e-02 9.99899506e-01 -7.61589159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:1.75, Z:-0.75 [[ 9.84636907e-01 -1.74439411e-01 7.81361411e-03 4.61156081e+01] [ 1.74328249e-01 9.84599484e-01 1.31725987e-02 1.75200404e+00] [-9.99110077e-03 -1.16080932e-02 9.99882708e-01 -7.52448642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:1.76, Z:-0.76 [[ 9.84623033e-01 -1.74475369e-01 8.70797605e-03 4.61421248e+01] [ 1.74467975e-01 9.84661537e-01 1.60748165e-03 1.76076538e+00] [-8.85487503e-03 -6.35005134e-05 9.99960793e-01 -7.57546670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:1.76, Z:-0.76 [[ 9.84536191e-01 -1.74997901e-01 8.01390153e-03 4.61694975e+01] [ 1.74991639e-01 9.84568805e-01 1.48137731e-03 1.76488154e+00] [-8.14947537e-03 -5.61038045e-05 9.99966791e-01 -7.58249439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:1.77, Z:-0.76 [[ 9.84470165e-01 -1.75407041e-01 7.13185893e-03 4.61970532e+01] [ 1.75402081e-01 9.84495997e-01 1.31996782e-03 1.76939369e+00] [-7.25281822e-03 -4.85260364e-05 9.99973697e-01 -7.58620561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:1.77, Z:-0.76 [[ 9.84199482e-01 -1.76971739e-01 5.69063655e-03 4.62239536e+01] [ 1.76968595e-01 9.84215933e-01 1.05543616e-03 1.77372872e+00] [-5.78759753e-03 -3.16957704e-05 9.99983251e-01 -7.59802372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:1.78, Z:-0.76 [[ 9.83911696e-01 -1.78587240e-01 4.93689134e-03 4.62519096e+01] [ 1.78584899e-01 9.83924081e-01 9.14533217e-04 1.77728793e+00] [-5.02085024e-03 -1.81656878e-05 9.99987395e-01 -7.60087758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:1.78, Z:-0.76 [[ 9.83511912e-01 -1.80796762e-01 4.10484828e-03 4.62801551e+01] [ 1.80795161e-01 9.83520478e-01 7.60890763e-04 1.78011785e+00] [-4.17476893e-03 -6.20842276e-06 9.99991286e-01 -7.59589682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:1.78, Z:-0.76 [[ 9.82414464e-01 -1.86663911e-01 4.29023670e-03 4.63084526e+01] [ 1.86662212e-01 9.82423831e-01 7.96697589e-04 1.78142169e+00] [-4.36354546e-03 1.81378347e-05 9.99990480e-01 -7.58573109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:1.78, Z:-0.76 [[ 9.81718752e-01 -1.90267676e-01 5.14813535e-03 4.63350188e+01] [ 1.90265259e-01 9.81732250e-01 9.59817550e-04 1.78471089e+00] [-5.23671275e-03 3.72404189e-05 9.99986288e-01 -7.58896532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:1.79, Z:-0.76 [[ 9.80848452e-01 -1.94673302e-01 6.21452787e-03 4.63629139e+01] [ 1.94669869e-01 9.80868136e-01 1.15850682e-03 1.78839991e+00] [-6.32116272e-03 7.34617002e-05 9.99980019e-01 -7.59348950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:1.79, Z:-0.76 [[ 9.79893879e-01 -1.99410958e-01 6.57690691e-03 4.63904439e+01] [ 1.99407205e-01 9.79915944e-01 1.22823499e-03 1.79170285e+00] [-6.68973946e-03 1.07942673e-04 9.99977618e-01 -7.59598938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:1.79, Z:-0.76 [[ 9.77752107e-01 -2.09604332e-01 8.17559542e-03 4.64182678e+01] [ 2.09598860e-01 9.77786263e-01 1.53016300e-03 1.79333539e+00] [-8.31471369e-03 2.17475387e-04 9.99965409e-01 -7.59986752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:1.80, Z:-0.76 [[ 9.76605446e-01 -2.14852314e-01 8.96028835e-03 4.64451165e+01] [ 2.14845929e-01 9.76646508e-01 1.68051297e-03 1.79669215e+00] [-9.11209643e-03 2.83883355e-04 9.99958444e-01 -7.59771930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:1.80, Z:-0.76 [[ 9.74463076e-01 -2.24330899e-01 9.86719614e-03 4.64722829e+01] [ 2.24323615e-01 9.74512946e-01 1.85314249e-03 1.79827987e+00] [-1.00314275e-02 4.07626179e-04 9.99949601e-01 -7.58871683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:1.80, Z:-0.76 [[ 9.73492532e-01 -2.28484588e-01 1.03481042e-02 4.65005729e+01] [ 2.28476803e-01 9.73547416e-01 1.94424511e-03 1.80218588e+00] [-1.05186001e-02 4.71593657e-04 9.99944567e-01 -7.58429221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:1.81, Z:-0.76 [[ 9.73433510e-01 -2.28735940e-01 1.03475556e-02 4.65286619e+01] [ 2.28728138e-01 9.73488391e-01 1.94715934e-03 1.80754730e+00] [-1.05186106e-02 4.71346975e-04 9.99944567e-01 -7.58834353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:1.81, Z:-0.76 [[ 9.72697201e-01 -2.31812382e-01 1.10984119e-02 4.65559656e+01] [ 2.31803570e-01 9.72760366e-01 2.09163770e-03 1.81192640e+00] [-1.12809627e-02 5.38121355e-04 9.99936223e-01 -7.58826719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:1.82, Z:-0.76 [[ 9.71881263e-01 -2.35183609e-01 1.16396376e-02 4.65820070e+01] [ 2.35174111e-01 9.71950775e-01 2.19753910e-03 1.81811342e+00] [-1.18299799e-02 6.01594343e-04 9.99929842e-01 -7.58900427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:1.82, Z:-0.76 [[ 9.71722427e-01 -2.35839599e-01 1.16279118e-02 4.66096266e+01] [ 2.35830155e-01 9.71791806e-01 2.19639632e-03 1.82478218e+00] [-1.18179066e-02 6.07924671e-04 9.99929981e-01 -7.59737731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:1.83, Z:-0.76 [[ 9.71773480e-01 -2.35621364e-01 1.17845497e-02 4.66367860e+01] [ 2.35611608e-01 9.71844741e-01 2.22934308e-03 1.83120398e+00] [-1.19780335e-02 6.10160214e-04 9.99928075e-01 -7.60182924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:1.84, Z:-0.76 [[ 9.72266213e-01 -2.33597423e-01 1.14304762e-02 4.66631211e+01] [ 2.33588064e-01 9.72333238e-01 2.16583372e-03 1.83907683e+00] [-1.16201651e-02 5.64255852e-04 9.99932324e-01 -7.59664806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:1.85, Z:-0.76 [[ 9.72652964e-01 -2.31998537e-01 1.10856233e-02 4.66903970e+01] [ 2.31989621e-01 9.72715992e-01 2.10133753e-03 1.84601673e+00] [-1.12706703e-02 5.27877370e-04 9.99936345e-01 -7.59999978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:1.85, Z:-0.76 [[ 9.73022689e-01 -2.30467092e-01 1.05719684e-02 4.67168127e+01] [ 2.30458857e-01 9.73080000e-01 2.00721932e-03 1.85353869e+00] [-1.07499690e-02 4.83333809e-04 9.99942101e-01 -7.60082302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:1.86, Z:-0.76 [[ 9.73415870e-01 -2.28831048e-01 9.89424526e-03 4.67440578e+01] [ 2.28823747e-01 9.73466056e-01 1.87899531e-03 1.86146576e+00] [-1.00616844e-02 4.34994425e-04 9.99949285e-01 -7.60579614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:1.87, Z:-0.76 [[ 9.74550923e-01 -2.23980205e-01 9.13051226e-03 4.67694955e+01] [ 2.23973747e-01 9.74593630e-01 1.73687620e-03 1.87209219e+00] [-9.28756498e-03 3.52320739e-04 9.99956808e-01 -7.61502729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:1.88, Z:-0.76 [[ 9.75150405e-01 -2.21366685e-01 8.85883951e-03 4.67961730e+01] [ 2.21360498e-01 9.75190592e-01 1.68527837e-03 1.88058221e+00] [-9.01212143e-03 3.17597235e-04 9.99959340e-01 -7.62249709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:1.89, Z:-0.76 [[ 9.75808998e-01 -2.18451115e-01 8.71257604e-03 4.68223185e+01] [ 2.18444984e-01 9.75847852e-01 1.66083710e-03 1.88912688e+00] [-8.86496033e-03 2.82558750e-04 9.99960666e-01 -7.62892900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:1.90, Z:-0.76 [[ 9.76397631e-01 -2.15822843e-01 8.25627412e-03 4.68495765e+01] [ 2.15817244e-01 9.76432507e-01 1.57385189e-03 1.89769940e+00] [-8.40136762e-03 2.45141072e-04 9.99964678e-01 -7.63710107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:1.91, Z:-0.76 [[ 9.77491444e-01 -2.10858676e-01 7.00687555e-03 4.68758119e+01] [ 2.10854506e-01 9.77516542e-01 1.33714781e-03 1.90819286e+00] [-7.13128598e-03 1.70380736e-04 9.99974558e-01 -7.64448494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:1.92, Z:-0.76 [[ 9.77894833e-01 -2.08991012e-01 6.66728179e-03 4.69033086e+01] [ 2.08987181e-01 9.77917550e-01 1.27411533e-03 1.91574685e+00] [-6.78633053e-03 1.47425623e-04 9.99976962e-01 -7.64791174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:1.92, Z:-0.76 [[ 9.78843901e-01 -2.04531368e-01 5.61585321e-03 4.69302842e+01] [ 2.04528570e-01 9.78860005e-01 1.07420833e-03 1.92391671e+00] [-5.71684341e-03 9.71201574e-05 9.99983654e-01 -7.64253083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:1.93, Z:-0.76 [[ 9.79303819e-01 -2.02322402e-01 5.44762482e-03 4.69572571e+01] [ 2.02319727e-01 9.79318967e-01 1.04352012e-03 1.93074966e+00] [-5.54608981e-03 8.02387295e-05 9.99984617e-01 -7.64408938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:1.94, Z:-0.76 [[ 9.79919058e-01 -1.99331707e-01 5.05086305e-03 4.69829503e+01] [ 1.99329354e-01 9.79932073e-01 9.70173397e-04 1.93783740e+00] [-5.14288902e-03 5.60938680e-05 9.99986774e-01 -7.64719472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:1.95, Z:-0.77 [[ 9.81218046e-01 -1.92833666e-01 5.13070853e-03 4.70093164e+01] [ 1.92831153e-01 9.81231459e-01 9.84705163e-04 1.94772722e+00] [-5.22429693e-03 2.31499686e-05 9.99986353e-01 -7.65687448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:1.95, Z:-0.77 [[ 9.81863919e-01 -1.89509979e-01 5.40491856e-03 4.70355139e+01] [ 1.89507122e-01 9.81878795e-01 1.04057800e-03 1.95462158e+00] [-5.50417484e-03 2.56456366e-06 9.99984852e-01 -7.66222175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:1.96, Z:-0.77 [[ 9.82404292e-01 -1.86678884e-01 5.72719859e-03 4.70628523e+01] [ 1.86675631e-01 9.82420986e-01 1.10208697e-03 1.96155604e+00] [-5.83225646e-03 -1.35665596e-05 9.99982992e-01 -7.66939407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:1.97, Z:-0.77 [[ 9.83399837e-01 -1.81357445e-01 5.85132620e-03 4.70890588e+01] [ 1.81353937e-01 9.83417243e-01 1.12914370e-03 1.96822490e+00] [-5.95907370e-03 -4.92386861e-05 9.99982243e-01 -7.66777878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:1.97, Z:-0.77 [[ 9.83733677e-01 -1.79526186e-01 6.19688466e-03 4.71163675e+01] [ 1.79522217e-01 9.83753193e-01 1.19542708e-03 1.97376268e+00] [-6.31081553e-03 -6.35034017e-05 9.99980085e-01 -7.66921366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:1.98, Z:-0.77 [[ 9.84001532e-01 -1.78043197e-01 6.45024342e-03 4.71432776e+01] [ 1.78038847e-01 9.84022669e-01 1.24708143e-03 1.97912049e+00] [-6.56922012e-03 -7.87361416e-05 9.99978419e-01 -7.66929245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13762800000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:47.17, Y:1.99, Z:-0.77 [[ 9.84228155e-01 -1.76810108e-01 5.75545887e-03 4.71708056e+01] [ 1.76806623e-01 9.84244980e-01 1.11281039e-03 1.98533934e+00] [-5.86153763e-03 -7.76560687e-05 9.99982818e-01 -7.69426506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:1.99, Z:-0.77 [[ 9.84418820e-01 -1.75727135e-01 6.28976724e-03 4.71971525e+01] [ 1.75722928e-01 9.84438909e-01 1.21966519e-03 1.99060663e+00] [-6.40621986e-03 -9.54050492e-05 9.99979475e-01 -7.68212207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:2.00, Z:-0.77 [[ 9.84404792e-01 -1.75828782e-01 5.60761347e-03 4.72234908e+01] [ 1.75825437e-01 9.84420760e-01 1.08792223e-03 1.99579611e+00] [-5.71153915e-03 -8.49947704e-05 9.99983685e-01 -7.69115720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:2.00, Z:-0.77 [[ 9.84303844e-01 -1.76403389e-01 5.27133509e-03 4.72509818e+01] [ 1.76400445e-01 9.84317956e-01 1.02181005e-03 2.00053512e+00] [-5.36892054e-03 -7.59057054e-05 9.99985584e-01 -7.69705255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:2.00, Z:-0.77 [[ 9.83881365e-01 -1.78794294e-01 3.17169543e-03 4.72780751e+01] [ 1.78793237e-01 9.83886477e-01 6.15901568e-04 2.00392522e+00] [-3.23070793e-03 -3.88963821e-05 9.99994780e-01 -7.70356152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:2.01, Z:-0.77 [[ 9.83530409e-01 -1.80733539e-01 1.82272100e-03 4.73054212e+01] [ 1.80733198e-01 9.83532098e-01 3.51436369e-04 2.00792395e+00] [-1.85622095e-03 -1.62221594e-05 9.99998277e-01 -7.71381712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:2.01, Z:-0.77 [[ 9.83109948e-01 -1.83015881e-01 1.28387837e-04 4.73335866e+01] [ 1.83015880e-01 9.83109957e-01 2.09708811e-05 2.01191363e+00] [-1.30057365e-04 2.88033106e-06 9.99999992e-01 -7.72128498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:2.01, Z:-0.77 [[ 9.82101867e-01 -1.88331980e-01 -2.64354523e-03 4.73603805e+01] [ 1.88331264e-01 9.82105425e-01 -5.19683058e-04 2.01359351e+00] [ 2.69411305e-03 1.25194877e-05 9.99996371e-01 -7.72926845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:2.02, Z:-0.77 [[ 9.81457758e-01 -1.91653655e-01 -3.08950651e-03 4.73878264e+01] [ 1.91652696e-01 9.81462621e-01 -6.06247213e-04 2.01652604e+00] [ 3.14842466e-03 2.89377713e-06 9.99995044e-01 -7.73271711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:2.02, Z:-0.77 [[ 9.80676542e-01 -1.95610984e-01 -3.14055924e-03 4.74162554e+01] [ 1.95610003e-01 9.80681571e-01 -6.19491540e-04 2.01912686e+00] [ 3.20106792e-03 -6.80398052e-06 9.99994877e-01 -7.73213924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:2.02, Z:-0.77 [[ 9.79828387e-01 -1.99818426e-01 -2.98825068e-03 4.74448560e+01] [ 1.99817554e-01 9.79832943e-01 -5.90516098e-04 2.02142399e+00] [ 3.04598246e-03 -1.85005059e-05 9.99995361e-01 -7.72683186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467628000000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:47.47, Y:2.02, Z:-0.77 [[ 9.77817044e-01 -2.09451077e-01 -2.01846356e-03 4.74730596e+01] [ 2.09450701e-01 9.77819127e-01 -3.98139493e-04 2.02067689e+00] [ 2.05708302e-03 -3.34610252e-05 9.99997884e-01 -7.73056000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:2.02, Z:-0.77 [[ 9.76831196e-01 -2.14011206e-01 -1.32514085e-04 4.75013638e+01] [ 2.14011204e-01 9.76831205e-01 -3.00802469e-05 2.02288298e+00] [ 1.35881403e-04 1.02382482e-06 9.99999991e-01 -7.71463534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.53, Y:2.03, Z:-0.77 [[ 9.75619125e-01 -2.19468363e-01 9.80540017e-04 4.75299898e+01] [ 2.19468284e-01 9.75619617e-01 1.89073631e-04 2.02545523e+00] [-9.98129756e-04 3.07335848e-05 9.99999501e-01 -7.72111899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:2.02, Z:-0.77 [[ 9.73483661e-01 -2.28726941e-01 3.68068861e-03 4.75582638e+01] [ 2.28725838e-01 9.73490610e-01 7.23615964e-04 2.02399565e+00] [-3.74862626e-03 1.37440266e-04 9.99992964e-01 -7.69607765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:47.59, Y:2.03, Z:-0.77 [[ 9.72286477e-01 -2.33755334e-01 4.17731877e-03 4.75865096e+01] [ 2.33753963e-01 9.72295434e-01 8.20336235e-04 2.02680342e+00] [-4.25334594e-03 1.78862991e-04 9.99990938e-01 -7.71650883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:47.61, Y:2.03, Z:-0.77 [[ 9.71348289e-01 -2.37604650e-01 5.15085876e-03 4.76147726e+01] [ 2.37602607e-01 9.71361917e-01 1.01401641e-03 2.02978147e+00] [-5.24428306e-03 2.38894362e-04 9.99986220e-01 -7.71684924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:2.03, Z:-0.77 [[ 9.70239180e-01 -2.42036720e-01 7.35935158e-03 4.76423381e+01] [ 2.42032637e-01 9.70267019e-01 1.45385277e-03 2.03067658e+00] [-7.49242188e-03 3.70618347e-04 9.99971863e-01 -7.69554362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:2.03, Z:-0.77 [[ 9.69950198e-01 -2.43189400e-01 7.45172646e-03 4.76704049e+01] [ 2.43185249e-01 9.69978746e-01 1.47199971e-03 2.03458661e+00] [-7.58599101e-03 3.84383547e-04 9.99971152e-01 -7.69587259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:2.04, Z:-0.77 [[ 9.69935405e-01 -2.43261734e-01 7.00279175e-03 4.76973577e+01] [ 2.43258049e-01 9.69960618e-01 1.38629384e-03 2.03912394e+00] [-7.12966445e-03 3.58869986e-04 9.99974519e-01 -7.70319673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:2.04, Z:-0.77 [[ 9.70151542e-01 -2.42415415e-01 6.38369620e-03 4.77251379e+01] [ 2.42412338e-01 9.70172491e-01 1.26316963e-03 2.04416104e+00] [-6.49949824e-03 3.22020758e-04 9.99978826e-01 -7.70879745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:2.05, Z:-0.77 [[ 9.71331407e-01 -2.37667700e-01 5.41863314e-03 4.77522907e+01] [ 2.37665404e-01 9.71346490e-01 1.07312068e-03 2.05011408e+00] [-5.51841641e-03 2.45465816e-04 9.99984743e-01 -7.72358901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:2.06, Z:-0.77 [[ 9.72058154e-01 -2.34686104e-01 5.03755907e-03 4.77784958e+01] [ 2.34684066e-01 9.72071185e-01 1.00033135e-03 2.05584667e+00] [-5.13162988e-03 2.09854602e-04 9.99986811e-01 -7.73775337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:2.06, Z:-0.77 [[ 9.72724199e-01 -2.31921671e-01 4.46891647e-03 4.78057479e+01] [ 2.31920044e-01 9.72734449e-01 8.86192643e-04 2.06146496e+00] [-4.55259628e-03 1.74410276e-04 9.99989622e-01 -7.74660198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:2.07, Z:-0.77 [[ 9.73841718e-01 -2.27194655e-01 3.85965261e-03 4.78317856e+01] [ 2.27193395e-01 9.73849358e-01 7.67639316e-04 2.06706528e+00] [-3.93312377e-03 1.29328390e-04 9.99992257e-01 -7.74705134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:2.07, Z:-0.77 [[ 9.74287454e-01 -2.25272087e-01 4.05503057e-03 4.78590836e+01] [ 2.25270683e-01 9.74295884e-01 8.05469555e-04 2.07325021e+00] [-4.13224940e-03 1.28720625e-04 9.99991454e-01 -7.74766452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:2.08, Z:-0.78 [[ 9.74766072e-01 -2.23192609e-01 4.02043196e-03 4.78869200e+01] [ 2.23191207e-01 9.74774356e-01 7.99768102e-04 2.07970920e+00] [-4.09751630e-03 1.17738249e-04 9.99991598e-01 -7.75152595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:2.09, Z:-0.78 [[ 9.75863882e-01 -2.18313986e-01 5.35598246e-03 4.79143747e+01] [ 2.18311409e-01 9.75878572e-01 1.06834492e-03 2.08750707e+00] [-5.46002315e-03 1.26712860e-04 9.99985086e-01 -7.75289861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:2.09, Z:-0.78 [[ 9.76352723e-01 -2.16086413e-01 6.48246399e-03 4.79412587e+01] [ 2.16082570e-01 9.76374233e-01 1.29578901e-03 2.09448191e+00] [-6.60931321e-03 1.35600357e-04 9.99978149e-01 -7.75844239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:2.10, Z:-0.78 [[ 9.77240784e-01 -2.11963419e-01 8.48286473e-03 4.79684962e+01] [ 2.11956652e-01 9.77277591e-01 1.69934215e-03 2.10284275e+00] [-8.65031198e-03 1.37333151e-04 9.99962576e-01 -7.76509079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:2.11, Z:-0.78 [[ 9.77534298e-01 -2.10577754e-01 9.14912159e-03 4.79957916e+01] [ 2.10569793e-01 9.77577103e-01 1.83583413e-03 2.10942950e+00] [-9.33055760e-03 1.31937806e-04 9.99956461e-01 -7.76943673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:2.12, Z:-0.78 [[ 9.77738601e-01 -2.09607325e-01 9.59151801e-03 4.80215504e+01] [ 2.09598492e-01 9.77785638e-01 1.92835052e-03 2.11605944e+00] [-9.78264495e-03 1.24944976e-04 9.99952141e-01 -7.77241205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:2.12, Z:-0.78 [[ 9.77863591e-01 -2.08974251e-01 1.06094552e-02 4.80490207e+01] [ 2.08963396e-01 9.77921134e-01 2.13397640e-03 2.12277559e+00] [-1.08211565e-02 1.30249952e-04 9.99941441e-01 -7.77952231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:2.13, Z:-0.78 [[ 9.77993940e-01 -2.08346438e-01 1.09368935e-02 4.80752444e+01] [ 2.08334819e-01 9.78055084e-01 2.20372796e-03 2.12910345e+00] [-1.11560232e-02 1.23303151e-04 9.99937762e-01 -7.78437707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:2.14, Z:-0.78 [[ 9.78015463e-01 -2.08245070e-01 1.09428105e-02 4.81022447e+01] [ 2.08233422e-01 9.78076672e-01 2.20584687e-03 2.13619871e+00] [-1.11622644e-02 1.21306528e-04 9.99937693e-01 -7.79517964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:2.14, Z:-0.78 [[ 9.77975890e-01 -2.08471604e-01 1.01365443e-02 4.81301443e+01] [ 2.08461594e-01 9.78028414e-01 2.04596625e-03 2.14233864e+00] [-1.03403542e-02 1.12174510e-04 9.99946531e-01 -7.80010100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:2.15, Z:-0.78 [[ 9.77560480e-01 -2.10458907e-01 9.08605592e-03 4.81579841e+01] [ 2.10450930e-01 9.77602698e-01 1.83614056e-03 2.14823323e+00] [-9.26898491e-03 1.17230470e-04 9.99957035e-01 -7.80882571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:2.15, Z:-0.78 [[ 9.77148165e-01 -2.12361474e-01 9.16882300e-03 4.81853334e+01] [ 2.12353409e-01 9.77191172e-01 1.85559147e-03 2.15369677e+00] [-9.35374903e-03 1.33843025e-04 9.99956244e-01 -7.81485779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:2.16, Z:-0.78 [[ 9.76708721e-01 -2.14372871e-01 9.18403130e-03 4.82121387e+01] [ 2.14364838e-01 9.76751887e-01 1.86181750e-03 2.15907002e+00] [-9.36964307e-03 1.50279997e-04 9.99956093e-01 -7.82044563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:2.16, Z:-0.78 [[ 9.75664299e-01 -2.19092842e-01 8.80358084e-03 4.82397216e+01] [ 2.19085643e-01 9.75703998e-01 1.78584114e-03 2.16434974e+00] [-8.98095403e-03 1.86356726e-04 9.99959653e-01 -7.82927103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:2.17, Z:-0.78 [[ 9.75606470e-01 -2.19350224e-01 8.80305752e-03 4.82677289e+01] [ 2.19343013e-01 9.75646168e-01 1.78841592e-03 2.17011349e+00] [-8.98095877e-03 1.86099019e-04 9.99959653e-01 -7.83332236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:2.18, Z:-0.78 [[ 9.74965366e-01 -2.22190780e-01 8.59028086e-03 4.82958035e+01] [ 2.22184004e-01 9.75003187e-01 1.74736865e-03 2.17511716e+00] [-8.76380042e-03 2.04999082e-04 9.99961576e-01 -7.83724671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:2.18, Z:-0.78 [[ 9.74396691e-01 -2.24674137e-01 8.52179812e-03 4.83232597e+01] [ 2.24667543e-01 9.74433929e-01 1.73583748e-03 2.17968628e+00] [-8.69392702e-03 2.23177143e-04 9.99962182e-01 -7.83699850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:2.18, Z:-0.78 [[ 9.73650933e-01 -2.27828633e-01 9.89820787e-03 4.83504749e+01] [ 2.27819855e-01 9.73701202e-01 2.02053804e-03 2.18404728e+00] [-1.00982333e-02 2.87709537e-04 9.99948970e-01 -7.83083891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:2.19, Z:-0.78 [[ 9.73419772e-01 -2.28786783e-01 1.05144992e-02 4.83773260e+01] [ 2.28776918e-01 9.73476506e-01 2.14782910e-03 2.18942639e+00] [-1.07270129e-02 3.14735412e-04 9.99942414e-01 -7.83161782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:2.20, Z:-0.78 [[ 9.73307978e-01 -2.29265328e-01 1.04397922e-02 4.84048184e+01] [ 2.29255621e-01 9.73363914e-01 2.13330969e-03 2.19525019e+00] [-1.06508110e-02 3.17013711e-04 9.99943228e-01 -7.83357305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:2.20, Z:-0.78 [[ 9.73578190e-01 -2.28138130e-01 9.92483268e-03 4.84312572e+01] [ 2.28129268e-01 9.73628734e-01 2.03116029e-03 2.20233537e+00] [-1.01264874e-02 2.86651456e-04 9.99948685e-01 -7.83849415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:2.21, Z:-0.78 [[ 9.73847356e-01 -2.26998737e-01 9.63852189e-03 4.84582538e+01] [ 2.26990309e-01 9.73895016e-01 1.97399476e-03 2.20879420e+00] [-9.83500276e-03 2.65481482e-04 9.99951600e-01 -7.84727314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:2.22, Z:-0.79 [[ 9.74180416e-01 -2.25594799e-01 8.91652350e-03 4.84859683e+01] [ 2.25587506e-01 9.74221193e-01 1.82842545e-03 2.21531894e+00] [-9.09914944e-03 2.30240036e-04 9.99958575e-01 -7.85559021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:2.22, Z:-0.79 [[ 9.74602777e-01 -2.23788368e-01 8.25790134e-03 4.85138101e+01] [ 2.23782030e-01 9.74637742e-01 1.69546867e-03 2.22154230e+00] [-8.42788848e-03 1.95561453e-04 9.99964466e-01 -7.85885823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:2.23, Z:-0.79 [[ 9.75524680e-01 -2.19757805e-01 7.62266967e-03 4.85403451e+01] [ 2.19752258e-01 9.75554451e-01 1.56807392e-03 2.22873303e+00] [-7.78092580e-03 1.45404066e-04 9.99969718e-01 -7.85399534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:2.24, Z:-0.79 [[ 9.75896023e-01 -2.18097301e-01 7.77946543e-03 4.85671829e+01] [ 2.18091471e-01 9.75927020e-01 1.60036644e-03 2.23593027e+00] [-7.94122611e-03 1.34843820e-04 9.99968459e-01 -7.86142222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:2.24, Z:-0.79 [[ 9.76269299e-01 -2.16436047e-01 7.32764213e-03 4.85937443e+01] [ 2.16430809e-01 9.76296792e-01 1.50994748e-03 2.24312876e+00] [-7.48076056e-03 1.11812142e-04 9.99972012e-01 -7.86595855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:2.25, Z:-0.79 [[ 9.76980306e-01 -2.13195678e-01 7.55541467e-03 4.86206469e+01] [ 2.13190005e-01 9.77009516e-01 1.55789527e-03 2.25083327e+00] [-7.71384857e-03 8.87058946e-05 9.99970244e-01 -7.87402143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:2.26, Z:-0.79 [[ 9.77263031e-01 -2.11889770e-01 7.72618728e-03 4.86471501e+01] [ 2.11883769e-01 9.77293569e-01 1.59645181e-03 2.25679902e+00] [-7.88902494e-03 7.69003426e-05 9.99968878e-01 -7.87521725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:2.26, Z:-0.79 [[ 9.77446805e-01 -2.11035335e-01 7.86330640e-03 4.86742300e+01] [ 2.11029092e-01 9.77478431e-01 1.62480662e-03 2.26240035e+00] [-8.02910401e-03 7.12243704e-05 9.99967764e-01 -7.87775533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:2.27, Z:-0.79 [[ 9.77646729e-01 -2.10097542e-01 8.11757348e-03 4.87008477e+01] [ 2.10090828e-01 9.77680428e-01 1.68078158e-03 2.26710176e+00] [-8.28952079e-03 6.22171210e-05 9.99965639e-01 -7.87430870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:2.27, Z:-0.79 [[ 9.77504182e-01 -2.10737977e-01 8.66485197e-03 4.87280449e+01] [ 2.10730349e-01 9.77542582e-01 1.79447355e-03 2.27272488e+00] [-8.84842549e-03 7.18418785e-05 9.99960849e-01 -7.88217620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:2.28, Z:-0.79 [[ 9.77348355e-01 -2.11438755e-01 9.15678190e-03 4.87547105e+01] [ 2.11430236e-01 9.77391245e-01 1.89959325e-03 2.27812186e+00] [-9.35140610e-03 7.94562224e-05 9.99956271e-01 -7.88767507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:2.28, Z:-0.79 [[ 9.77047677e-01 -2.12747568e-01 1.07847114e-02 4.87823703e+01] [ 2.12735807e-01 9.77107190e-01 2.23952617e-03 2.28249669e+00] [-1.10142728e-02 1.06170436e-04 9.99939335e-01 -7.89035759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:2.29, Z:-0.79 [[ 9.76859020e-01 -2.13568422e-01 1.16183113e-02 4.88098254e+01] [ 2.13554785e-01 9.76928101e-01 2.41639246e-03 2.28727359e+00] [-1.18663199e-02 1.20671202e-04 9.99929585e-01 -7.89011790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:2.29, Z:-0.79 [[ 9.76758515e-01 -2.14013263e-01 1.18796734e-02 4.88368040e+01] [ 2.13998992e-01 9.76830747e-01 2.47471082e-03 2.29167833e+00] [-1.21340512e-02 1.25043263e-04 9.99926372e-01 -7.88597577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:2.30, Z:-0.79 [[ 9.76665828e-01 -2.14445983e-01 1.16953468e-02 4.88646382e+01] [ 2.14432168e-01 9.76735842e-01 2.43741875e-03 2.29578947e+00] [-1.19459590e-02 1.27314969e-04 9.99928636e-01 -7.88794642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:2.30, Z:-0.79 [[ 9.76714519e-01 -2.14232573e-01 1.15391757e-02 4.88926942e+01] [ 2.14219070e-01 9.76782673e-01 2.40820858e-03 2.30125985e+00] [-1.17871836e-02 1.19779217e-04 9.99930522e-01 -7.89374073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:2.31, Z:-0.79 [[ 9.76905548e-01 -2.13377920e-01 1.11987813e-02 4.89194995e+01] [ 2.13365107e-01 9.76969730e-01 2.34060404e-03 2.30625617e+00] [-1.14403036e-02 1.02880110e-04 9.99934552e-01 -7.89972127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:2.31, Z:-0.79 [[ 9.77253766e-01 -2.11829247e-01 1.01708925e-02 4.89470977e+01] [ 2.11818580e-01 9.77306689e-01 2.12720312e-03 2.31209847e+00] [-1.03906852e-02 7.55667477e-05 9.99946013e-01 -7.91420762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:48.97, Y:2.32, Z:-0.79 [[ 9.77296700e-01 -2.11720212e-01 8.10635150e-03 4.89742843e+01] [ 2.11713419e-01 9.77330317e-01 1.69696554e-03 2.31792327e+00] [-8.28186499e-03 5.77845648e-05 9.99965703e-01 -7.94213016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:2.32, Z:-0.79 [[ 9.77473687e-01 -2.10895051e-01 8.27463213e-03 4.90019653e+01] [ 2.10887923e-01 9.77508708e-01 1.73467491e-03 2.32355929e+00] [-8.45435932e-03 4.94208984e-05 9.99964260e-01 -7.93705932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:2.33, Z:-0.79 [[ 9.77490168e-01 -2.10862723e-01 7.06290573e-03 4.90283976e+01] [ 2.10857509e-01 9.77515683e-01 1.48325635e-03 2.32906147e+00] [-7.21686459e-03 3.93982108e-05 9.99973957e-01 -7.94482396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:49.06, Y:2.33, Z:-0.80 [[ 9.77131978e-01 -2.12584664e-01 4.56715799e-03 4.90561656e+01] [ 2.12582511e-01 9.77142650e-01 9.57525207e-04 2.33409980e+00] [-4.66632004e-03 3.52694120e-05 9.99989112e-01 -7.97488532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:2.34, Z:-0.80 [[ 9.76953207e-01 -2.13375571e-01 5.77043389e-03 4.90842629e+01] [ 2.13372130e-01 9.76970247e-01 1.21257739e-03 2.33915585e+00] [-5.89627662e-03 4.66183990e-05 9.99982616e-01 -7.95771045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:2.34, Z:-0.80 [[ 9.76583449e-01 -2.15063253e-01 5.70658818e-03 4.91124756e+01] [ 2.15059908e-01 9.76600120e-01 1.20079252e-03 2.34386941e+00] [-5.83130105e-03 5.45842259e-05 9.99982996e-01 -7.95666836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:2.35, Z:-0.80 [[ 9.76203486e-01 -2.16777223e-01 5.86424266e-03 4.91395653e+01] [ 2.16773702e-01 9.76221098e-01 1.23712914e-03 2.34845409e+00] [-5.99297882e-03 6.35238087e-05 9.99982040e-01 -7.95636122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:2.35, Z:-0.80 [[ 9.75403773e-01 -2.20326653e-01 6.60651643e-03 4.91659094e+01] [ 2.20322259e-01 9.75426141e-01 1.39479059e-03 2.35266063e+00] [-6.75147837e-03 9.50786230e-05 9.99977204e-01 -7.96347366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:2.36, Z:-0.80 [[ 9.74878042e-01 -2.22633555e-01 6.86322501e-03 4.91938050e+01] [ 2.22628872e-01 9.74902193e-01 1.44870218e-03 2.35791044e+00] [-7.01350283e-03 1.15644098e-04 9.99975398e-01 -7.97232301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:2.36, Z:-0.80 [[ 9.73875915e-01 -2.26948478e-01 7.75179930e-03 4.92207876e+01] [ 2.26942609e-01 9.73906752e-01 1.64013788e-03 2.36077769e+00] [-7.92175647e-03 1.61922780e-04 9.99968609e-01 -7.97655743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:2.37, Z:-0.80 [[ 9.73298983e-01 -2.29394171e-01 8.21000710e-03 4.92482956e+01] [ 2.29387673e-01 9.73333590e-01 1.73730966e-03 2.36509098e+00] [-8.38960440e-03 1.92352698e-04 9.99964788e-01 -7.97294425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:2.37, Z:-0.80 [[ 9.72807311e-01 -2.31438558e-01 9.06253797e-03 4.92765772e+01] [ 2.31430701e-01 9.72849496e-01 1.92078672e-03 2.36956274e+00] [-9.26102961e-03 2.28794147e-04 9.99957090e-01 -7.97398573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:2.37, Z:-0.80 [[ 9.72483681e-01 -2.32781058e-01 9.40577379e-03 4.93029787e+01] [ 2.32772622e-01 9.72529135e-01 1.99716791e-03 2.37426064e+00] [-9.61229190e-03 2.47193422e-04 9.99953770e-01 -7.97171466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:2.38, Z:-0.80 [[ 9.72423164e-01 -2.33047979e-01 9.04591237e-03 4.93310468e+01] [ 2.33040185e-01 9.72465208e-01 1.92104655e-03 2.37919415e+00] [-9.24453107e-03 2.39990927e-04 9.99957240e-01 -7.98170772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:2.38, Z:-0.80 [[ 9.72685579e-01 -2.31971737e-01 8.47810431e-03 4.93575140e+01] [ 2.31964823e-01 9.72722503e-01 1.80352812e-03 2.38444256e+00] [-8.66521040e-03 2.12356166e-04 9.99962434e-01 -7.98709922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:2.39, Z:-0.80 [[ 9.73051947e-01 -2.30452675e-01 7.84040625e-03 4.93854932e+01] [ 2.30446714e-01 9.73083517e-01 1.66775368e-03 2.39020174e+00] [-8.01370839e-03 1.83984888e-04 9.99967873e-01 -7.99444086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:2.40, Z:-0.80 [[ 9.73959258e-01 -2.26607198e-01 7.24856906e-03 4.94126466e+01] [ 2.26601984e-01 9.73986221e-01 1.54353230e-03 2.39550631e+00] [-7.40978191e-03 1.39202557e-04 9.99972537e-01 -8.00181993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:2.40, Z:-0.80 [[ 9.74380664e-01 -2.24785493e-01 7.33507093e-03 4.94394980e+01] [ 2.24780077e-01 9.74408265e-01 1.56527466e-03 2.40132480e+00] [-7.49920478e-03 1.23604447e-04 9.99971873e-01 -8.00767378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:2.41, Z:-0.80 [[ 9.74788206e-01 -2.23010150e-01 7.37749474e-03 4.94668663e+01] [ 2.23004620e-01 9.74816116e-01 1.57427369e-03 2.40712293e+00] [-7.54277978e-03 1.10631987e-04 9.99971547e-01 -8.00942211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:2.41, Z:-0.80 [[ 9.75501664e-01 -2.19835970e-01 8.28557633e-03 4.94942611e+01] [ 2.19828858e-01 9.75536846e-01 1.77083554e-03 2.41308114e+00] [-8.47217835e-03 9.39557670e-05 9.99964106e-01 -8.01367779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:2.42, Z:-0.80 [[ 9.75867837e-01 -2.18177373e-01 8.97771820e-03 4.95201953e+01] [ 2.18168918e-01 9.75909129e-01 1.92252731e-03 2.41894041e+00] [-9.18088910e-03 8.25264946e-05 9.99957851e-01 -8.01926076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:2.42, Z:-0.80 [[ 9.76250756e-01 -2.16448436e-01 9.19430901e-03 4.95478837e+01] [ 2.16439488e-01 9.76294049e-01 1.96932171e-03 2.42493448e+00] [-9.40260577e-03 6.74597265e-05 9.99955792e-01 -8.02161309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:2.43, Z:-0.80 [[ 9.77149043e-01 -2.12376826e-01 8.70819343e-03 4.95741192e+01] [ 2.12368608e-01 9.77187844e-01 1.86840125e-03 2.43023945e+00] [-8.90634590e-03 2.36404219e-05 9.99960337e-01 -8.02203066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:2.44, Z:-0.80 [[ 9.77653236e-01 -2.10037363e-01 8.85758844e-03 4.96004588e+01] [ 2.10028754e-01 9.77693360e-01 1.90166077e-03 2.43613807e+00] [-9.05942522e-03 1.18345334e-06 9.99958963e-01 -8.02801202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:2.44, Z:-0.80 [[ 9.78055273e-01 -2.08160158e-01 8.78809054e-03 4.96280980e+01] [ 2.08151607e-01 9.78094754e-01 1.88690909e-03 2.44298708e+00] [-8.98836455e-03 -1.62462226e-05 9.99959604e-01 -8.03822983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:2.45, Z:-0.81 [[ 9.78969660e-01 -2.03844617e-01 8.11034405e-03 4.96549355e+01] [ 2.03837169e-01 9.79003253e-01 1.74333239e-03 2.45004512e+00] [-8.29542213e-03 -5.34799470e-05 9.99965591e-01 -8.05366220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:2.46, Z:-0.81 [[ 9.79336571e-01 -2.02086327e-01 7.81005255e-03 4.96813605e+01] [ 2.02079343e-01 9.79367710e-01 1.68148039e-03 2.45627725e+00] [-7.98871748e-03 -6.84849477e-05 9.99968087e-01 -8.06754569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:2.46, Z:-0.81 [[ 9.79579497e-01 -2.00910135e-01 7.68942371e-03 4.97084456e+01] [ 2.00903322e-01 9.79609673e-01 1.65640406e-03 2.46229930e+00] [-7.86542221e-03 -7.77486851e-05 9.99969064e-01 -8.07983100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:2.47, Z:-0.81 [[ 9.79776400e-01 -1.99959160e-01 7.38521662e-03 4.97355636e+01] [ 1.99952827e-01 9.79804229e-01 1.59358234e-03 2.46773945e+00] [-7.55471786e-03 -8.46594230e-05 9.99971459e-01 -8.08268987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:2.47, Z:-0.81 [[ 9.79903746e-01 -1.99333490e-01 7.40330118e-03 4.97621174e+01] [ 1.99327100e-01 9.79931707e-01 1.59875026e-03 2.47199239e+00] [-7.57341403e-03 -9.09428158e-05 9.99971317e-01 -8.07601620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:2.48, Z:-0.81 [[ 9.79726468e-01 -2.00198585e-01 7.52155304e-03 4.97891801e+01] [ 2.00192006e-01 9.79755336e-01 1.62532504e-03 2.47757646e+00] [-7.69466951e-03 -8.66191732e-05 9.99970392e-01 -8.07671222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:2.48, Z:-0.81 [[ 9.79489060e-01 -2.01365431e-01 7.29008462e-03 4.98169851e+01] [ 2.01359268e-01 9.79516185e-01 1.57726833e-03 2.48344786e+00] [-7.45836319e-03 -7.69909651e-05 9.99972183e-01 -8.08626464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:2.49, Z:-0.81 [[ 9.78762411e-01 -2.04894246e-01 6.51850786e-03 4.98446819e+01] [ 2.04889387e-01 9.78784116e-01 1.41183394e-03 2.48761221e+00] [-6.66948860e-03 -4.62769072e-05 9.99977758e-01 -8.09153596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:2.49, Z:-0.81 [[ 9.78248839e-01 -2.07336647e-01 6.38148896e-03 4.98724895e+01] [ 2.07332031e-01 9.78269653e-01 1.38390924e-03 2.49310197e+00] [-6.52975209e-03 -3.07205447e-05 9.99978680e-01 -8.09587498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:2.50, Z:-0.81 [[ 9.77786868e-01 -2.09499414e-01 6.54501489e-03 4.98995672e+01] [ 2.09494592e-01 9.77808772e-01 1.42143006e-03 2.49884632e+00] [-6.69756173e-03 -1.87104171e-05 9.99977571e-01 -8.10332703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:2.51, Z:-0.81 [[ 9.77141879e-01 -2.12448098e-01 7.71707230e-03 4.99255302e+01] [ 2.12441455e-01 9.77172352e-01 1.68005045e-03 2.50568741e+00] [-7.89783322e-03 -2.22158682e-06 9.99968812e-01 -8.10037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:2.51, Z:-0.81 [[ 9.76676547e-01 -2.14562466e-01 8.11608764e-03 4.99533190e+01] [ 2.14555190e-01 9.76710268e-01 1.76711031e-03 2.51206134e+00] [-8.30622168e-03 1.54535295e-05 9.99965503e-01 -8.09788606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:2.52, Z:-0.81 [[ 9.76620455e-01 -2.14817655e-01 8.11557092e-03 4.99812431e+01] [ 2.14810367e-01 9.76654174e-01 1.76947906e-03 2.51823190e+00] [-8.30622155e-03 1.51993261e-05 9.99965503e-01 -8.10193733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:2.52, Z:-0.81 [[ 9.76092177e-01 -2.17190479e-01 8.50633139e-03 5.00073358e+01] [ 2.17182535e-01 9.76129241e-01 1.85798438e-03 2.52408236e+00] [-8.70681532e-03 3.38625998e-05 9.99962094e-01 -8.09830948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:2.53, Z:-0.81 [[ 9.74498956e-01 -2.24154605e-01 1.03198217e-02 5.00343958e+01] [ 2.24143290e-01 9.74553590e-01 2.25517376e-03 2.53085809e+00] [-1.05627268e-02 1.15454299e-04 9.99944206e-01 -8.10137021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:2.54, Z:-0.81 [[ 9.73510221e-01 -2.28406983e-01 1.03971407e-02 5.00614641e+01] [ 2.28395707e-01 9.73565727e-01 2.27516187e-03 2.53668268e+00] [-1.06419627e-02 1.59768972e-04 9.99943360e-01 -8.10263723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:2.54, Z:-0.81 [[ 9.72550078e-01 -2.32464575e-01 1.03231210e-02 5.00881008e+01] [ 2.32453649e-01 9.72604844e-01 2.26256280e-03 2.54260332e+00] [-1.05662832e-02 1.99191521e-04 9.99944155e-01 -8.10841300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:2.55, Z:-0.81 [[ 9.70745656e-01 -2.39939444e-01 9.05178458e-03 5.01155488e+01] [ 2.39931366e-01 9.70787826e-01 1.98406746e-03 2.54920416e+00] [-9.26341832e-03 2.45782176e-04 9.99957063e-01 -8.11468268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:2.56, Z:-0.81 [[ 9.69894826e-01 -2.43397215e-01 7.86267157e-03 5.01427426e+01] [ 2.43391220e-01 9.69926666e-01 1.72517172e-03 2.55588655e+00] [-8.04611682e-03 2.40470107e-04 9.99967601e-01 -8.12117959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:2.56, Z:-0.81 [[ 9.69068234e-01 -2.46708900e-01 6.44028978e-03 5.01686967e+01] [ 2.46704939e-01 9.69089610e-01 1.41491023e-03 2.56311213e+00] [-6.59028886e-03 2.17706736e-04 9.99978260e-01 -8.12442957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:2.57, Z:-0.81 [[ 9.67422834e-01 -2.53120728e-01 4.79129440e-03 5.01952231e+01] [ 2.53118617e-01 9.67434679e-01 1.05201163e-03 2.57170391e+00] [-4.90155031e-03 1.95025742e-04 9.99987968e-01 -8.14036887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628000000006 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:50.22, Y:2.58, Z:-0.82 [[ 9.66519876e-01 -2.56562317e-01 3.88679803e-03 5.02209222e+01] [ 2.56560948e-01 9.66527676e-01 8.55430393e-04 2.57846141e+00] [-3.97616907e-03 1.70410110e-04 9.99992080e-01 -8.16058946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:2.59, Z:-0.81 [[ 9.65839519e-01 -2.59103418e-01 4.40934544e-03 5.02481161e+01] [ 2.59101686e-01 9.65849562e-01 9.69633263e-04 2.58553850e+00] [-4.50999966e-03 2.05958712e-04 9.99989809e-01 -8.14476662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:2.59, Z:-0.81 [[ 9.65314532e-01 -2.61038346e-01 5.18036904e-03 5.02740952e+01] [ 2.61035963e-01 9.65328400e-01 1.14287803e-03 2.59234002e+00] [-5.29909235e-03 2.49025847e-04 9.99985929e-01 -8.14303295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:2.60, Z:-0.81 [[ 9.64864233e-01 -2.62638046e-01 7.63340242e-03 5.02995885e+01] [ 2.62632907e-01 9.64894354e-01 1.68587908e-03 2.60158432e+00] [-7.80820288e-03 3.78138247e-04 9.99969444e-01 -8.13753450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:2.61, Z:-0.81 [[ 9.64915878e-01 -2.62401110e-01 9.11072635e-03 5.03270122e+01] [ 2.62393772e-01 9.64958785e-01 2.01292127e-03 2.60990357e+00] [-9.31966821e-03 4.48298161e-04 9.99956470e-01 -8.14028811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:2.62, Z:-0.81 [[ 9.65100947e-01 -2.61677862e-01 1.02400260e-02 5.03540410e+01] [ 2.61668517e-01 9.65155145e-01 2.26571599e-03 2.61842808e+00] [-1.04761015e-02 4.92847783e-04 9.99945003e-01 -8.13858914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:2.63, Z:-0.81 [[ 9.65434372e-01 -2.60388558e-01 1.15875552e-02 5.03797487e+01] [ 2.60376449e-01 9.65503760e-01 2.56812427e-03 2.62692698e+00] [-1.18565383e-02 5.37771030e-04 9.99929564e-01 -8.13945955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:2.64, Z:-0.81 [[ 9.66215308e-01 -2.57382129e-01 1.35062576e-02 5.04064333e+01] [ 2.57365357e-01 9.66309527e-01 2.99527664e-03 2.63822061e+00] [-1.38221561e-02 5.81960676e-04 9.99904300e-01 -8.13210911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:2.65, Z:-0.81 [[ 9.66677572e-01 -2.55571927e-01 1.47466128e-02 5.04321929e+01] [ 2.55551654e-01 9.66789857e-01 3.27496160e-03 2.64700132e+00] [-1.50938639e-02 6.02689350e-04 9.99885900e-01 -8.13548781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:2.66, Z:-0.81 [[ 9.67639620e-01 -2.51843062e-01 1.57682711e-02 5.04572630e+01] [ 2.51819353e-01 9.67767914e-01 3.50400164e-03 2.66010776e+00] [-1.61424854e-02 5.80145012e-04 9.99869533e-01 -8.13988580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:2.67, Z:-0.82 [[ 9.68038322e-01 -2.50277770e-01 1.62125040e-02 5.04834852e+01] [ 2.50252445e-01 9.68173908e-01 3.60521866e-03 2.66983482e+00] [-1.65988294e-02 5.67228940e-04 9.99862069e-01 -8.15293870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:2.68, Z:-0.82 [[ 9.68382355e-01 -2.48968279e-01 1.58243427e-02 5.05097511e+01] [ 2.48943905e-01 9.68511496e-01 3.52343057e-03 2.67931805e+00] [-1.62032803e-02 5.27345669e-04 9.99868579e-01 -8.16033396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:2.69, Z:-0.82 [[ 9.68702011e-01 -2.47745499e-01 1.54461106e-02 5.05363640e+01] [ 2.47722051e-01 9.68825024e-01 3.44360790e-03 2.68886323e+00] [-1.58177168e-02 4.90512291e-04 9.99874772e-01 -8.16933516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:2.70, Z:-0.82 [[ 9.69252648e-01 -2.45698265e-01 1.34783861e-02 5.05620850e+01] [ 2.45680166e-01 9.69346278e-01 3.00830799e-03 2.70159515e+00] [-1.38043595e-02 3.95561661e-04 9.99904637e-01 -8.18921009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:2.71, Z:-0.82 [[ 9.69374116e-01 -2.45268069e-01 1.25458116e-02 5.05889455e+01] [ 2.45252308e-01 9.69455231e-01 2.80358053e-03 2.71080734e+00] [-1.28502315e-02 3.59170857e-04 9.99917368e-01 -8.19891851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:2.72, Z:-0.82 [[ 9.69529433e-01 -2.44752252e-01 1.04410043e-02 5.06145293e+01] [ 2.44741281e-01 9.69585608e-01 2.33559935e-03 2.72281558e+00] [-1.06950907e-02 2.90912454e-04 9.99942764e-01 -8.21227244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:2.73, Z:-0.82 [[ 9.69613577e-01 -2.44440334e-01 9.92138981e-03 5.06400177e+01] [ 2.44430377e-01 9.69664298e-01 2.22278103e-03 2.73152826e+00] [-1.01637548e-02 2.69850385e-04 9.99948311e-01 -8.21935579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:2.74, Z:-0.82 [[ 9.69768294e-01 -2.43820268e-01 1.00564803e-02 5.06672683e+01] [ 2.43809997e-01 9.69820399e-01 2.25373383e-03 2.74014534e+00] [-1.03024857e-02 2.66270803e-04 9.99946893e-01 -8.22438170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:2.75, Z:-0.82 [[ 9.69979959e-01 -2.42961659e-01 1.04168458e-02 5.06940287e+01] [ 2.42950555e-01 9.70035856e-01 2.33771536e-03 2.74853444e+00] [-1.06726892e-02 2.63241422e-04 9.99943011e-01 -8.22544167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:2.76, Z:-0.82 [[ 9.70907938e-01 -2.39181801e-01 1.13948541e-02 5.07192444e+01] [ 2.39168207e-01 9.70974773e-01 2.56116546e-03 2.75844524e+00] [-1.16767000e-02 2.38630952e-04 9.99931797e-01 -8.22524760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:2.77, Z:-0.82 [[ 9.71512772e-01 -2.36668237e-01 1.22914009e-02 5.07465588e+01] [ 2.36652187e-01 9.71590498e-01 2.76521686e-03 2.76652917e+00] [-1.25966474e-02 2.22343418e-04 9.99920634e-01 -8.23119060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:2.77, Z:-0.82 [[ 9.72103526e-01 -2.34205283e-01 1.27522208e-02 5.07731724e+01] [ 2.34187745e-01 9.72187146e-01 2.87268111e-03 2.77437627e+00] [-1.30703422e-02 1.93870393e-04 9.99914561e-01 -8.23760922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:2.78, Z:-0.82 [[ 9.73323760e-01 -2.29064161e-01 1.30563694e-02 5.07996734e+01] [ 2.29045260e-01 9.73411318e-01 2.94514456e-03 2.78324834e+00] [-1.33838448e-02 1.23920350e-04 9.99910425e-01 -8.24181422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:2.79, Z:-0.82 [[ 9.73668610e-01 -2.27563879e-01 1.35690175e-02 5.08260534e+01] [ 2.27543259e-01 9.73763149e-01 3.06509723e-03 2.79021929e+00] [-1.39105146e-02 1.03149516e-04 9.99903239e-01 -8.24264575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:2.80, Z:-0.82 [[ 9.73877042e-01 -2.26628456e-01 1.42495326e-02 5.08535403e+01] [ 2.26605587e-01 9.73981280e-01 3.22083832e-03 2.79737208e+00] [-1.46087116e-02 9.23231868e-05 9.99893283e-01 -8.24447869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:2.80, Z:-0.82 [[ 9.73979516e-01 -2.26069970e-01 1.60084704e-02 5.08810908e+01] [ 2.26040942e-01 9.74111062e-01 3.62375079e-03 2.80484779e+00] [-1.64132493e-02 8.91106846e-05 9.99865290e-01 -8.24639294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:2.81, Z:-0.82 [[ 9.73978503e-01 -2.26067850e-01 1.60998063e-02 5.09078589e+01] [ 2.26038415e-01 9.74111554e-01 3.64897904e-03 2.81090193e+00] [-1.65079242e-02 8.51475577e-05 9.99863731e-01 -8.24296707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:2.82, Z:-0.82 [[ 9.73964213e-01 -2.26132415e-01 1.60575095e-02 5.09355509e+01] [ 2.26103103e-01 9.74096568e-01 3.64182934e-03 2.81679173e+00] [-1.64651006e-02 8.36412755e-05 9.99864438e-01 -8.24552893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:2.82, Z:-0.82 [[ 9.73950186e-01 -2.26229791e-01 1.55279336e-02 5.09631437e+01] [ 2.26202326e-01 9.74073958e-01 3.52594230e-03 2.82311765e+00] [-1.59230289e-02 7.83625385e-05 9.99873217e-01 -8.24730113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:2.83, Z:-0.83 [[ 9.73921223e-01 -2.26383867e-01 1.50929162e-02 5.09900530e+01] [ 2.26357870e-01 9.74038161e-01 3.43151169e-03 2.82969999e+00] [-1.54779152e-02 7.43783020e-05 9.99880207e-01 -8.25753184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:2.84, Z:-0.83 [[ 9.73915182e-01 -2.26462081e-01 1.42879064e-02 5.10171896e+01] [ 2.26438733e-01 9.74019980e-01 3.25249788e-03 2.83596577e+00] [-1.46532737e-02 6.76783515e-05 9.99892633e-01 -8.26600583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:2.84, Z:-0.83 [[ 9.73955856e-01 -2.26397442e-01 1.24172585e-02 5.10432890e+01] [ 2.26379759e-01 9.74035007e-01 2.83011610e-03 2.84160997e+00] [-1.27355755e-02 5.46078346e-05 9.99918898e-01 -8.27829449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:2.85, Z:-0.83 [[ 9.73919119e-01 -2.26590077e-01 1.17680125e-02 5.10711854e+01] [ 2.26574196e-01 9.73990213e-01 2.68323727e-03 2.84755683e+00] [-1.20699239e-02 5.30718910e-05 9.99927154e-01 -8.28344789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:2.85, Z:-0.83 [[ 9.73795761e-01 -2.27140683e-01 1.13545212e-02 5.10993054e+01] [ 2.27125898e-01 9.73861955e-01 2.59219450e-03 2.85270996e+00] [-1.16465291e-02 5.46378080e-05 9.99932175e-01 -8.28870181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:2.86, Z:-0.83 [[ 9.73387043e-01 -2.28926622e-01 1.05007335e-02 5.11277595e+01] [ 2.28914050e-01 9.73443680e-01 2.40008689e-03 2.85530612e+00] [-1.07713165e-02 6.75519571e-05 9.99941985e-01 -8.28885089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:2.86, Z:-0.83 [[ 9.73040360e-01 -2.30392786e-01 1.05651373e-02 5.11550792e+01] [ 2.30380112e-01 9.73097712e-01 2.41795479e-03 2.85987276e+00] [-1.08379903e-02 8.12299184e-05 9.99941264e-01 -8.29166257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:2.86, Z:-0.83 [[ 9.72589572e-01 -2.32262412e-01 1.11219048e-02 5.11831663e+01] [ 2.32248449e-01 9.72653156e-01 2.54884555e-03 2.86481984e+00] [-1.14097568e-02 1.04064541e-04 9.99934901e-01 -8.29644127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:2.87, Z:-0.83 [[ 9.72109456e-01 -2.34244573e-01 1.15189539e-02 5.12104141e+01] [ 2.34229688e-01 9.72177691e-01 2.64384559e-03 2.86909698e+00] [-1.18177765e-02 1.27973684e-04 9.99930159e-01 -8.30066765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:2.87, Z:-0.83 [[ 9.71003950e-01 -2.38768461e-01 1.18722899e-02 5.12390014e+01] [ 2.38752970e-01 9.71076509e-01 2.72620556e-03 2.87087768e+00] [-1.21798338e-02 1.87388119e-04 9.99925806e-01 -8.29973945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.27, Y:2.87, Z:-0.83 [[ 9.70397201e-01 -2.41183527e-01 1.26403681e-02 5.12667734e+01] [ 2.41166120e-01 9.70479497e-01 2.90662739e-03 2.87486126e+00] [-1.29682488e-02 2.27845450e-04 9.99915883e-01 -8.30148778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:2.88, Z:-0.83 [[ 9.69895004e-01 -2.43156940e-01 1.33560560e-02 5.12945441e+01] [ 2.43137634e-01 9.69986924e-01 3.07540278e-03 2.87850572e+00] [-1.37030052e-02 2.64542068e-04 9.99906074e-01 -8.30371824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:2.88, Z:-0.83 [[ 9.69299035e-01 -2.45477162e-01 1.41542935e-02 5.13223820e+01] [ 2.45455663e-01 9.69402324e-01 3.26366663e-03 2.88034876e+00] [-1.45223606e-02 3.10782578e-04 9.99894497e-01 -8.29688857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:2.89, Z:-0.83 [[ 9.69190137e-01 -2.45896950e-01 1.43236938e-02 5.13488221e+01] [ 2.45874950e-01 9.69295924e-01 3.30461546e-03 2.88518301e+00] [-1.46964928e-02 3.19036781e-04 9.99891950e-01 -8.30504778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:2.89, Z:-0.83 [[ 9.69163520e-01 -2.46012924e-01 1.41319758e-02 5.13762263e+01] [ 2.45991496e-01 9.69266497e-01 3.26222638e-03 2.89075605e+00] [-1.45002005e-02 3.14715065e-04 9.99894817e-01 -8.31304267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:2.90, Z:-0.83 [[ 9.69488191e-01 -2.44805951e-01 1.27551324e-02 5.14032480e+01] [ 2.44788343e-01 9.69572058e-01 2.94794965e-03 2.89500085e+00] [-1.30886956e-02 2.64305367e-04 9.99914304e-01 -8.32056150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:2.90, Z:-0.83 [[ 9.69658780e-01 -2.44163638e-01 1.20817488e-02 5.14310190e+01] [ 2.44147776e-01 9.69734015e-01 2.79346773e-03 2.90034290e+00] [-1.23981460e-02 2.41021576e-04 9.99923111e-01 -8.32143975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:2.91, Z:-0.83 [[ 9.69847488e-01 -2.43420618e-01 1.19269781e-02 5.14578257e+01] [ 2.43405057e-01 9.69920797e-01 2.76151774e-03 2.90595657e+00] [-1.22404344e-02 2.24835735e-04 9.99925058e-01 -8.32611327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:2.91, Z:-0.83 [[ 9.70399980e-01 -2.41228593e-01 1.15171169e-02 5.14850159e+01] [ 2.41213917e-01 9.70468304e-01 2.66765058e-03 2.91093363e+00] [-1.18205105e-02 1.89400817e-04 9.99930117e-01 -8.33273338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:2.92, Z:-0.83 [[ 9.70643052e-01 -2.40272436e-01 1.10100624e-02 5.15115138e+01] [ 2.40258922e-01 9.70705480e-01 2.55379671e-03 2.91655137e+00] [-1.13011348e-02 1.66440670e-04 9.99936126e-01 -8.33421200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:2.92, Z:-0.83 [[ 9.70861906e-01 -2.39402502e-01 1.06584317e-02 5.15394518e+01] [ 2.39389776e-01 9.70920398e-01 2.47302173e-03 2.92257957e+00] [-1.09405363e-02 1.50556986e-04 9.99940139e-01 -8.34178853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.57, Y:2.93, Z:-0.84 [[ 9.71347209e-01 -2.37465116e-01 9.74260498e-03 5.15656477e+01] [ 2.37454353e-01 9.71396060e-01 2.26376465e-03 2.92734723e+00] [-1.00014932e-02 1.14522487e-04 9.99949977e-01 -8.35285415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:2.93, Z:-0.84 [[ 9.71457324e-01 -2.37027032e-01 9.42620253e-03 5.15934775e+01] [ 2.37016931e-01 9.71503049e-01 2.19072970e-03 2.93253924e+00] [-9.67684666e-03 1.05969185e-04 9.99953173e-01 -8.35935231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.62, Y:2.94, Z:-0.84 [[ 9.71560338e-01 -2.36605762e-01 9.39270880e-03 5.16216874e+01] [ 2.36595689e-01 9.71605735e-01 2.18552621e-03 2.93738811e+00] [-9.64311783e-03 9.89038332e-05 9.99953499e-01 -8.36412844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:2.94, Z:-0.84 [[ 9.71850112e-01 -2.35409244e-01 9.47883449e-03 5.16493705e+01] [ 2.35398901e-01 9.71896332e-01 2.20835400e-03 2.94104868e+00] [-9.73231142e-03 8.51181392e-05 9.99952636e-01 -8.37033980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:2.95, Z:-0.84 [[ 9.72099456e-01 -2.34384159e-01 9.31198692e-03 5.16764005e+01] [ 2.34374097e-01 9.72144054e-01 2.17296677e-03 2.94598595e+00] [-9.56190170e-03 7.01487104e-05 9.99954282e-01 -8.37763253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:2.95, Z:-0.84 [[ 9.72039045e-01 -2.34634575e-01 9.31186186e-03 5.17042192e+01] [ 2.34624519e-01 9.72083644e-01 2.17350295e-03 2.95256557e+00] [-9.56188755e-03 7.20613775e-05 9.99954282e-01 -8.38169269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.73, Y:2.96, Z:-0.84 [[ 9.72220922e-01 -2.33890853e-01 9.03038201e-03 5.17319217e+01] [ 2.33881342e-01 9.72262858e-01 2.11003654e-03 2.95774290e+00] [-9.27342327e-03 6.06161934e-05 9.99956999e-01 -8.38769509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.76, Y:2.96, Z:-0.84 [[ 9.72491944e-01 -2.32759804e-01 9.07149158e-03 5.17593968e+01] [ 2.32750133e-01 9.72534252e-01 2.12230780e-03 2.96273358e+00] [-9.31632423e-03 4.74636313e-05 9.99956601e-01 -8.39662366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:2.97, Z:-0.84 [[ 9.73178089e-01 -2.29882063e-01 8.86821274e-03 5.17865284e+01] [ 2.29872670e-01 9.73218494e-01 2.07813081e-03 2.96563626e+00] [-9.10843364e-03 1.61683670e-05 9.99958517e-01 -8.40336287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:2.97, Z:-0.84 [[ 9.73420743e-01 -2.28847577e-01 8.99128253e-03 5.18146596e+01] [ 2.28837875e-01 9.73462268e-01 2.10730494e-03 2.97050132e+00] [-9.23492591e-03 6.25164711e-06 9.99957357e-01 -8.41036204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:2.97, Z:-0.84 [[ 9.73745589e-01 -2.27454347e-01 9.16777919e-03 5.18419419e+01] [ 2.27444163e-01 9.73788745e-01 2.15233225e-03 2.97334077e+00] [-9.41703752e-03 -1.06661640e-05 9.99955659e-01 -8.41671410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:2.98, Z:-0.84 [[ 9.73624097e-01 -2.27984241e-01 8.90526603e-03 5.18694060e+01] [ 2.27974651e-01 9.73664822e-01 2.09107727e-03 2.97778369e+00] [-9.14747693e-03 -5.74830365e-06 9.99958161e-01 -8.42247101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:2.98, Z:-0.84 [[ 9.73329444e-01 -2.29225067e-01 9.25539804e-03 5.18973632e+01] [ 2.29214739e-01 9.73373448e-01 2.17595708e-03 2.98214535e+00] [-9.50774261e-03 3.55054343e-06 9.99954800e-01 -8.43248251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:2.98, Z:-0.84 [[ 9.72611189e-01 -2.32260501e-01 9.08483396e-03 5.19249778e+01] [ 2.32250650e-01 9.72653617e-01 2.13934252e-03 2.98395918e+00] [-9.33328138e-03 2.92101182e-05 9.99956444e-01 -8.43795701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:2.99, Z:-0.84 [[ 9.72134751e-01 -2.34254921e-01 8.86889077e-03 5.19530928e+01] [ 2.34245612e-01 9.72175205e-01 2.08888932e-03 2.98823755e+00] [-9.11144831e-03 4.68168424e-05 9.99958489e-01 -8.44488923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:2.99, Z:-0.85 [[ 9.71766484e-01 -2.35760584e-01 9.31916158e-03 5.19808062e+01] [ 2.35750350e-01 9.71811166e-01 2.19757922e-03 2.99214212e+00] [-9.57456785e-03 6.14617714e-05 9.99954161e-01 -8.45276376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:2.99, Z:-0.85 [[ 9.71222937e-01 -2.37998409e-01 9.09747524e-03 5.20084415e+01] [ 2.37988722e-01 9.71265541e-01 2.14875300e-03 2.99350544e+00] [-9.34746401e-03 7.81783061e-05 9.99956308e-01 -8.45565220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:3.00, Z:-0.85 [[ 9.71102122e-01 -2.38502021e-01 8.80085703e-03 5.20359644e+01] [ 2.38492974e-01 9.71141998e-01 2.07895053e-03 2.99850183e+00] [-9.04271578e-03 8.00692915e-05 9.99959111e-01 -8.45573300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:3.01, Z:-0.85 [[ 9.71364296e-01 -2.37419175e-01 9.14003013e-03 5.20628829e+01] [ 2.37409341e-01 9.71407294e-01 2.16192857e-03 3.00579908e+00] [-9.39197523e-03 6.99083083e-05 9.99955892e-01 -8.45795993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:3.01, Z:-0.85 [[ 9.71934928e-01 -2.35111684e-01 8.06171355e-03 5.20899538e+01] [ 2.35103939e-01 9.71968361e-01 1.90876671e-03 3.01314494e+00] [-8.28450386e-03 4.01435809e-05 9.99965682e-01 -8.47206162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:3.02, Z:-0.85 [[ 9.72145148e-01 -2.34273276e-01 7.06006000e-03 5.21160353e+01] [ 2.34267294e-01 9.72170783e-01 1.67431985e-03 3.01928973e+00] [-7.25583245e-03 2.62592296e-05 9.99973676e-01 -8.47524316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:3.03, Z:-0.85 [[ 9.72200454e-01 -2.34068307e-01 6.18911894e-03 5.21432146e+01] [ 2.34063710e-01 9.72220154e-01 1.46711381e-03 3.02555743e+00] [-6.36059101e-03 2.23194276e-05 9.99979771e-01 -8.47975702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:52.17, Y:3.03, Z:-0.85 [[ 9.72244396e-01 -2.33911875e-01 5.10576220e-03 5.21699394e+01] [ 2.33908733e-01 9.72257802e-01 1.21251448e-03 3.03205885e+00] [-5.24773867e-03 1.54219597e-05 9.99986230e-01 -8.49416439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:3.04, Z:-0.85 [[ 9.72234376e-01 -2.33930970e-01 6.05138342e-03 5.21973196e+01] [ 2.33926558e-01 9.72253208e-01 1.43688971e-03 3.03839732e+00] [-6.21960995e-03 1.85857221e-05 9.99980658e-01 -8.48496264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:3.04, Z:-0.85 [[ 9.71975148e-01 -2.35012452e-01 5.78444696e-03 5.22236629e+01] [ 2.35008422e-01 9.71992360e-01 1.37631870e-03 3.04477465e+00] [-5.94589029e-03 2.16461853e-05 9.99982323e-01 -8.48817343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.747628000000006 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:52.25, Y:3.05, Z:-0.85 [[ 9.71383766e-01 -2.37471935e-01 4.54529277e-03 5.22510498e+01] [ 2.37469481e-01 9.71394399e-01 1.08008030e-03 3.05202825e+00] [-4.67176069e-03 3.01958471e-05 9.99989087e-01 -8.51244192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:3.06, Z:-0.85 [[ 9.70448879e-01 -2.41244084e-01 5.50133360e-03 5.22783669e+01] [ 2.41240535e-01 9.70464471e-01 1.30976909e-03 3.05923415e+00] [-5.65482285e-03 5.60807144e-05 9.99984010e-01 -8.50918391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:3.07, Z:-0.85 [[ 9.69805932e-01 -2.43809802e-01 5.76488650e-03 5.23053093e+01] [ 2.43805939e-01 9.69823064e-01 1.37443514e-03 3.06578720e+00] [-5.92602064e-03 7.25782110e-05 9.99982438e-01 -8.50983327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:52.33, Y:3.07, Z:-0.85 [[ 9.68994902e-01 -2.47024130e-01 5.28768058e-03 5.23329919e+01] [ 2.47020921e-01 9.69009325e-01 1.26187840e-03 3.07244536e+00] [-5.43552620e-03 8.34139882e-05 9.99985224e-01 -8.52724290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:3.08, Z:-0.85 [[ 9.68481601e-01 -2.48973449e-01 7.45725561e-03 5.23607836e+01] [ 2.48967094e-01 9.68510302e-01 1.78351002e-03 3.07928318e+00] [-7.66647552e-03 1.29314618e-04 9.99970604e-01 -8.51283984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628000000005 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:52.39, Y:3.09, Z:-0.85 [[ 9.67418800e-01 -2.53015997e-01 9.15263003e-03 5.23872416e+01] [ 2.53006567e-01 9.67462076e-01 2.19305092e-03 3.08659114e+00] [-9.40969941e-03 1.94076814e-04 9.99955709e-01 -8.51994558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:3.09, Z:-0.85 [[ 9.67215385e-01 -2.53717509e-01 1.10374032e-02 5.24142204e+01] [ 2.53703812e-01 9.67278330e-01 2.64719157e-03 3.09326781e+00] [-1.13478798e-02 2.39826858e-04 9.99935582e-01 -8.50807977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:3.10, Z:-0.85 [[ 9.67005028e-01 -2.54446310e-01 1.25837843e-02 5.24414356e+01] [ 2.54428513e-01 9.67086861e-01 3.02228783e-03 3.10067579e+00] [-1.29386225e-02 2.79106002e-04 9.99916254e-01 -8.50787718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:3.11, Z:-0.85 [[ 9.67163961e-01 -2.53822453e-01 1.29628164e-02 5.24676723e+01] [ 2.53803457e-01 9.67250788e-01 3.11747752e-03 3.10716013e+00] [-1.33295802e-02 2.74895717e-04 9.99911119e-01 -8.50569267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:3.11, Z:-0.85 [[ 9.67336800e-01 -2.53120015e-01 1.37758008e-02 5.24947802e+01] [ 2.53098463e-01 9.67434845e-01 3.31488587e-03 3.11392262e+00] [-1.41662537e-02 2.80022911e-04 9.99899614e-01 -8.50876305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:3.12, Z:-0.85 [[ 9.68122315e-01 -2.50059334e-01 1.44745325e-02 5.25210724e+01] [ 2.50035132e-01 9.68230484e-01 3.48746201e-03 3.12203758e+00] [-1.48867560e-02 2.42851848e-04 9.99889157e-01 -8.51484801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:3.13, Z:-0.85 [[ 9.68663990e-01 -2.47941659e-01 1.46631492e-02 5.25472075e+01] [ 2.47916551e-01 9.68774942e-01 3.53483175e-03 3.12991170e+00] [-1.50817236e-02 2.11173149e-04 9.99886242e-01 -8.52103485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:3.14, Z:-0.85 [[ 9.69181068e-01 -2.45909681e-01 1.47134938e-02 5.25743692e+01] [ 2.45884134e-01 9.69292730e-01 3.54900770e-03 3.13809842e+00] [-1.51344180e-02 1.78183614e-04 9.99885452e-01 -8.52922139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:52.60, Y:3.15, Z:-0.86 [[ 9.69650585e-01 -2.44115635e-01 1.36124770e-02 5.26014391e+01] [ 2.44093538e-01 9.69746121e-01 3.28721816e-03 3.14586754e+00] [-1.40031081e-02 1.35264650e-04 9.99901943e-01 -8.55164136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:3.15, Z:-0.85 [[ 9.70898703e-01 -2.39086401e-01 1.39068448e-02 5.26285896e+01] [ 2.39062762e-01 9.70998295e-01 3.36257239e-03 3.15334953e+00] [-1.43074679e-02 5.98915396e-05 9.99897641e-01 -8.54598195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:3.16, Z:-0.86 [[ 9.71310770e-01 -2.37430678e-01 1.34930480e-02 5.26560248e+01] [ 2.37408210e-01 9.71404484e-01 3.26642537e-03 3.16056453e+00] [-1.38827570e-02 3.06462389e-05 9.99903629e-01 -8.55648825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:3.17, Z:-0.86 [[ 9.71681571e-01 -2.35954758e-01 1.26600184e-02 5.26826032e+01] [ 2.35934805e-01 9.71764041e-01 3.06850323e-03 3.16724044e+00] [-1.30265786e-02 5.33093393e-06 9.99915151e-01 -8.56680382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:3.17, Z:-0.86 [[ 9.71768971e-01 -2.35687366e-01 1.07950317e-02 5.27098212e+01] [ 2.35672835e-01 9.71828928e-01 2.61711489e-03 3.17227501e+00] [-1.11077450e-02 8.64682885e-07 9.99938307e-01 -8.58452758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:3.18, Z:-0.86 [[ 9.71398691e-01 -2.37232626e-01 1.02598727e-02 5.27377737e+01] [ 2.37219557e-01 9.71452871e-01 2.49016384e-03 3.17793926e+00] [-1.05577309e-02 1.49005612e-05 9.99944265e-01 -8.59358967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:3.18, Z:-0.86 [[ 9.70869735e-01 -2.39400250e-01 9.97389757e-03 5.27639322e+01] [ 2.39387977e-01 9.70920964e-01 2.42429290e-03 3.18297443e+00] [-1.02642426e-02 3.39585645e-05 9.99947321e-01 -8.59984954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:3.19, Z:-0.86 [[ 9.69431211e-01 -2.45156970e-01 1.00591389e-02 5.27924191e+01] [ 2.45144789e-01 9.69483394e-01 2.44569520e-03 3.18590838e+00] [-1.03517473e-02 9.50122225e-05 9.99946415e-01 -8.59645874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:3.19, Z:-0.86 [[ 9.68929385e-01 -2.47053781e-01 1.18437847e-02 5.28193160e+01] [ 2.47036984e-01 9.69001761e-01 2.88389656e-03 3.19223736e+00] [-1.21891258e-02 1.31560724e-04 9.99925701e-01 -8.59599787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:3.20, Z:-0.86 [[ 9.68648042e-01 -2.48087042e-01 1.31829270e-02 5.28458204e+01] [ 2.48066265e-01 9.68737733e-01 3.21447772e-03 3.19959028e+00] [-1.35682690e-02 1.56541909e-04 9.99907935e-01 -8.59886065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:3.21, Z:-0.86 [[ 9.68070779e-01 -2.50317108e-01 1.34280808e-02 5.28729914e+01] [ 2.50295742e-01 9.68163886e-01 3.27595740e-03 3.20652648e+00] [-1.38206111e-02 1.89632815e-04 9.99904473e-01 -8.60370193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:3.21, Z:-0.86 [[ 9.67799327e-01 -2.51381352e-01 1.31102171e-02 5.28989354e+01] [ 2.51361030e-01 9.67888102e-01 3.20235551e-03 3.21261741e+00] [-1.34942356e-02 1.96160167e-04 9.99908929e-01 -8.60436706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:3.22, Z:-0.86 [[ 9.67330793e-01 -2.53155769e-01 1.35385856e-02 5.29266456e+01] [ 2.53134247e-01 9.67425504e-01 3.30875918e-03 3.21928451e+00] [-1.39352045e-02 2.26415031e-04 9.99902875e-01 -8.60203878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:3.23, Z:-0.86 [[ 9.67132705e-01 -2.53907952e-01 1.36045096e-02 5.29535318e+01] [ 2.53886236e-01 9.67228358e-01 3.32895366e-03 3.22598301e+00] [-1.40039153e-02 2.34457777e-04 9.99901913e-01 -8.60549331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:3.23, Z:-0.86 [[ 9.66977306e-01 -2.54504165e-01 1.35100006e-02 5.29803398e+01] [ 2.54482753e-01 9.67071649e-01 3.30983807e-03 3.23344397e+00] [-1.39075061e-02 2.37523832e-04 9.99903258e-01 -8.61510182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:3.24, Z:-0.86 [[ 9.66820703e-01 -2.55124360e-01 1.30111305e-02 5.30075141e+01] [ 2.55104506e-01 9.66908220e-01 3.19132597e-03 3.24170212e+00] [-1.33947541e-02 2.33758006e-04 9.99910259e-01 -8.62254500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:3.25, Z:-0.86 [[ 9.67006428e-01 -2.54516225e-01 1.09571364e-02 5.30341947e+01] [ 2.54502076e-01 9.67068486e-01 2.69015817e-03 3.25098255e+00] [-1.12809903e-02 1.87213732e-04 9.99936350e-01 -8.63901346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:3.26, Z:-0.86 [[ 9.67235180e-01 -2.53685214e-01 9.99594043e-03 5.30601568e+01] [ 2.53673362e-01 9.67286817e-01 2.45741060e-03 3.25862287e+00] [-1.02923501e-02 1.58809830e-04 9.99947020e-01 -8.64585554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:3.27, Z:-0.87 [[ 9.67415828e-01 -2.53035219e-01 8.93275617e-03 5.30873894e+01] [ 2.53025724e-01 9.67457058e-01 2.19618067e-03 3.26683492e+00] [-9.19776907e-03 1.35597157e-04 9.99957690e-01 -8.65247399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:3.27, Z:-0.87 [[ 9.67658757e-01 -2.52139591e-01 7.88392051e-03 5.31145940e+01] [ 2.52132150e-01 9.67690867e-01 1.94014402e-03 3.27477176e+00] [-8.11838499e-03 1.10392478e-04 9.99967039e-01 -8.65550885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:3.28, Z:-0.87 [[ 9.68140522e-01 -2.50288397e-01 7.72319651e-03 5.31416142e+01] [ 2.50281180e-01 9.68171323e-01 1.90282162e-03 3.28327272e+00] [-7.95363155e-03 9.07720236e-05 9.99968365e-01 -8.65275586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:53.17, Y:3.29, Z:-0.87 [[ 9.68033362e-01 -2.50700633e-01 7.78475555e-03 5.31684193e+01] [ 2.50693295e-01 9.68064659e-01 1.92033131e-03 3.29092377e+00] [-8.01757500e-03 9.26412434e-05 9.99967854e-01 -8.67419125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:3.30, Z:-0.87 [[ 9.68055282e-01 -2.50577871e-01 8.92757703e-03 5.31952055e+01] [ 2.50568186e-01 9.68096441e-01 2.20545581e-03 3.29797596e+00] [-9.19539398e-03 1.01963643e-04 9.99957716e-01 -8.66305731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:3.30, Z:-0.87 [[ 9.67708692e-01 -2.51892803e-01 9.48177746e-03 5.32218351e+01] [ 2.51881904e-01 9.67755135e-01 2.34620498e-03 3.30441074e+00] [-9.76703098e-03 1.17845206e-04 9.99952294e-01 -8.67129371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:3.31, Z:-0.87 [[ 9.67425379e-01 -2.52982780e-01 9.37275551e-03 5.32490812e+01] [ 2.52972177e-01 9.67470773e-01 2.31969648e-03 3.31031048e+00] [-9.65471028e-03 1.26913116e-04 9.99953384e-01 -8.67329181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:3.32, Z:-0.87 [[ 9.67052423e-01 -2.54381563e-01 9.98160944e-03 5.32752553e+01] [ 2.54369572e-01 9.67103924e-01 2.47423364e-03 3.31643845e+00] [-1.02826531e-02 1.46304080e-04 9.99947121e-01 -8.67683339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:3.32, Z:-0.87 [[ 9.66047374e-01 -2.58107326e-01 1.15359835e-02 5.33026840e+01] [ 2.58091559e-01 9.66116226e-01 2.86089581e-03 3.32263662e+00] [-1.18835190e-02 2.13579072e-04 9.99929366e-01 -8.68361046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:3.33, Z:-0.87 [[ 9.65550691e-01 -2.59928259e-01 1.22132128e-02 5.33285894e+01] [ 2.59910680e-01 9.65627899e-01 3.03298325e-03 3.32855641e+00] [-1.25817771e-02 2.45845375e-04 9.99920816e-01 -8.68611369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:3.33, Z:-0.87 [[ 9.64834702e-01 -2.62539050e-01 1.29323479e-02 5.33550973e+01] [ 2.62519550e-01 9.64921323e-01 3.21334176e-03 3.33272085e+00] [-1.33223260e-02 2.94650516e-04 9.99911210e-01 -8.68026521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:3.34, Z:-0.87 [[ 9.64543738e-01 -2.63579525e-01 1.34614593e-02 5.33827837e+01] [ 2.63558474e-01 9.64637617e-01 3.34649322e-03 3.33882119e+00] [-1.38674972e-02 3.20042602e-04 9.99903790e-01 -8.68020539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:3.35, Z:-0.87 [[ 9.64474272e-01 -2.63833645e-01 1.34605174e-02 5.34105148e+01] [ 2.63812566e-01 9.64568145e-01 3.35027771e-03 3.34579499e+00] [-1.38675023e-02 3.19796981e-04 9.99903790e-01 -8.68425674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:3.35, Z:-0.87 [[ 9.64463776e-01 -2.63842502e-01 1.40270847e-02 5.34369947e+01] [ 2.63819554e-01 9.64565719e-01 3.49534826e-03 3.35191794e+00] [-1.44522664e-02 3.29482437e-04 9.99895506e-01 -8.68318776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:3.36, Z:-0.87 [[ 9.64866316e-01 -2.62297977e-01 1.52565807e-02 5.34644341e+01] [ 2.62270599e-01 9.64986871e-01 3.80408747e-03 3.35916856e+00] [-1.57202046e-02 3.30916710e-04 9.99876375e-01 -8.69344231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:3.37, Z:-0.87 [[ 9.65229859e-01 -2.60940014e-01 1.55443750e-02 5.34917515e+01] [ 2.60911343e-01 9.65354967e-01 3.88047067e-03 3.36596467e+00] [-1.60184097e-02 3.10157596e-04 9.99871649e-01 -8.69879938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:3.37, Z:-0.87 [[ 9.65642444e-01 -2.59395636e-01 1.57662643e-02 5.35188090e+01] [ 2.59365859e-01 9.65771103e-01 3.94054206e-03 3.37262519e+00] [-1.62487618e-02 2.84076009e-04 9.99867940e-01 -8.70355079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:3.38, Z:-0.87 [[ 9.66630223e-01 -2.55707639e-01 1.54795117e-02 5.35460882e+01] [ 2.55678390e-01 9.66754135e-01 3.87337507e-03 3.37966834e+00] [-1.59553336e-02 2.13655241e-04 9.99872683e-01 -8.71747896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:3.39, Z:-0.87 [[ 9.66562939e-01 -2.55961916e-01 1.54784316e-02 5.35738084e+01] [ 2.55932631e-01 9.66686843e-01 3.87768710e-03 3.38668426e+00] [-1.59553364e-02 2.13407071e-04 9.99872683e-01 -8.72153029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:3.39, Z:-0.87 [[ 9.67539070e-01 -2.52298541e-01 1.46148614e-02 5.36016684e+01] [ 2.52271956e-01 9.67649434e-01 3.66522852e-03 3.39266195e+00] [-1.50667941e-02 1.40667868e-04 9.99886480e-01 -8.73333867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:3.40, Z:-0.87 [[ 9.67998431e-01 -2.50559489e-01 1.41060301e-02 5.36293036e+01] [ 2.50534479e-01 9.68101199e-01 3.54166538e-03 3.39859596e+00] [-1.45434625e-02 1.05720378e-04 9.99894233e-01 -8.73761745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:3.40, Z:-0.87 [[ 9.68964790e-01 -2.46863894e-01 1.28628981e-02 5.36563423e+01] [ 2.46842726e-01 9.69050162e-01 3.23301276e-03 3.40446663e+00] [-1.32629076e-02 4.24373159e-05 9.99912043e-01 -8.74701489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:3.41, Z:-0.88 [[ 9.69639994e-01 -2.44235698e-01 1.21328772e-02 5.36838240e+01] [ 2.44216617e-01 9.69715899e-01 3.05291393e-03 3.41210404e+00] [-1.25110745e-02 2.82278442e-06 9.99921733e-01 -8.75642816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:3.42, Z:-0.88 [[ 9.70371195e-01 -2.41352654e-01 1.13419941e-02 5.37111289e+01] [ 2.41335746e-01 9.70437476e-01 2.85699546e-03 3.41976470e+00] [-1.16962395e-02 -3.51175074e-05 9.99931596e-01 -8.76518486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:3.43, Z:-0.88 [[ 9.71475001e-01 -2.36943083e-01 9.71071228e-03 5.37383136e+01] [ 2.36930445e-01 9.71523530e-01 2.44840526e-03 3.42747067e+00] [-1.00143182e-02 -7.78011227e-05 9.99949852e-01 -8.77490715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:3.43, Z:-0.88 [[ 9.71762340e-01 -2.35780256e-01 9.25337698e-03 5.37640264e+01] [ 2.35768695e-01 9.71806392e-01 2.33649052e-03 3.43456569e+00] [-9.54338923e-03 -8.88568767e-05 9.99954457e-01 -8.78694822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:3.44, Z:-0.88 [[ 9.71526063e-01 -2.36771837e-01 8.72962520e-03 5.37916046e+01] [ 2.36761586e-01 9.71565279e-01 2.20446596e-03 3.44199242e+00] [-9.00335620e-03 -7.48562195e-05 9.99959466e-01 -8.79711863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:3.45, Z:-0.88 [[ 9.71154590e-01 -2.38287959e-01 8.80972386e-03 5.38186522e+01] [ 2.38277558e-01 9.71194545e-01 2.22731063e-03 3.44878525e+00] [-9.08669706e-03 -6.39034516e-05 9.99958713e-01 -8.79474566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:3.46, Z:-0.88 [[ 9.70695513e-01 -2.40111618e-01 9.83017043e-03 5.38452893e+01] [ 2.40098727e-01 9.70745285e-01 2.48869504e-03 3.45672504e+00] [-1.01401562e-02 -5.55537086e-05 9.99948586e-01 -8.79773573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:3.46, Z:-0.88 [[ 9.70128222e-01 -2.42345604e-01 1.09471606e-02 5.38726536e+01] [ 2.42329716e-01 9.70189985e-01 2.77524096e-03 3.46454435e+00] [-1.12933930e-02 -3.95172560e-05 9.99936227e-01 -8.80249693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:3.47, Z:-0.88 [[ 9.68623689e-01 -2.48183446e-01 1.31577738e-02 5.38998846e+01] [ 2.48160967e-01 9.68713051e-01 3.34042807e-03 3.47127437e+00] [-1.35751461e-02 2.96281027e-05 9.99907853e-01 -8.80074189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:3.48, Z:-0.88 [[ 9.67713632e-01 -2.51636815e-01 1.44651527e-02 5.39270509e+01] [ 2.51609961e-01 9.67821733e-01 3.67706584e-03 3.47715881e+00] [-1.49249743e-02 8.12297659e-05 9.99888613e-01 -8.80002006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:3.48, Z:-0.88 [[ 9.66823697e-01 -2.54991192e-01 1.52128803e-02 5.39543767e+01] [ 2.54961830e-01 9.66943366e-01 3.87189198e-03 3.48305533e+00] [-1.56972920e-02 1.35266868e-04 9.99876781e-01 -8.79575683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:3.49, Z:-0.88 [[ 9.65198023e-01 -2.60991335e-01 1.66222362e-02 5.39823109e+01] [ 2.60957076e-01 9.65341111e-01 4.23592611e-03 3.48905365e+00] [-1.71516680e-02 2.49182658e-04 9.99852868e-01 -8.80118920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:3.50, Z:-0.88 [[ 9.64453812e-01 -2.63697764e-01 1.70977493e-02 5.40086279e+01] [ 2.63661856e-01 9.64605307e-01 4.36201565e-03 3.49591620e+00] [-1.76428335e-02 3.01061684e-04 9.99844308e-01 -8.80835416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:3.50, Z:-0.88 [[ 9.63863356e-01 -2.65837413e-01 1.72597811e-02 5.40345203e+01] [ 2.65801106e-01 9.64017818e-01 4.40661543e-03 3.50307170e+00] [-1.78101798e-02 3.40293768e-04 9.99841328e-01 -8.81617815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:3.51, Z:-0.88 [[ 9.63117329e-01 -2.68549076e-01 1.69235160e-02 5.40611719e+01] [ 2.68514541e-01 9.63265929e-01 4.32342283e-03 3.51236460e+00] [-1.74628976e-02 3.80246683e-04 9.99847440e-01 -8.83381331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:3.52, Z:-0.88 [[ 9.62962130e-01 -2.69145713e-01 1.62641465e-02 5.40881577e+01] [ 2.69113823e-01 9.63099397e-01 4.15964539e-03 3.51975754e+00] [-1.67835404e-02 3.71325673e-04 9.99859078e-01 -8.84488855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:3.53, Z:-0.88 [[ 9.62990617e-01 -2.69120973e-01 1.49322962e-02 5.41152227e+01] [ 2.69094027e-01 9.63106323e-01 3.82310200e-03 3.52697673e+00] [-1.54102658e-02 3.36580366e-04 9.99881198e-01 -8.84823521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:3.54, Z:-0.89 [[ 9.63451709e-01 -2.67605024e-01 1.21801503e-02 5.41423359e+01] [ 2.67586939e-01 9.63528665e-01 3.12130737e-03 3.53541543e+00] [-1.25712014e-02 2.52020206e-04 9.99920948e-01 -8.86102538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:3.55, Z:-0.89 [[ 9.63740273e-01 -2.66621774e-01 1.08404513e-02 5.41693840e+01] [ 2.66667472e-01 9.63783965e-01 -2.98807424e-03 3.54594216e+00] [-9.65116753e-03 5.77052325e-03 9.99936776e-01 -8.90126873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:3.55, Z:-0.89 [[ 9.64911672e-01 -2.62463355e-01 7.64541021e-03 5.41976382e+01] [ 2.62406554e-01 9.64926786e-01 7.68757471e-03 3.54975945e+00] [-9.39496774e-03 -5.41162482e-03 9.99941223e-01 -8.86277385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:3.56, Z:-0.89 [[ 9.65590642e-01 -2.59915871e-01 8.85726887e-03 5.42242329e+01] [ 2.59905939e-01 9.65631259e-01 2.27469642e-03 3.56032310e+00] [-9.14408539e-03 1.05631207e-04 9.99958186e-01 -8.89416060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:3.57, Z:-0.89 [[ 9.66316187e-01 -2.57224810e-01 8.27192625e-03 5.42497298e+01] [ 2.57216021e-01 9.66351588e-01 2.12749630e-03 3.56822468e+00] [-8.54083390e-03 7.18378523e-05 9.99963524e-01 -8.90242041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:3.58, Z:-0.89 [[ 9.67110397e-01 -2.54221393e-01 8.30443208e-03 5.42756761e+01] [ 2.54212415e-01 9.67146050e-01 2.13694762e-03 3.57546243e+00] [-8.57485648e-03 4.44254816e-05 9.99963234e-01 -8.90584390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:3.58, Z:-0.89 [[ 9.68347570e-01 -2.49403598e-01 1.00413756e-02 5.43017543e+01] [ 2.49390198e-01 9.68399631e-01 2.58530353e-03 3.58201138e+00] [-1.03688485e-02 7.48268806e-07 9.99946242e-01 -8.90360492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:3.59, Z:-0.89 [[ 9.68730374e-01 -2.47835427e-01 1.17925349e-02 5.43290662e+01] [ 2.47816797e-01 9.68802147e-01 3.03880547e-03 3.58869295e+00] [-1.21777568e-02 -2.13949153e-05 9.99925848e-01 -8.90251354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:3.60, Z:-0.89 [[ 9.69065608e-01 -2.46425372e-01 1.36522525e-02 5.43554035e+01] [ 2.46400195e-01 9.69161768e-01 3.52284874e-03 3.59511567e+00] [-1.40993605e-02 -4.99538801e-05 9.99900598e-01 -8.90190535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:3.60, Z:-0.89 [[ 9.69627369e-01 -2.43993272e-01 1.70308306e-02 5.43831058e+01] [ 2.43953657e-01 9.69776918e-01 4.39793931e-03 3.60153734e+00] [-1.75891741e-02 -1.09628899e-04 9.99845293e-01 -8.89861727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:3.61, Z:-0.89 [[ 9.69802259e-01 -2.43236023e-01 1.78833619e-02 5.44101720e+01] [ 2.43192109e-01 9.69967123e-01 4.62379428e-03 3.60821436e+00] [-1.84709464e-02 -1.35073658e-04 9.99829388e-01 -8.90498327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:3.61, Z:-0.89 [[ 9.69918187e-01 -2.42741153e-01 1.83151221e-02 5.44366398e+01] [ 2.42694911e-01 9.70091083e-01 4.74032080e-03 3.61484795e+00] [-1.89180076e-02 -1.52736422e-04 9.99821027e-01 -8.91367243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:3.62, Z:-0.89 [[ 9.69700128e-01 -2.43703401e-01 1.70385761e-02 5.44636490e+01] [ 2.43663483e-01 9.69849801e-01 4.41262523e-03 3.62081678e+00] [-1.76002314e-02 -1.27244473e-04 9.99845096e-01 -8.93525149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:3.63, Z:-0.89 [[ 9.69544394e-01 -2.44377043e-01 1.62335705e-02 5.44912077e+01] [ 2.44340823e-01 9.69680281e-01 4.20886637e-03 3.62709400e+00] [-1.67699235e-02 -1.14158819e-04 9.99859368e-01 -8.94845538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:3.63, Z:-0.90 [[ 9.69342782e-01 -2.45317946e-01 1.39167713e-02 5.45173395e+01] [ 2.45291373e-01 9.69442674e-01 3.61177325e-03 3.63310770e+00] [-1.43775447e-02 -8.73824076e-05 9.99896634e-01 -8.96719555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:3.64, Z:-0.90 [[ 9.69517997e-01 -2.44674400e-01 1.30112120e-02 5.45442753e+01] [ 2.44651094e-01 9.69605296e-01 3.37822935e-03 3.64076338e+00] [-1.34423063e-02 -9.20468883e-05 9.99909644e-01 -8.97688428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:3.65, Z:-0.90 [[ 9.69851485e-01 -2.43395142e-01 1.21202701e-02 5.45716073e+01] [ 2.43374778e-01 9.69927210e-01 3.15022696e-03 3.64886160e+00] [-1.25225297e-02 -1.05484251e-04 9.99921584e-01 -8.98130566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:3.66, Z:-0.90 [[ 9.70191400e-01 -2.42067677e-01 1.14841616e-02 5.45979209e+01] [ 2.42049264e-01 9.70259360e-01 2.98806744e-03 3.65735109e+00] [-1.18659298e-02 -1.19264471e-04 9.99929590e-01 -8.98966752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:3.67, Z:-0.90 [[ 9.70975546e-01 -2.38951054e-01 1.04347250e-02 5.46229428e+01] [ 2.38935639e-01 9.71031602e-01 2.71802383e-03 3.66839094e+00] [-1.07819224e-02 -1.45906980e-04 9.99941863e-01 -9.00880725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:3.68, Z:-0.90 [[ 9.71178653e-01 -2.38148415e-01 9.86697896e-03 5.46501612e+01] [ 2.38134575e-01 9.71228763e-01 2.57162190e-03 3.67710565e+00] [-1.01955215e-02 -1.47835443e-04 9.99948013e-01 -9.01608544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:3.68, Z:-0.90 [[ 9.71150389e-01 -2.38264760e-01 9.84000172e-03 5.46771463e+01] [ 2.38250973e-01 9.71200228e-01 2.56743002e-03 3.68495926e+00] [-1.01683400e-02 -1.48970677e-04 9.99948290e-01 -9.02235311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:3.69, Z:-0.90 [[ 9.70644070e-01 -2.40250152e-01 1.13996912e-02 5.47044743e+01] [ 2.40231739e-01 9.70710998e-01 2.97830819e-03 3.69139015e+00] [-1.17813446e-02 -1.52309546e-04 9.99930586e-01 -9.02323718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:3.70, Z:-0.90 [[ 9.70340962e-01 -2.41435260e-01 1.21422131e-02 5.47312480e+01] [ 2.41414412e-01 9.70416917e-01 3.17633706e-03 3.69693820e+00] [-1.25498887e-02 -1.50824731e-04 9.99921236e-01 -9.02273933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:3.70, Z:-0.90 [[ 9.69949604e-01 -2.42996986e-01 1.22568618e-02 5.47586769e+01] [ 2.42975851e-01 9.70027034e-01 3.20762864e-03 3.70257244e+00] [-1.26689314e-02 -1.33116704e-04 9.99919737e-01 -9.02529105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:3.71, Z:-0.90 [[ 9.69522971e-01 -2.44668637e-01 1.27462843e-02 5.47861631e+01] [ 2.44645871e-01 9.69606747e-01 3.33974747e-03 3.70841877e+00] [-1.31760147e-02 -1.19636076e-04 9.99913185e-01 -9.03240346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:3.71, Z:-0.90 [[ 9.68685303e-01 -2.47999390e-01 1.20452099e-02 5.48131548e+01] [ 2.47979271e-01 9.68760186e-01 3.15974773e-03 3.71353482e+00] [-1.24525353e-02 -7.38388169e-05 9.99922461e-01 -9.04719771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:3.72, Z:-0.91 [[ 9.68242907e-01 -2.49752778e-01 1.13676602e-02 5.48392773e+01] [ 2.49734965e-01 9.68309634e-01 2.98322931e-03 3.72007088e+00] [-1.17524847e-02 -4.95884016e-05 9.99930936e-01 -9.05218274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.87, Y:3.73, Z:-0.91 [[ 9.67940553e-01 -2.50914929e-01 1.15232443e-02 5.48659272e+01] [ 2.50896682e-01 9.68009141e-01 3.02621515e-03 3.72768533e+00] [-1.19139284e-02 -3.80526070e-05 9.99929026e-01 -9.05973465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:3.74, Z:-0.91 [[ 9.67544854e-01 -2.52414468e-01 1.19954831e-02 5.48927213e+01] [ 2.52394762e-01 9.67619210e-01 3.15404922e-03 3.73677726e+00] [-1.24031876e-02 -2.40869799e-05 9.99923077e-01 -9.05616801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:3.75, Z:-0.91 [[ 9.67284163e-01 -2.53385597e-01 1.25334249e-02 5.49196363e+01] [ 2.53364114e-01 9.67365360e-01 3.29949000e-03 3.74537508e+00] [-1.29604444e-02 -1.60243237e-05 9.99916010e-01 -9.05583220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:3.76, Z:-0.91 [[ 9.66721550e-01 -2.55434865e-01 1.42293339e-02 5.49453071e+01] [ 2.55407326e-01 9.66826267e-01 3.75075536e-03 3.75537954e+00] [-1.47153675e-02 8.34008676e-06 9.99891723e-01 -9.05627561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:3.76, Z:-0.91 [[ 9.66376318e-01 -2.56704420e-01 1.48206725e-02 5.49722107e+01] [ 2.56674644e-01 9.66489959e-01 3.90989519e-03 3.76365274e+00] [-1.53277185e-02 2.56607125e-05 9.99882523e-01 -9.06060761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:3.77, Z:-0.91 [[ 9.66056656e-01 -2.57864032e-01 1.55138281e-02 5.49993067e+01] [ 2.57831478e-01 9.66181214e-01 4.09755493e-03 3.77128876e+00] [-1.60457813e-02 4.14830066e-05 9.99871257e-01 -9.06831093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:3.78, Z:-0.91 [[ 9.65708814e-01 -2.59123679e-01 1.61680622e-02 5.50263911e+01] [ 2.59088413e-01 9.65844146e-01 4.27538195e-03 3.77826332e+00] [-1.67236810e-02 6.01835534e-05 9.99860148e-01 -9.07619397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:3.78, Z:-0.91 [[ 9.65111539e-01 -2.61381308e-01 1.54767394e-02 5.50528634e+01] [ 2.61349216e-01 9.65235621e-01 4.09674425e-03 3.78382888e+00] [-1.60095125e-02 9.10185597e-05 9.99871835e-01 -9.07918163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:3.79, Z:-0.91 [[ 9.64909234e-01 -2.62170005e-01 1.47329156e-02 5.50802263e+01] [ 2.62140985e-01 9.65021699e-01 3.90186738e-03 3.79034973e+00] [-1.52405358e-02 9.71531334e-05 9.99883852e-01 -9.08830694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:3.80, Z:-0.91 [[ 9.64808384e-01 -2.62611740e-01 1.34110505e-02 5.51075448e+01] [ 2.62587686e-01 9.64901583e-01 3.55548126e-03 3.79735701e+00] [-1.38740549e-02 9.12185796e-05 9.99903747e-01 -9.09685222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:3.80, Z:-0.91 [[ 9.64762332e-01 -2.62780924e-01 1.34100423e-02 5.51351292e+01] [ 2.62756834e-01 9.64855522e-01 3.55927968e-03 3.80476148e+00] [-1.38740641e-02 8.97212814e-05 9.99903747e-01 -9.10087704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:55.16, Y:3.81, Z:-0.91 [[ 9.64951299e-01 -2.62276857e-01 8.93537768e-03 5.51608411e+01] [ 2.62266133e-01 9.64992667e-01 2.37235973e-03 3.81177490e+00] [-9.24478900e-03 5.42353481e-05 9.99957265e-01 -9.13250304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:3.82, Z:-0.91 [[ 9.65396315e-01 -2.60641679e-01 8.71038908e-03 5.51881910e+01] [ 2.60631411e-01 9.65435608e-01 2.31387272e-03 3.81887766e+00] [-9.01241145e-03 3.63967995e-05 9.99959387e-01 -9.11972130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:3.83, Z:-0.91 [[ 9.65748809e-01 -2.59360363e-01 7.83839264e-03 5.52151297e+01] [ 2.59351990e-01 9.65780618e-01 2.08414176e-03 3.82645161e+00] [-8.11071145e-03 2.01453039e-05 9.99967107e-01 -9.11985899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:3.83, Z:-0.91 [[ 9.66600556e-01 -2.56184701e-01 7.26388064e-03 5.52418666e+01] [ 2.56177407e-01 9.66627849e-01 1.93325737e-03 3.83461855e+00] [-7.51674028e-03 -7.84554812e-06 9.99971749e-01 -9.12084046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:3.84, Z:-0.91 [[ 9.67030668e-01 -2.54555170e-01 7.30426350e-03 5.52676637e+01] [ 2.54547723e-01 9.67058253e-01 1.94732816e-03 3.84204283e+00] [-7.55935075e-03 -2.38424106e-05 9.99971427e-01 -9.12539914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:3.85, Z:-0.91 [[ 9.67247061e-01 -2.53710988e-01 7.99107083e-03 5.52948841e+01] [ 2.53702043e-01 9.67280070e-01 2.13069188e-03 3.84991197e+00] [-8.27018349e-03 -3.35544605e-05 9.99965801e-01 -9.13054895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:3.86, Z:-0.91 [[ 9.67451096e-01 -2.52850470e-01 1.02477888e-02 5.53220292e+01] [ 2.52835667e-01 9.67505368e-01 2.73662227e-03 3.85766242e+00] [-1.06067469e-02 -5.65417166e-05 9.99943745e-01 -9.13289812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:3.86, Z:-0.91 [[ 9.67374601e-01 -2.53084910e-01 1.15935373e-02 5.53480107e+01] [ 2.53065927e-01 9.67444068e-01 3.10041800e-03 3.86463240e+00] [-1.20007679e-02 -6.53363482e-05 9.99927986e-01 -9.13552803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:3.87, Z:-0.91 [[ 9.67098725e-01 -2.54062311e-01 1.31300657e-02 5.53752960e+01] [ 2.54038027e-01 9.67187851e-01 3.51319864e-03 3.87184046e+00] [-1.35918114e-02 -6.20739311e-05 9.99907625e-01 -9.14126469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:3.88, Z:-0.91 [[ 9.66479204e-01 -2.56282246e-01 1.54064290e-02 5.54012427e+01] [ 2.56249009e-01 9.66601991e-01 4.12751123e-03 3.87804638e+00] [-1.59496928e-02 -4.12715997e-05 9.99872795e-01 -9.14225780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:3.89, Z:-0.91 [[ 9.66326409e-01 -2.56828657e-01 1.58843653e-02 5.54287163e+01] [ 2.56793341e-01 9.66456952e-01 4.25912470e-03 3.88509182e+00] [-1.64454205e-02 -3.67054469e-05 9.99864764e-01 -9.14739004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:3.89, Z:-0.92 [[ 9.66232987e-01 -2.57156744e-01 1.62550003e-02 5.54543509e+01] [ 2.57119731e-01 9.66369706e-01 4.36300404e-03 3.89202154e+00] [-1.68303158e-02 -3.61971131e-05 9.99858360e-01 -9.15166956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:3.90, Z:-0.92 [[ 9.66448300e-01 -2.56322473e-01 1.66274653e-02 5.54813389e+01] [ 2.56283576e-01 9.66591323e-01 4.46565238e-03 3.90028671e+00] [-1.72166108e-02 -5.44758797e-05 9.99851782e-01 -9.16015925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:3.91, Z:-0.92 [[ 9.66572003e-01 -2.55889361e-01 1.60996115e-02 5.55076872e+01] [ 2.55852757e-01 9.66706073e-01 4.32851088e-03 3.90860692e+00] [-1.66712121e-02 -6.46874507e-05 9.99861024e-01 -9.17413038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:3.92, Z:-0.92 [[ 9.66644164e-01 -2.55681829e-01 1.50287339e-02 5.55341307e+01] [ 2.55649841e-01 9.66760983e-01 4.04484951e-03 3.91686283e+00] [-1.55633880e-02 -6.78367490e-05 9.99878881e-01 -9.19213265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:3.93, Z:-0.92 [[ 9.66794640e-01 -2.55298612e-01 1.14343079e-02 5.55600991e+01] [ 2.55280036e-01 9.66862252e-01 3.08030171e-03 3.92502987e+00] [-1.18417975e-02 -5.90686392e-05 9.99929882e-01 -9.22241921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:3.92, Z:-0.91 [[ 9.66555298e-01 -2.56456633e-01 -9.22923484e-04 5.55869568e+01] [ 2.56416918e-01 9.66328459e-01 2.14399940e-02 3.92385682e+00] [-4.60658144e-03 -2.09595929e-02 9.99769711e-01 -9.07828195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:3.95, Z:-0.93 [[ 9.66899329e-01 -2.54845552e-01 1.26266609e-02 5.56113784e+01] [ 2.55047051e-01 9.66754418e-01 -1.83547348e-02 3.95034136e+00] [-7.52925764e-03 2.09675734e-02 9.99751805e-01 -9.33931108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:3.95, Z:-0.93 [[ 9.66856718e-01 -2.55262660e-01 5.39088743e-03 5.56395967e+01] [ 2.55258522e-01 9.66871746e-01 1.45365723e-03 3.94874253e+00] [-5.58336115e-03 -2.94083018e-05 9.99984412e-01 -9.26208321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:3.96, Z:-0.93 [[ 9.66843212e-01 -2.55359016e-01 2.44460325e-03 5.56650947e+01] [ 2.55358167e-01 9.66846303e-01 6.58538389e-04 3.95660631e+00] [-2.53171933e-03 -1.24539660e-05 9.99996795e-01 -9.25926805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:3.96, Z:-0.93 [[ 9.66592906e-01 -2.56306923e-01 2.21688602e-03 5.56915319e+01] [ 2.56306232e-01 9.66595449e-01 5.95323621e-04 3.96481802e+00] [-2.29541750e-03 -7.23388734e-06 9.99997365e-01 -9.25954616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:3.97, Z:-0.93 [[ 9.66329952e-01 -2.57297136e-01 2.14671896e-03 5.57184663e+01] [ 2.57296489e-01 9.66332336e-01 5.76960154e-04 3.97327628e+00] [-2.22289414e-03 -5.19062692e-06 9.99997529e-01 -9.25925225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647628000000005 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:55.74, Y:3.98, Z:-0.93 [[ 9.65492824e-01 -2.60423334e-01 1.81503148e-03 5.57449635e+01] [ 2.60422878e-01 9.65494530e-01 4.87708392e-04 3.98341774e+00] [-1.87941361e-03 1.79676746e-06 9.99998234e-01 -9.27352848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628000000006 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:55.77, Y:3.99, Z:-0.93 [[ 9.65039162e-01 -2.62093138e-01 2.56962803e-03 5.57718627e+01] [ 2.62092221e-01 9.65042583e-01 6.93033314e-04 3.99204300e+00] [-2.66143975e-03 4.67522956e-06 9.99996458e-01 -9.27732837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:55.80, Y:4.00, Z:-0.93 [[ 9.64667761e-01 -2.63447460e-01 3.39804935e-03 5.57985999e+01] [ 2.63445858e-01 9.64673746e-01 9.18822742e-04 3.99977404e+00] [-3.52007051e-03 8.84334978e-06 9.99993804e-01 -9.27220203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:4.01, Z:-0.93 [[ 9.64101397e-01 -2.65488840e-01 4.91646340e-03 5.58245114e+01] [ 2.65485487e-01 9.64113933e-01 1.33430838e-03 4.00624699e+00] [-5.09427485e-03 1.88411095e-05 9.99987024e-01 -9.25570678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:55.85, Y:4.01, Z:-0.93 [[ 9.63774651e-01 -2.66699210e-01 3.15476727e-03 5.58509472e+01] [ 2.66697837e-01 9.63779815e-01 8.55967238e-04 4.01310066e+00] [-3.26878680e-03 1.64100810e-05 9.99994657e-01 -9.26870343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:4.02, Z:-0.93 [[ 9.63646177e-01 -2.67146599e-01 4.32899984e-03 5.58784315e+01] [ 2.67144019e-01 9.63655900e-01 1.17424076e-03 4.02063051e+00] [-4.48536066e-03 2.49137972e-05 9.99989940e-01 -9.26529213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:4.03, Z:-0.93 [[ 9.63561016e-01 -2.67459553e-01 3.94418287e-03 5.59052732e+01] [ 2.67457411e-01 9.63569088e-01 1.07063867e-03 4.02776652e+00] [-4.08684523e-03 2.32752537e-05 9.99991649e-01 -9.27360238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:4.04, Z:-0.93 [[ 9.63636374e-01 -2.67190580e-01 3.75922633e-03 5.59321899e+01] [ 2.67188629e-01 9.63643707e-01 1.02133919e-03 4.03522141e+00] [-3.89544701e-03 2.02229367e-05 9.99992413e-01 -9.27495852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:4.04, Z:-0.93 [[ 9.63867123e-01 -2.66352442e-01 4.06761908e-03 5.59581158e+01] [ 2.66350136e-01 9.63875706e-01 1.10833283e-03 4.04210096e+00] [-4.21588637e-03 1.51253256e-05 9.99991113e-01 -9.27425869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:55.98, Y:4.05, Z:-0.93 [[ 9.64310732e-01 -2.64759312e-01 2.70524325e-03 5.59842454e+01] [ 2.64758287e-01 9.64314527e-01 7.36883382e-04 4.04771543e+00] [-2.80380210e-03 5.65101468e-06 9.99996069e-01 -9.28693852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:4.05, Z:-0.93 [[ 9.64657821e-01 -2.63482668e-01 3.48871013e-03 5.60116306e+01] [ 2.63480958e-01 9.64664130e-01 9.49484964e-04 4.05420698e+00] [-3.61560635e-03 3.28058920e-06 9.99993464e-01 -9.27263599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:4.06, Z:-0.93 [[ 9.65046539e-01 -2.62070590e-01 2.04520846e-03 5.60376609e+01] [ 2.62069997e-01 9.65048707e-01 5.57520794e-04 4.06044830e+00] [-2.11983558e-03 -2.04573928e-06 9.99997753e-01 -9.27496875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007628000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.06, Y:4.07, Z:-0.93 [[ 9.65432288e-01 -2.60653399e-01 5.50893255e-04 5.60647201e+01] [ 2.60653357e-01 9.65432445e-01 1.46727979e-04 4.06700124e+00] [-5.70095368e-04 1.93624850e-06 9.99999837e-01 -9.28444778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:4.07, Z:-0.93 [[ 9.66235533e-01 -2.57650079e-01 -2.30923526e-03 5.60918012e+01] [ 2.57649292e-01 9.66238292e-01 -6.37052978e-04 4.07314316e+00] [ 2.39540828e-03 2.05703949e-05 9.99997131e-01 -9.29998783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:4.08, Z:-0.93 [[ 9.66740561e-01 -2.55742739e-01 -2.88770863e-03 5.61189647e+01] [ 2.55741500e-01 9.66744874e-01 -7.96605316e-04 4.08025866e+00] [ 2.99540354e-03 3.16037347e-05 9.99995513e-01 -9.30397793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.15, Y:4.09, Z:-0.93 [[ 9.67199842e-01 -2.53995956e-01 -3.24347999e-03 5.61462142e+01] [ 2.53994382e-01 9.67205279e-01 -8.95217041e-04 4.08823653e+00] [ 3.36449248e-03 4.20280847e-05 9.99994339e-01 -9.31283297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:4.10, Z:-0.93 [[ 9.68458459e-01 -2.49175039e-01 1.10687528e-04 5.61719651e+01] [ 2.49175038e-01 9.68458466e-01 2.85695404e-05 4.09620597e+00] [-1.14315090e-04 -8.78440472e-08 9.99999993e-01 -9.28587617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:4.10, Z:-0.93 [[ 9.68795184e-01 -2.47854862e-01 1.96460429e-03 5.61976364e+01] [ 2.47854281e-01 9.68797175e-01 5.37488652e-04 4.10418922e+00] [-2.03652226e-03 -3.37808330e-05 9.99997926e-01 -9.27634855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:4.11, Z:-0.93 [[ 9.68922473e-01 -2.47332970e-01 3.95518805e-03 5.62248467e+01] [ 2.47330602e-01 9.68930543e-01 1.08475498e-03 4.11281787e+00] [-4.10059817e-03 -7.28044357e-05 9.99991590e-01 -9.27032495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628000000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.25, Y:4.12, Z:-0.93 [[ 9.68788084e-01 -2.47833863e-01 5.29375087e-03 5.62518460e+01] [ 2.47829611e-01 9.68802543e-01 1.45494242e-03 4.12114522e+00] [-5.48918330e-03 -9.75826622e-05 9.99984930e-01 -9.27816600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.247628000000006 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:56.28, Y:4.13, Z:-0.93 [[ 9.68278432e-01 -2.49764926e-01 7.37284703e-03 5.62793618e+01] [ 2.49756705e-01 9.68306494e-01 2.03029852e-03 4.12882958e+00] [-7.64627302e-03 -1.24476292e-04 9.99970759e-01 -9.28121596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:4.14, Z:-0.93 [[ 9.68078056e-01 -2.50468166e-01 9.51714693e-03 5.63064156e+01] [ 2.50454460e-01 9.68124823e-01 2.62491620e-03 4.13522301e+00] [-9.87124414e-03 -1.57511874e-04 9.99951266e-01 -9.26823807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:4.14, Z:-0.93 [[ 9.67391045e-01 -2.53141672e-01 8.59420741e-03 5.63336147e+01] [ 2.53130574e-01 9.67429211e-01 2.37347309e-03 4.13973069e+00] [-8.91511224e-03 -1.20619960e-04 9.99960252e-01 -9.27518756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:4.15, Z:-0.93 [[ 9.67070578e-01 -2.54406604e-01 7.19555337e-03 5.63599418e+01] [ 2.54398854e-01 9.67097343e-01 1.98786808e-03 4.14601972e+00] [-7.46452732e-03 -9.18682035e-05 9.99972136e-01 -9.28687736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:4.15, Z:-0.93 [[ 9.66761009e-01 -2.55624761e-01 5.39750895e-03 5.63876343e+01] [ 2.55620426e-01 9.66776074e-01 1.48987654e-03 4.15299787e+00] [-5.59903185e-03 -6.06410151e-05 9.99984323e-01 -9.29775887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:4.16, Z:-0.93 [[ 9.66529566e-01 -2.56551819e-01 1.32728166e-03 5.64140562e+01] [ 2.56551559e-01 9.66530477e-01 3.65744397e-04 4.15936760e+00] [-1.37669057e-03 -1.29865934e-05 9.99999052e-01 -9.31920875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:4.17, Z:-0.93 [[ 9.66615204e-01 -2.56231129e-01 -8.09334911e-04 5.64396424e+01] [ 2.56231029e-01 9.66615543e-01 -2.27195308e-04 4.16675313e+00] [ 8.40530215e-04 1.22337225e-05 9.99999647e-01 -9.32537509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:4.18, Z:-0.93 [[ 9.66853376e-01 -2.55316862e-01 -2.80168196e-03 5.64663220e+01] [ 2.55315668e-01 9.66857434e-01 -7.81569307e-04 4.17509609e+00] [ 2.90837486e-03 4.03496206e-05 9.99995770e-01 -9.33307525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:4.19, Z:-0.93 [[ 9.67422206e-01 -2.53124612e-01 -4.71237113e-03 5.64924833e+01] [ 2.53121217e-01 9.67433680e-01 -1.31324054e-03 4.18534435e+00] [ 4.89132004e-03 7.76569482e-05 9.99988034e-01 -9.34337894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:4.19, Z:-0.93 [[ 9.67611044e-01 -2.52400508e-01 -4.78025705e-03 5.65183120e+01] [ 2.52397008e-01 9.67622849e-01 -1.33173401e-03 4.19376851e+00] [ 4.96161628e-03 8.20779566e-05 9.99987688e-01 -9.34580357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:4.20, Z:-0.93 [[ 9.67648616e-01 -2.52271076e-01 -3.93202830e-03 5.65452481e+01] [ 2.52268695e-01 9.67656602e-01 -1.09849294e-03 4.20218202e+00] [ 4.08197114e-03 7.10275234e-05 9.99991666e-01 -9.34317775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:4.21, Z:-0.93 [[ 9.67622712e-01 -2.52388752e-01 -2.49109692e-03 5.65721913e+01] [ 2.52387791e-01 9.67625917e-01 -6.98228731e-04 4.20971982e+00] [ 2.58667502e-03 4.68995302e-05 9.99996653e-01 -9.33730508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:4.22, Z:-0.93 [[ 9.67182640e-01 -2.54081285e-01 6.65058535e-04 5.65995946e+01] [ 2.54081220e-01 9.67182868e-01 1.81304199e-04 4.21570442e+00] [-6.89299226e-04 -6.37539005e-06 9.99999762e-01 -9.31558318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:4.22, Z:-0.93 [[ 9.66800511e-01 -2.55520356e-01 2.47359621e-03 5.66257684e+01] [ 2.55519431e-01 9.66803675e-01 6.88403546e-04 4.22189780e+00] [-2.56738302e-03 -3.34970055e-05 9.99996704e-01 -9.31428421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:4.22, Z:-0.92 [[ 9.65908267e-01 -2.58876938e-01 -1.98769006e-03 5.66522715e+01] [ 2.58882626e-01 9.65842804e-01 1.12900047e-02 4.22459626e+00] [-1.00292569e-03 -1.14196873e-02 9.99934290e-01 -9.24001968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:4.24, Z:-0.94 [[ 9.65360696e-01 -2.60747900e-01 9.44775719e-03 5.66793013e+01] [ 2.60832921e-01 9.65339402e-01 -9.27500222e-03 4.24062224e+00] [-6.70185493e-03 1.14180087e-02 9.99912353e-01 -9.38137185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:4.24, Z:-0.93 [[ 9.64807989e-01 -2.62858778e-01 7.12796948e-03 5.67080095e+01] [ 2.62851255e-01 9.64834318e-01 1.98914004e-03 4.24244597e+00] [-7.40017249e-03 -4.55424727e-05 9.99972617e-01 -9.33688336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:4.25, Z:-0.93 [[ 9.64440664e-01 -2.64190744e-01 7.58001323e-03 5.67356536e+01] [ 2.64182258e-01 9.64470450e-01 2.11784271e-03 4.24909360e+00] [-7.87021321e-03 -4.00286161e-05 9.99969029e-01 -9.34152255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:4.26, Z:-0.93 [[ 9.64111057e-01 -2.65392404e-01 7.53274007e-03 5.67631750e+01] [ 2.65384042e-01 9.64140483e-01 2.10691518e-03 4.25581415e+00] [-7.82177894e-03 -3.22312061e-05 9.99969409e-01 -9.34154283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:4.26, Z:-0.93 [[ 9.63951013e-01 -2.65990084e-01 6.90788620e-03 5.67900923e+01] [ 2.65983055e-01 9.63975764e-01 1.93387845e-03 4.26209030e+00] [-7.17342737e-03 -2.67834104e-05 9.99974270e-01 -9.33761600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:4.27, Z:-0.93 [[ 9.63880147e-01 -2.66246786e-01 6.90729957e-03 5.68176033e+01] [ 2.66239749e-01 9.63904896e-01 1.93597025e-03 4.26988065e+00] [-7.17342573e-03 -2.70455907e-05 9.99974270e-01 -9.34172901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:4.28, Z:-0.93 [[ 9.63952124e-01 -2.66007648e-01 6.01950523e-03 5.68446717e+01] [ 2.66002292e-01 9.63970918e-01 1.68820876e-03 4.27815841e+00] [-6.25170443e-03 -2.61502327e-05 9.99980458e-01 -9.34358867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:4.29, Z:-0.94 [[ 9.64076939e-01 -2.65573889e-01 5.11516289e-03 5.68705439e+01] [ 2.65570006e-01 9.64090509e-01 1.43636661e-03 4.28639294e+00] [-5.31294146e-03 -2.63340922e-05 9.99985886e-01 -9.35229399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:4.29, Z:-0.94 [[ 9.64195098e-01 -2.65167754e-01 3.72504776e-03 5.68969455e+01] [ 2.65165695e-01 9.64202293e-01 1.04506392e-03 4.29472142e+00] [-3.86881684e-03 -1.98906297e-05 9.99992516e-01 -9.36132238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:4.30, Z:-0.94 [[ 9.64187722e-01 -2.65219079e-01 9.35987207e-04 5.69233785e+01] [ 2.65218952e-01 9.64188177e-01 2.59703179e-04 4.30378825e+00] [-9.71346036e-04 -2.16107068e-06 9.99999528e-01 -9.37804869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:4.31, Z:-0.94 [[ 9.63917535e-01 -2.66201026e-01 -5.57767688e-06 5.69501850e+01] [ 2.66201026e-01 9.63917535e-01 -5.86159714e-06 4.31178317e+00] [ 6.93678369e-06 4.16531296e-06 1.00000000e+00 -9.38505647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:4.32, Z:-0.94 [[ 9.62903150e-01 -2.69847017e-01 -3.32603376e-04 5.69763738e+01] [ 2.69847000e-01 9.62903208e-01 -9.57896396e-05 4.31925846e+00] [ 3.46113406e-04 2.48412271e-06 9.99999940e-01 -9.39461986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:4.33, Z:-0.94 [[ 9.62149257e-01 -2.72523041e-01 -9.71424654e-06 5.70021966e+01] [ 2.72523041e-01 9.62149257e-01 -4.55183553e-06 4.32626932e+00] [ 1.05870351e-05 1.73218917e-06 1.00000000e+00 -9.39565614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:4.34, Z:-0.94 [[ 9.61296725e-01 -2.75515022e-01 2.80424974e-04 5.70286447e+01] [ 2.75513853e-01 9.61288508e-01 -4.06463618e-03 4.33556514e+00] [ 8.50299022e-04 3.98458242e-03 9.99991700e-01 -9.41345220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:57.06, Y:4.34, Z:-0.94 [[ 9.59352358e-01 -2.82209590e-01 8.94646132e-04 5.70570502e+01] [ 2.82203226e-01 9.59344625e-01 4.38516220e-03 4.34029268e+00] [-2.09580879e-03 -3.95444367e-03 9.99989985e-01 -9.39829182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:4.35, Z:-0.94 [[ 9.58845633e-01 -2.83910515e-01 3.14176980e-03 5.70834806e+01] [ 2.83909137e-01 9.58850780e-01 8.85633335e-04 4.34964184e+00] [-3.26392904e-03 4.27914951e-05 9.99994672e-01 -9.38699181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628000000006 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.11, Y:4.36, Z:-0.94 [[ 9.58209680e-01 -2.86042229e-01 3.74855884e-03 5.71108010e+01] [ 2.86040276e-01 9.58217011e-01 1.05861833e-03 4.35734622e+00] [-3.89474239e-03 5.78604763e-05 9.99992414e-01 -9.40322846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:4.37, Z:-0.94 [[ 9.58045739e-01 -2.86555542e-01 5.85521791e-03 5.71376982e+01] [ 2.86550761e-01 9.58063627e-01 1.65767984e-03 4.36563808e+00] [-6.08468866e-03 8.96840449e-05 9.99981484e-01 -9.38607218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:4.38, Z:-0.94 [[ 9.57552800e-01 -2.88158608e-01 7.56653341e-03 5.71621190e+01] [ 2.88160311e-01 9.57581771e-01 8.87754999e-04 4.37613913e+00] [-7.50138871e-03 1.33030233e-03 9.99970979e-01 -9.41240136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.19, Y:4.38, Z:-0.94 [[ 9.58446657e-01 -2.85216256e-01 5.62970476e-03 5.71917493e+01] [ 2.85203823e-01 9.58462452e-01 2.91688320e-03 4.38064631e+00] [-6.22780313e-03 -1.19006363e-03 9.99979899e-01 -9.38998725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:4.39, Z:-0.94 [[ 9.59217732e-01 -2.82625690e-01 4.90524633e-03 5.72174707e+01] [ 2.82622262e-01 9.59230273e-01 1.39287623e-03 4.38822122e+00] [-5.09892338e-03 5.02602306e-05 9.99986999e-01 -9.40149617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:4.40, Z:-0.94 [[ 9.59524676e-01 -2.81604552e-01 3.35751445e-03 5.72444357e+01] [ 2.81602947e-01 9.59530549e-01 9.51529261e-04 4.39596089e+00] [-3.48959266e-03 3.24701576e-05 9.99993911e-01 -9.40503939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:4.40, Z:-0.94 [[ 9.59310341e-01 -2.82352659e-01 8.03468644e-04 5.72693591e+01] [ 2.82347557e-01 9.59304164e-01 3.92160028e-03 4.40393419e+00] [-1.87804508e-03 -3.53517429e-03 9.99991988e-01 -9.40027295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:4.41, Z:-0.94 [[ 9.60351680e-01 -2.78789057e-01 1.14551099e-03 5.72981911e+01] [ 2.78791364e-01 9.60345780e-01 -3.37015571e-03 4.41370207e+00] [-1.60524117e-04 3.55589327e-03 9.99993665e-01 -9.44022328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:4.42, Z:-0.94 [[ 9.61277952e-01 -2.75570891e-01 -2.32012069e-03 5.73253999e+01] [ 2.75570086e-01 9.61280752e-01 -6.66145058e-04 4.42059158e+00] [ 2.41385754e-03 9.94700546e-07 9.99997087e-01 -9.44194381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:4.43, Z:-0.94 [[ 9.61782636e-01 -2.73804791e-01 -2.25760319e-03 5.73526563e+01] [ 2.73804022e-01 9.61785286e-01 -6.48995497e-04 4.42807273e+00] [ 2.34902761e-03 6.05176488e-06 9.99997241e-01 -9.44529919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:4.43, Z:-0.94 [[ 9.62597343e-01 -2.70932460e-01 -1.39886891e-03 5.73792618e+01] [ 2.70932160e-01 9.62598360e-01 -4.02675418e-04 4.43443597e+00] [ 1.45564676e-03 8.61571176e-06 9.99998941e-01 -9.43642176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:4.44, Z:-0.94 [[ 9.62801436e-01 -2.70208260e-01 -9.44230714e-04 5.74067694e+01] [ 2.70208121e-01 9.62801899e-01 -2.74311163e-04 4.44180770e+00] [ 9.83228266e-04 8.96837478e-06 9.99999517e-01 -9.43347281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:4.45, Z:-0.94 [[ 9.62896932e-01 -2.69869284e-01 -2.60435037e-04 5.74341950e+01] [ 2.69869272e-01 9.62896967e-01 -7.87511619e-05 4.44944130e+00] [ 2.72024627e-04 5.54583827e-06 9.99999963e-01 -9.43427138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:4.46, Z:-0.94 [[ 9.62869063e-01 -2.69967377e-01 8.84312150e-04 5.74611720e+01] [ 2.69967262e-01 9.62869470e-01 2.49378009e-04 4.45674356e+00] [-9.18801098e-04 -1.38304048e-06 9.99999578e-01 -9.43603793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:4.46, Z:-0.94 [[ 9.62954561e-01 -2.69646481e-01 3.04786381e-03 5.74888528e+01] [ 2.69645076e-01 9.62959384e-01 8.70603042e-04 4.46204838e+00] [-3.16972410e-03 -1.65097008e-05 9.99994976e-01 -9.42197685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:4.47, Z:-0.94 [[ 9.62983532e-01 -2.69525573e-01 4.32241629e-03 5.75164805e+01] [ 2.69522732e-01 9.62993232e-01 1.23771233e-03 4.46869316e+00] [-4.49605276e-03 -2.69071377e-05 9.99989892e-01 -9.41643493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:4.48, Z:-0.94 [[ 9.62664613e-01 -2.70619268e-01 6.48496685e-03 5.75440371e+01] [ 2.70612872e-01 9.62686455e-01 1.86092027e-03 4.47556307e+00] [-6.74659063e-03 -3.65265865e-05 9.99977241e-01 -9.42043554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:4.48, Z:-0.94 [[ 9.62384357e-01 -2.71606303e-01 6.80927432e-03 5.75705828e+01] [ 2.71599251e-01 9.62408445e-01 1.95747903e-03 4.48281530e+00] [-7.08496675e-03 -3.44533874e-05 9.99974901e-01 -9.43066251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:4.49, Z:-0.94 [[ 9.61989120e-01 -2.73021468e-01 6.01754706e-03 5.75980771e+01] [ 2.73015993e-01 9.62007940e-01 1.72914258e-03 4.48956622e+00] [-6.26102110e-03 -2.05297655e-05 9.99980399e-01 -9.43614445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.747628000000006 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:57.63, Y:4.50, Z:-0.95 [[ 9.61434291e-01 -2.74998386e-01 4.47112534e-03 5.76251482e+01] [ 2.75016505e-01 9.61430687e-01 -4.11781701e-03 4.49858450e+00] [-3.16628407e-03 5.18864374e-03 9.99981526e-01 -9.48559690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:4.50, Z:-0.94 [[ 9.61502950e-01 -2.74771996e-01 3.52535537e-03 5.76536170e+01] [ 2.74746645e-01 9.61495696e-01 6.34878960e-03 4.50224927e+00] [-5.13408361e-03 -5.13580036e-03 9.99973632e-01 -9.42813228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:4.51, Z:-0.95 [[ 9.61607789e-01 -2.74387913e-01 4.66183047e-03 5.76788667e+01] [ 2.74384625e-01 9.61619089e-01 1.34339649e-03 4.51238455e+00] [-4.85151693e-03 -1.26859233e-05 9.99988231e-01 -9.45518288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:4.52, Z:-0.95 [[ 9.61639727e-01 -2.74290559e-01 3.70462706e-03 5.77058912e+01] [ 2.74288488e-01 9.61646863e-01 1.06604004e-03 4.52043927e+00] [-3.85494771e-03 -9.00990503e-06 9.99992570e-01 -9.45598808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:4.53, Z:-0.95 [[ 9.61593098e-01 -2.74470033e-01 2.21697934e-03 5.77326395e+01] [ 2.74469294e-01 9.61595654e-01 6.36864110e-04 4.53061633e+00] [-2.30663781e-03 -3.91137759e-06 9.99997340e-01 -9.45763376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:4.54, Z:-0.95 [[ 9.61615293e-01 -2.74394768e-01 1.88137224e-03 5.77582137e+01] [ 2.74394232e-01 9.61617133e-01 5.42444774e-04 4.53940710e+00] [-1.95800379e-03 -5.38549749e-06 9.99998083e-01 -9.46176250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:4.55, Z:-0.95 [[ 9.61630781e-01 -2.74341899e-01 1.66251531e-03 5.77848102e+01] [ 2.74341484e-01 9.61632218e-01 4.77162316e-04 4.54789434e+00] [-1.72963390e-03 -2.75705334e-06 9.99998504e-01 -9.46333104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:4.56, Z:-0.95 [[ 9.61741130e-01 -2.73957087e-01 1.23024774e-03 5.78107170e+01] [ 2.73956857e-01 9.61741917e-01 3.54583225e-04 4.55600728e+00] [-1.28032140e-03 -3.98246804e-06 9.99999180e-01 -9.45498132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:57.84, Y:4.56, Z:-0.95 [[ 9.61490583e-01 -2.74837876e-01 -2.09403006e-05 5.78375288e+01] [ 2.74837876e-01 9.61490583e-01 -1.02950150e-05 4.56454957e+00] [ 2.29633618e-05 4.14337222e-06 1.00000000e+00 -9.48263068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:4.57, Z:-0.95 [[ 9.61535397e-01 -2.74680833e-01 3.46189313e-04 5.78644504e+01] [ 2.74680816e-01 9.61535460e-01 9.62847421e-05 4.57281580e+00] [-3.59320874e-04 2.51037536e-06 9.99999935e-01 -9.46409267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:4.58, Z:-0.95 [[ 9.61292970e-01 -2.75528082e-01 3.18946561e-04 5.78911281e+01] [ 2.75528067e-01 9.61293023e-01 8.85113469e-05 4.58143146e+00] [-3.30988465e-04 2.79339392e-06 9.99999945e-01 -9.47593119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:4.59, Z:-0.95 [[ 9.60908687e-01 -2.76864344e-01 7.93650329e-04 5.79186087e+01] [ 2.76864251e-01 9.60909015e-01 2.26724562e-04 4.58858968e+00] [-8.25397703e-04 1.87180290e-06 9.99999659e-01 -9.47585498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:4.60, Z:-0.95 [[ 9.60727634e-01 -2.77486874e-01 1.85681498e-03 5.79460049e+01] [ 2.77486356e-01 9.60729428e-01 5.36646140e-04 4.59552960e+00] [-1.93280905e-03 -3.29955952e-07 9.99998132e-01 -9.47455671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:4.60, Z:-0.95 [[ 9.60740765e-01 -2.77416623e-01 4.14719868e-03 5.79722448e+01] [ 2.77413999e-01 9.60749716e-01 1.20667351e-03 4.60259200e+00] [-4.31917125e-03 -8.80945555e-06 9.99990672e-01 -9.46051628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:4.61, Z:-0.95 [[ 9.60773540e-01 -2.77292222e-01 4.81953370e-03 5.79988085e+01] [ 2.77288679e-01 9.60785628e-01 1.40168740e-03 4.61095667e+00] [-5.01921573e-03 -1.03020358e-05 9.99987404e-01 -9.46033708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:4.62, Z:-0.95 [[ 9.60943063e-01 -2.76699855e-01 5.06158128e-03 5.80255184e+01] [ 2.76695931e-01 9.60956393e-01 1.47380325e-03 4.61912321e+00] [-5.27176003e-03 -1.57220645e-05 9.99986104e-01 -9.46263776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:4.63, Z:-0.95 [[ 9.61488793e-01 -2.74812764e-01 4.15276110e-03 5.80527282e+01] [ 2.74810102e-01 9.61497761e-01 1.20968908e-03 4.62720428e+00] [-4.32530850e-03 -2.18817961e-05 9.99990646e-01 -9.46665352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:4.63, Z:-0.95 [[ 9.61894735e-01 -2.73398113e-01 3.46271088e-03 5.80785653e+01] [ 2.73396245e-01 9.61900967e-01 1.01083609e-03 4.63467018e+00] [-3.60714562e-03 -2.56257567e-05 9.99993494e-01 -9.47518382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:4.64, Z:-0.95 [[ 9.62239801e-01 -2.72192902e-01 2.36425441e-03 5.81054283e+01] [ 2.72192033e-01 9.62242705e-01 6.87922357e-04 4.64225681e+00] [-2.46223414e-03 -1.84150561e-05 9.99996969e-01 -9.47953274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:4.65, Z:-0.95 [[ 9.62659424e-01 -2.70711569e-01 1.44223403e-03 5.81311756e+01] [ 2.70711242e-01 9.62660504e-01 4.20586782e-04 4.64916905e+00] [-1.50223945e-03 -1.44528624e-05 9.99998872e-01 -9.48349287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:4.66, Z:-0.95 [[ 9.63156299e-01 -2.68942022e-01 3.63846281e-04 5.81586071e+01] [ 2.68942002e-01 9.63156368e-01 1.02557620e-04 4.65625036e+00] [-3.78022916e-04 -9.25470912e-07 9.99999929e-01 -9.48572917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:4.66, Z:-0.95 [[ 9.63188948e-01 -2.68825231e-01 2.12732671e-04 5.81854999e+01] [ 2.68825224e-01 9.63188972e-01 5.82479716e-05 4.66406046e+00] [-2.20560287e-04 1.08410556e-06 9.99999976e-01 -9.48938317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:4.67, Z:-0.95 [[ 9.62959871e-01 -2.69644587e-01 2.88477909e-04 5.82120757e+01] [ 2.69644575e-01 9.62959914e-01 8.05537953e-05 4.67176423e+00] [-2.99513557e-04 2.16430883e-07 9.99999955e-01 -9.49320014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:4.68, Z:-0.95 [[ 9.62029557e-01 -2.72944469e-01 6.69964376e-04 5.82385472e+01] [ 2.72944400e-01 9.62029790e-01 1.94124866e-04 4.67743614e+00] [-6.97510997e-04 -3.89083393e-06 9.99999757e-01 -9.49107923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:4.68, Z:-0.95 [[ 9.61198721e-01 -2.75852237e-01 1.60063568e-03 5.82662071e+01] [ 2.75851842e-01 9.61200054e-01 4.66966700e-04 4.68370918e+00] [-1.66734491e-03 -7.30949463e-06 9.99998610e-01 -9.48782077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:4.69, Z:-0.95 [[ 9.60143735e-01 -2.79497827e-01 2.22998198e-03 5.82929976e+01] [ 2.79497060e-01 9.60146325e-01 6.54805736e-04 4.68979158e+00] [-2.32412578e-03 -5.43421766e-06 9.99997299e-01 -9.48413823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:4.69, Z:-0.95 [[ 9.57748541e-01 -2.87588579e-01 3.24674387e-03 5.83208563e+01] [ 2.87587001e-01 9.57754044e-01 9.52720554e-04 4.69409954e+00] [-3.38357362e-03 2.12546130e-05 9.99994275e-01 -9.48123663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:4.70, Z:-0.95 [[ 9.56783656e-01 -2.90773719e-01 3.95982112e-03 5.83481510e+01] [ 2.90771391e-01 9.56791849e-01 1.16413462e-03 4.70171788e+00] [-4.12722433e-03 3.75777151e-05 9.99991482e-01 -9.48077399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:4.71, Z:-0.95 [[ 9.56148905e-01 -2.92841763e-01 4.79299469e-03 5.83738477e+01] [ 2.92838359e-01 9.56160917e-01 1.41298572e-03 4.70987111e+00] [-4.99665543e-03 5.25479503e-05 9.99987515e-01 -9.48279351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:4.72, Z:-0.95 [[ 9.54796914e-01 -2.97214320e-01 5.14791052e-03 5.84005480e+01] [ 2.97210460e-01 9.54810788e-01 1.51699272e-03 4.71794541e+00] [-5.36615246e-03 8.15928826e-05 9.99985599e-01 -9.48914158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:4.73, Z:-0.95 [[ 9.54039211e-01 -2.99642400e-01 4.85955587e-03 5.84277976e+01] [ 2.99638986e-01 9.54051583e-01 1.43327058e-03 4.72561310e+00] [-5.06573561e-03 8.87160617e-05 9.99987165e-01 -9.48381439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:4.73, Z:-0.95 [[ 9.52203830e-01 -3.05407873e-01 5.82219082e-03 5.84494457e+01] [ 3.05376089e-01 9.52214435e-01 5.75442643e-03 4.73489580e+00] [-7.30142127e-03 -3.70142902e-03 9.99966494e-01 -9.49254440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:4.75, Z:-0.95 [[ 9.52148190e-01 -3.05569760e-01 6.39894829e-03 5.84802521e+01] [ 3.05587952e-01 9.52161612e-01 -2.06599706e-03 4.74527419e+00] [-5.46152669e-03 3.92257687e-03 9.99977392e-01 -9.51110888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:4.75, Z:-0.95 [[ 9.51616049e-01 -3.07250596e-01 4.89550428e-03 5.85059476e+01] [ 3.07247208e-01 9.51628633e-01 1.44826312e-03 4.75256454e+00] [-5.10368176e-03 1.25939593e-04 9.99986968e-01 -9.50252847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:4.76, Z:-0.95 [[ 9.51539321e-01 -3.07488136e-01 4.89567013e-03 5.85333332e+01] [ 3.07484754e-01 9.51551906e-01 1.44770425e-03 4.76076785e+00] [-5.10363612e-03 1.27796412e-04 9.99986968e-01 -9.50663215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:58.56, Y:4.77, Z:-0.95 [[ 9.51054011e-01 -3.09000278e-01 3.88546083e-03 5.85600526e+01] [ 3.08998161e-01 9.51061941e-01 1.14896992e-03 4.77030955e+00] [-4.05034594e-03 1.07867803e-04 9.99991791e-01 -9.52834087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:4.78, Z:-0.95 [[ 9.50749600e-01 -3.09929886e-01 4.32021825e-03 5.85856247e+01] [ 3.09927270e-01 9.50759407e-01 1.27931781e-03 4.78191140e+00] [-4.50398696e-03 1.22642552e-04 9.99989849e-01 -9.51491144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:4.79, Z:-0.95 [[ 9.50766983e-01 -3.09874119e-01 4.49165498e-03 5.86120661e+01] [ 3.09871284e-01 9.50777584e-01 1.33150799e-03 4.79192802e+00] [-4.68316474e-03 1.25881058e-04 9.99989026e-01 -9.51516539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:4.80, Z:-0.95 [[ 9.51000725e-01 -3.09157940e-01 4.35758695e-03 5.86375845e+01] [ 3.09155251e-01 9.51010702e-01 1.29461279e-03 4.80152457e+00] [-4.54435164e-03 1.15993190e-04 9.99989668e-01 -9.51532356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:4.81, Z:-0.95 [[ 9.51217568e-01 -3.08489842e-01 4.37679829e-03 5.86632923e+01] [ 3.08487119e-01 9.51227630e-01 1.30096334e-03 4.81165728e+00] [-4.56466544e-03 1.12686706e-04 9.99989576e-01 -9.51447005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:4.83, Z:-0.95 [[ 9.51917821e-01 -3.06321840e-01 4.40362867e-03 5.86889518e+01] [ 3.06319065e-01 9.51928001e-01 1.30787018e-03 4.82500677e+00] [-4.59256663e-03 1.03930489e-04 9.99989449e-01 -9.51169737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:4.84, Z:-0.95 [[ 9.52282035e-01 -3.05178558e-01 4.99744862e-03 5.87147472e+01] [ 3.05174958e-01 9.52295141e-01 1.48625615e-03 4.83566874e+00] [-5.21261954e-03 1.09761145e-04 9.99986408e-01 -9.51684915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:4.85, Z:-0.95 [[ 9.53329556e-01 -3.01880023e-01 5.58659832e-03 5.87402584e+01] [ 3.01875456e-01 9.53345919e-01 1.66369433e-03 4.84804442e+00] [-5.82819679e-03 1.00407937e-04 9.99983011e-01 -9.51479927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:4.86, Z:-0.95 [[ 9.53882915e-01 -3.00119438e-01 5.97551241e-03 5.87656628e+01] [ 3.00114156e-01 9.53901627e-01 1.78299292e-03 4.85809096e+00] [-6.23516184e-03 9.25693753e-05 9.99980557e-01 -9.51726519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.79, Y:4.87, Z:-0.95 [[ 9.54476183e-01 -2.98221143e-01 6.27418865e-03 5.87922924e+01] [ 2.98215281e-01 9.54496801e-01 1.87175041e-03 4.86858722e+00] [-6.54688854e-03 8.45177465e-05 9.99978565e-01 -9.52129276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:4.88, Z:-0.95 [[ 9.54917173e-01 -2.96788899e-01 7.03857110e-03 5.88173127e+01] [ 2.96781455e-01 9.54943110e-01 2.10360186e-03 4.87902064e+00] [-7.34576065e-03 8.01518266e-05 9.99973016e-01 -9.52771965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:4.89, Z:-0.95 [[ 9.55788171e-01 -2.93938912e-01 8.29985181e-03 5.88425223e+01] [ 2.93928449e-01 9.55824205e-01 2.48103374e-03 4.89186878e+00] [-8.66247162e-03 6.82198632e-05 9.99962478e-01 -9.53945575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:4.92, Z:-0.97 [[ 9.54686911e-01 -2.96849881e-01 2.12849882e-02 5.88589559e+01] [ 2.97187896e-01 9.54701954e-01 -1.49510360e-02 4.91549297e+00] [-1.58826066e-02 2.05991993e-02 9.99661651e-01 -9.72163746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:4.90, Z:-0.95 [[ 9.56989274e-01 -2.90088115e-01 4.51832349e-03 5.88989489e+01] [ 2.89913488e-01 9.56773398e-01 2.31264669e-02 4.90436063e+00] [-1.10317249e-02 -2.08218578e-02 9.99722337e-01 -9.45424207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:4.92, Z:-0.95 [[ 9.57247234e-01 -2.89065473e-01 1.09035042e-02 5.89224740e+01] [ 2.89047041e-01 9.57309329e-01 3.26445143e-03 4.92235435e+00] [-1.13816665e-02 2.67385261e-05 9.99935226e-01 -9.53487850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:4.93, Z:-0.95 [[ 9.57375179e-01 -2.88636698e-01 1.10283040e-02 5.89491683e+01] [ 2.88617774e-01 9.57438696e-01 3.30524844e-03 4.93198245e+00] [-1.15129410e-02 1.86017239e-05 9.99933724e-01 -9.53811165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:4.94, Z:-0.96 [[ 9.57347350e-01 -2.88738777e-01 1.07689101e-02 5.89749198e+01] [ 2.88720703e-01 9.57407916e-01 3.23069079e-03 4.94382102e+00] [-1.12430655e-02 1.63140405e-05 9.99936795e-01 -9.55391126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:4.96, Z:-0.97 [[ 9.56227008e-01 -2.92176654e-01 1.62083976e-02 5.89953920e+01] [ 2.92278746e-01 9.56323584e-01 -4.28208261e-03 4.95994113e+00] [-1.42493483e-02 8.83201316e-03 9.99859466e-01 -9.65207965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33762800000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:59.03, Y:4.96, Z:-0.96 [[ 9.56910325e-01 -2.90318747e-01 6.13630988e-03 5.90294073e+01] [ 2.90240313e-01 9.56888349e-01 1.11914442e-02 4.95821531e+00] [-9.12084949e-03 -8.92820398e-03 9.99918545e-01 -9.55266275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:4.97, Z:-0.96 [[ 9.56386381e-01 -2.91947127e-01 9.58986691e-03 5.90549854e+01] [ 2.91932898e-01 9.56434459e-01 2.88265538e-03 4.97186163e+00] [-1.00136621e-02 4.26652890e-05 9.99949861e-01 -9.57218159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:4.98, Z:-0.96 [[ 9.55937751e-01 -2.93416421e-01 9.47734389e-03 5.90803852e+01] [ 2.93402564e-01 9.55984728e-01 2.85219287e-03 4.98035955e+00] [-9.89707624e-03 5.41581595e-05 9.99951021e-01 -9.58068585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:4.99, Z:-0.96 [[ 9.55450281e-01 -2.95031472e-01 8.43748074e-03 5.91057671e+01] [ 2.95020535e-01 9.55487533e-01 2.54114672e-03 4.98869056e+00] [-8.81162592e-03 6.12907367e-05 9.99961175e-01 -9.58427379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45762800000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:59.13, Y:5.00, Z:-0.96 [[ 9.54768163e-01 -2.97282489e-01 6.39352647e-03 5.91329090e+01] [ 2.97276265e-01 9.54789567e-01 1.92472125e-03 4.99698461e+00] [-6.67665829e-03 6.29811000e-05 9.99977709e-01 -9.61122670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:5.01, Z:-0.96 [[ 9.53635446e-01 -3.00902930e-01 6.07156952e-03 5.91580010e+01] [ 3.00897371e-01 9.53654770e-01 1.83081524e-03 5.00577259e+00] [-6.34107890e-03 8.09889940e-05 9.99979892e-01 -9.60080780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:5.01, Z:-0.96 [[ 9.52725926e-01 -3.03775581e-01 5.80578690e-03 5.91841656e+01] [ 3.03770555e-01 9.52743611e-01 1.75008733e-03 5.01497354e+00] [-6.06306016e-03 9.62735319e-05 9.99981615e-01 -9.60861741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:5.02, Z:-0.96 [[ 9.51724825e-01 -3.06901876e-01 5.57633551e-03 5.92107892e+01] [ 3.06897284e-01 9.51741155e-01 1.68244341e-03 5.02361927e+00] [-5.82357304e-03 1.10139059e-04 9.99983037e-01 -9.61413207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:5.03, Z:-0.96 [[ 9.49495525e-01 -3.13752093e-01 4.22751093e-03 5.92371007e+01] [ 3.13749520e-01 9.49504929e-01 1.27580866e-03 5.03219762e+00] [-4.41433010e-03 1.15004912e-04 9.99990250e-01 -9.61850087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:5.04, Z:-0.96 [[ 9.48162639e-01 -3.17764283e-01 3.67016563e-03 5.92643083e+01] [ 3.17762372e-01 9.48169735e-01 1.10820211e-03 5.04066393e+00] [-3.83208703e-03 1.15484701e-04 9.99992651e-01 -9.62264440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.29, Y:5.05, Z:-0.96 [[ 9.45435063e-01 -3.25808791e-01 1.08351096e-03 5.92901946e+01] [ 3.25808631e-01 9.45435683e-01 3.25808410e-04 5.04872253e+00] [-1.13054117e-03 4.49865283e-05 9.99999360e-01 -9.63963217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:5.06, Z:-0.96 [[ 9.44170128e-01 -3.29449479e-01 2.41042418e-03 5.93168349e+01] [ 3.29448693e-01 9.44173199e-01 7.27607954e-04 5.05759243e+00] [-2.51556797e-03 1.07125400e-04 9.99996830e-01 -9.62722591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:5.07, Z:-0.96 [[ 9.42945673e-01 -3.32935562e-01 2.71475172e-03 5.93426271e+01] [ 3.32934571e-01 9.42949572e-01 8.22735308e-04 5.06675241e+00] [-2.83379182e-03 1.28040001e-04 9.99995977e-01 -9.63124955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.37, Y:5.08, Z:-0.96 [[ 9.41716748e-01 -3.36390155e-01 3.35113903e-03 5.93695451e+01] [ 3.36388668e-01 9.41722695e-01 1.01465916e-03 5.07628045e+00] [-3.49716503e-03 1.71763673e-04 9.99993870e-01 -9.62913873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:5.09, Z:-0.96 [[ 9.39899034e-01 -3.41429076e-01 3.99906856e-03 5.93947975e+01] [ 3.41426989e-01 9.39907515e-01 1.21460127e-03 5.08663748e+00] [-4.17345478e-03 2.23787372e-04 9.99991266e-01 -9.62010714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:5.10, Z:-0.96 [[ 9.39417083e-01 -3.42747544e-01 4.43444046e-03 5.94199673e+01] [ 3.42744989e-01 9.39427515e-01 1.34766142e-03 5.09522738e+00] [-4.62774303e-03 2.53866091e-04 9.99989260e-01 -9.61463577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:5.10, Z:-0.96 [[ 9.39062302e-01 -3.43706886e-01 5.25068817e-03 5.94464256e+01] [ 3.43703321e-01 9.39076931e-01 1.59528931e-03 5.10456076e+00] [-5.47911206e-03 3.06602906e-04 9.99984943e-01 -9.60893474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:5.11, Z:-0.96 [[ 9.39166612e-01 -3.43413719e-01 5.75251194e-03 5.94720759e+01] [ 3.43409413e-01 9.39184171e-01 1.75132259e-03 5.11422642e+00] [-6.00409636e-03 3.30683049e-04 9.99981921e-01 -9.60386799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:5.13, Z:-0.96 [[ 9.40644831e-01 -3.39314061e-01 7.29859178e-03 5.94978150e+01] [ 3.39307003e-01 9.40673067e-01 2.22244506e-03 5.12688082e+00] [-7.61969557e-03 3.85931844e-04 9.99970895e-01 -9.60249677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:5.14, Z:-0.96 [[ 9.41547733e-01 -3.36778290e-01 8.26131321e-03 5.95236729e+01] [ 3.36769122e-01 9.41583886e-01 2.51869308e-03 5.13777343e+00] [-8.62696055e-03 4.10685437e-04 9.99962703e-01 -9.60105931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:5.15, Z:-0.96 [[ 9.42644318e-01 -3.33674320e-01 9.11799341e-03 5.95488650e+01] [ 3.33662969e-01 9.42688322e-01 2.78384656e-03 5.14848956e+00] [-9.52432402e-03 4.18159614e-04 9.99954555e-01 -9.60040569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:5.16, Z:-0.96 [[ 9.44915560e-01 -3.27149625e-01 1.03782577e-02 5.95734249e+01] [ 3.27134510e-01 9.44972467e-01 3.17002679e-03 5.16198800e+00] [-1.08442409e-02 3.99678606e-04 9.99941120e-01 -9.59850525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:5.17, Z:-0.96 [[ 9.45930325e-01 -3.24201066e-01 1.04637065e-02 5.95993474e+01] [ 3.24185500e-01 9.45988126e-01 3.19802220e-03 5.17288093e+00] [-1.09353443e-02 3.67075736e-04 9.99940140e-01 -9.60528517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:5.19, Z:-0.96 [[ 9.47937684e-01 -3.18312491e-01 9.55535685e-03 5.96248710e+01] [ 3.18299186e-01 9.47985804e-01 2.92293779e-03 5.18624539e+00] [-9.98875026e-03 2.70699430e-04 9.99950075e-01 -9.61016485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:5.20, Z:-0.96 [[ 9.48899133e-01 -3.15442267e-01 9.30648685e-03 5.96512234e+01] [ 3.15429482e-01 9.48944741e-01 2.84953134e-03 5.19705831e+00] [-9.73020439e-03 2.31622505e-04 9.99952634e-01 -9.61709597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:5.21, Z:-0.96 [[ 9.49852637e-01 -3.12562532e-01 9.19955671e-03 5.96765523e+01] [ 3.12549869e-01 9.49897166e-01 2.82026507e-03 5.20792664e+00] [-9.62014204e-03 1.96484036e-04 9.99953706e-01 -9.62614519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:5.22, Z:-0.96 [[ 9.51814419e-01 -3.06571246e-01 7.96133054e-03 5.97023778e+01] [ 3.06561555e-01 9.51847707e-01 2.44048057e-03 5.22043689e+00] [-8.32615539e-03 1.17753269e-04 9.99965330e-01 -9.63325924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:5.23, Z:-0.96 [[ 9.52667554e-01 -3.03915421e-01 7.74269020e-03 5.97275979e+01] [ 3.03906143e-01 9.52699013e-01 2.37635140e-03 5.23005847e+00] [-8.09866314e-03 8.91782405e-05 9.99967201e-01 -9.63564359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:5.24, Z:-0.96 [[ 9.53497628e-01 -3.01300185e-01 7.77640763e-03 5.97527373e+01] [ 3.01290722e-01 9.53529336e-01 2.38882303e-03 5.23973546e+00] [-8.13478562e-03 6.52223832e-05 9.99966910e-01 -9.64002239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:5.25, Z:-0.96 [[ 9.55342383e-01 -2.95415830e-01 7.10058772e-03 5.97794465e+01] [ 2.95407780e-01 9.55368770e-01 2.18090845e-03 5.24992946e+00] [-7.42795464e-03 1.40545767e-05 9.99972412e-01 -9.64249326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:5.26, Z:-0.96 [[ 9.56173156e-01 -2.92713259e-01 7.20028336e-03 5.98054950e+01] [ 2.92704879e-01 9.56200265e-01 2.21492961e-03 5.25824173e+00] [-7.53325213e-03 -1.02981570e-05 9.99971625e-01 -9.64514291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:5.27, Z:-0.96 [[ 9.56795650e-01 -2.90666441e-01 7.42316190e-03 5.98326133e+01] [ 2.90657473e-01 9.56824445e-01 2.28349759e-03 5.26704245e+00] [-7.76639888e-03 -2.72430877e-05 9.99969841e-01 -9.64560078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:5.28, Z:-0.97 [[ 9.57321626e-01 -2.88924615e-01 7.60733824e-03 5.98580228e+01] [ 2.88915116e-01 9.57351850e-01 2.34320271e-03 5.27518354e+00] [-7.95990828e-03 -4.53236184e-05 9.99968318e-01 -9.65191705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:5.28, Z:-0.97 [[ 9.57741511e-01 -2.87555766e-01 6.54822488e-03 5.98839501e+01] [ 2.87548689e-01 9.57763895e-01 2.01799723e-03 5.28225989e+00] [-6.85194010e-03 -4.97862347e-05 9.99976524e-01 -9.65766755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:5.29, Z:-0.97 [[ 9.57671386e-01 -2.87802286e-01 5.94647712e-03 5.99109315e+01] [ 2.87796453e-01 9.57689847e-01 1.83279045e-03 5.28967096e+00] [-6.22236204e-03 -4.38359435e-05 9.99980640e-01 -9.66378293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:5.29, Z:-0.97 [[ 9.57623421e-01 -2.87966486e-01 5.71716505e-03 5.99375061e+01] [ 2.87961080e-01 9.57640486e-01 1.76503870e-03 5.29493453e+00] [-5.98326071e-03 -4.39213786e-05 9.99982099e-01 -9.66418515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:5.30, Z:-0.97 [[ 9.57525242e-01 -2.88287442e-01 5.98019087e-03 5.99645357e+01] [ 2.88281536e-01 9.57543915e-01 1.84585589e-03 5.30166118e+00] [-6.25843245e-03 -4.34749976e-05 9.99980415e-01 -9.66663399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:5.31, Z:-0.97 [[ 9.57554232e-01 -2.88193907e-01 5.84506690e-03 5.99913987e+01] [ 2.88188253e-01 9.57572070e-01 1.80573207e-03 5.30814389e+00] [-6.11747379e-03 -4.46067626e-05 9.99981287e-01 -9.66783772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:5.31, Z:-0.97 [[ 9.57973540e-01 -2.86811299e-01 5.09656022e-03 6.00177580e+01] [ 2.86806971e-01 9.57987096e-01 1.57639637e-03 5.31294580e+00] [-5.33456722e-03 -4.84170071e-05 9.99985770e-01 -9.66732758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:5.32, Z:-0.97 [[ 9.58185311e-01 -2.86116614e-01 4.26534698e-03 6.00451430e+01] [ 2.86113577e-01 9.58194803e-01 1.31898958e-03 5.32030295e+00] [-4.46441815e-03 -4.34627603e-05 9.99990033e-01 -9.67240235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:5.33, Z:-0.97 [[ 9.58431623e-01 -2.85297671e-01 3.75005053e-03 6.00711494e+01] [ 2.85295308e-01 9.58438959e-01 1.16189152e-03 5.32665769e+00] [-3.92567947e-03 -4.37217598e-05 9.99992294e-01 -9.67723831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:5.33, Z:-0.97 [[ 9.58608301e-01 -2.84704628e-01 3.66057489e-03 6.00978635e+01] [ 2.84702373e-01 9.58615289e-01 1.13390793e-03 5.33287135e+00] [-3.83191189e-03 -4.47991962e-05 9.99992657e-01 -9.68357002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:5.34, Z:-0.97 [[ 9.58782078e-01 -2.84125454e-01 3.10705269e-03 6.01262662e+01] [ 2.84123829e-01 9.58787111e-01 9.61560731e-04 5.33611506e+00] [-3.25220595e-03 -3.91394876e-05 9.99994711e-01 -9.68035459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:5.34, Z:-0.97 [[ 9.58707576e-01 -2.84376742e-01 3.10672750e-03 6.01535275e+01] [ 2.84375115e-01 9.58712609e-01 9.62608268e-04 5.34466795e+00] [-3.25220224e-03 -3.93838478e-05 9.99994711e-01 -9.68434968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:5.35, Z:-0.97 [[ 9.58688925e-01 -2.84441904e-01 2.88924799e-03 6.01800001e+01] [ 2.84440491e-01 9.58693278e-01 8.97407931e-04 5.35040156e+00] [-3.02516305e-03 -3.85159289e-05 9.99995423e-01 -9.68528054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:5.35, Z:-0.97 [[ 9.58488673e-01 -2.85121243e-01 2.31083226e-03 6.02073325e+01] [ 2.85120341e-01 9.58491458e-01 7.17779782e-04 5.35343385e+00] [-2.41956725e-03 -2.91185081e-05 9.99997072e-01 -9.68604026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:5.36, Z:-0.97 [[ 9.58274188e-01 -2.85843545e-01 2.01199645e-03 6.02353733e+01] [ 2.85842867e-01 9.58276300e-01 6.23181388e-04 5.35934646e+00] [-2.10618089e-03 -2.20638065e-05 9.99997782e-01 -9.69049566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:5.37, Z:-0.97 [[ 9.57847841e-01 -2.87271798e-01 1.55815169e-03 6.02631705e+01] [ 2.87271395e-01 9.57849108e-01 4.81896324e-04 5.36576385e+00] [-1.63090943e-03 -1.39709442e-05 9.99998670e-01 -9.69503275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:5.37, Z:-0.97 [[ 9.56741995e-01 -2.90932492e-01 1.74342664e-03 6.02917171e+01] [ 2.90931991e-01 9.56743584e-01 5.40067198e-04 5.36855157e+00] [-1.82513535e-03 -9.48638558e-06 9.99998334e-01 -9.69760867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.32, Y:5.37, Z:-0.97 [[ 9.55876068e-01 -2.93760844e-01 2.34730853e-03 6.03187409e+01] [ 2.93759934e-01 9.55878950e-01 7.31430893e-04 5.37300804e+00] [-2.45860857e-03 -9.61208770e-06 9.99996978e-01 -9.69392372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:5.37, Z:-0.97 [[ 9.53774738e-01 -3.00506590e-01 3.08844112e-03 6.03466791e+01] [ 3.00505046e-01 9.53779738e-01 9.63452590e-04 5.37311274e+00] [-3.23521642e-03 9.17540096e-06 9.99994767e-01 -9.68343141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:5.38, Z:-0.97 [[ 9.52537961e-01 -3.04402741e-01 3.22544437e-03 6.03740634e+01] [ 3.04401083e-01 9.52543422e-01 1.00495218e-03 5.37808000e+00] [-3.37828602e-03 2.45736593e-05 9.99994293e-01 -9.68533297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:5.38, Z:-0.97 [[ 9.51359859e-01 -3.08063271e-01 3.38239238e-03 6.04013114e+01] [ 3.08061467e-01 9.51365871e-01 1.05511653e-03 5.38344088e+00] [-3.54293532e-03 3.81892406e-05 9.99993723e-01 -9.69202680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:5.38, Z:-0.97 [[ 9.49444137e-01 -3.13918647e-01 3.30349843e-03 6.04298461e+01] [ 3.13916958e-01 9.49449883e-01 1.03133503e-03 5.38496704e+00] [-3.46026150e-03 5.78291821e-05 9.99994012e-01 -9.69678343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:5.39, Z:-0.97 [[ 9.48692030e-01 -3.16184983e-01 3.23851737e-03 6.04569938e+01] [ 3.16183364e-01 9.48697556e-01 1.01378324e-03 5.38997770e+00] [-3.39291655e-03 6.21972413e-05 9.99994242e-01 -9.70238660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:5.39, Z:-0.97 [[ 9.47615987e-01 -3.19381897e-01 4.37550229e-03 6.04853030e+01] [ 3.19378977e-01 9.47626083e-01 1.36932478e-03 5.39269256e+00] [-4.58367764e-03 9.98493972e-05 9.99989490e-01 -9.70029480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:5.41, Z:-0.99 [[ 9.45578752e-01 -3.24931594e-01 1.73286898e-02 6.05027190e+01] [ 3.25192482e-01 9.45524962e-01 -1.52445608e-02 5.41077505e+00] [-1.14312694e-02 2.00500925e-02 9.99733624e-01 -9.86644784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:5.40, Z:-0.96 [[ 9.47446216e-01 -3.19914637e-01 -5.40391813e-04 6.05439523e+01] [ 3.19855239e-01 9.47234931e-01 2.09430580e-02 5.39533275e+00] [-6.18811280e-03 -2.00152682e-02 9.99780524e-01 -9.60646896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:5.41, Z:-0.97 [[ 9.47638734e-01 -3.19286828e-01 6.06227751e-03 6.05683840e+01] [ 3.19281198e-01 9.47658115e-01 1.90078755e-03 5.40932083e+00] [-6.35186291e-03 1.34311319e-04 9.99979818e-01 -9.68824265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:5.41, Z:-0.97 [[ 9.48554708e-01 -3.16562523e-01 5.66878820e-03 6.05951329e+01] [ 3.16557535e-01 9.48571641e-01 1.78025681e-03 5.41342724e+00] [-5.94081431e-03 1.05826639e-04 9.99982348e-01 -9.69609381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:5.42, Z:-0.97 [[ 9.49054921e-01 -3.15070578e-01 5.02878605e-03 6.06214655e+01] [ 3.15066629e-01 9.49068240e-01 1.57976529e-03 5.41962328e+00] [-5.27039869e-03 8.51186493e-05 9.99986108e-01 -9.70396941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:5.42, Z:-0.97 [[ 9.50093677e-01 -3.11931051e-01 4.58526481e-03 6.06493144e+01] [ 3.11927736e-01 9.50104739e-01 1.43943258e-03 5.42334906e+00] [-4.80548554e-03 6.26754829e-05 9.99988452e-01 -9.71626355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:5.43, Z:-0.97 [[ 9.50504404e-01 -3.10682148e-01 4.24045756e-03 6.06771091e+01] [ 3.10679296e-01 9.50513861e-01 1.33216894e-03 5.42940981e+00] [-4.44449480e-03 5.11899225e-05 9.99990122e-01 -9.71798827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:5.44, Z:-0.97 [[ 9.50852458e-01 -3.09614064e-01 4.32833192e-03 6.07044801e+01] [ 3.09611075e-01 9.50862308e-01 1.36122043e-03 5.43554652e+00] [-4.53710067e-03 4.57797055e-05 9.99989706e-01 -9.72243707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:60.73, Y:5.44, Z:-0.98 [[ 9.51662843e-01 -3.07117929e-01 4.05096766e-03 6.07322902e+01] [ 3.07115284e-01 9.51671465e-01 1.27495167e-03 5.43959508e+00] [-4.24675085e-03 3.07899509e-05 9.99990982e-01 -9.75036140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:5.45, Z:-0.97 [[ 9.52216209e-01 -3.05398259e-01 4.02436590e-03 6.07595540e+01] [ 3.05395628e-01 9.52224712e-01 1.26782159e-03 5.44558193e+00] [-4.21929117e-03 2.17834849e-05 9.99991099e-01 -9.73144520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:5.45, Z:-0.97 [[ 9.52746631e-01 -3.03737621e-01 4.16106626e-03 6.07863499e+01] [ 3.03734780e-01 9.52755718e-01 1.31387766e-03 5.45165719e+00] [-4.36355374e-03 1.20680282e-05 9.99990480e-01 -9.73429453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:5.46, Z:-0.97 [[ 9.53193580e-01 -3.02323897e-01 4.71809511e-03 6.08140337e+01] [ 3.02320229e-01 9.53205257e-01 1.48915412e-03 5.45838135e+00] [-4.94751994e-03 6.92344603e-06 9.99987761e-01 -9.74347071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:5.46, Z:-0.97 [[ 9.53996229e-01 -2.99770536e-01 5.36845316e-03 6.08417693e+01] [ 2.99765727e-01 9.54011334e-01 1.69800790e-03 5.46180315e+00] [-5.63057790e-03 -1.06148740e-05 9.99984148e-01 -9.74281388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:5.47, Z:-0.97 [[ 9.54157061e-01 -2.99243995e-01 6.11016228e-03 6.08699384e+01] [ 2.99237756e-01 9.54176625e-01 1.93248986e-03 5.46759475e+00] [-6.40846000e-03 -1.55075947e-05 9.99979465e-01 -9.73981852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:5.47, Z:-0.97 [[ 9.54521488e-01 -2.98057849e-01 7.08855096e-03 6.08979891e+01] [ 2.98049398e-01 9.54547808e-01 2.24473218e-03 5.47124821e+00] [-7.43542082e-03 -2.99067557e-05 9.99972356e-01 -9.73986070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:5.48, Z:-0.97 [[ 9.54747987e-01 -2.97328879e-01 7.19851685e-03 6.09255102e+01] [ 2.97320126e-01 9.54775123e-01 2.28176768e-03 5.47807217e+00] [-7.55140024e-03 -3.82491650e-05 9.99971487e-01 -9.74624154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:5.49, Z:-0.97 [[ 9.55435211e-01 -2.95096080e-01 7.86517793e-03 6.09526153e+01] [ 2.95085532e-01 9.55467581e-01 2.49587025e-03 5.48638249e+00] [-8.25144406e-03 -6.37421003e-05 9.99965954e-01 -9.74698273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:5.49, Z:-0.97 [[ 9.57093758e-01 -2.89671995e-01 7.85325970e-03 6.09781581e+01] [ 2.89661269e-01 9.57125970e-01 2.49536646e-03 5.49495900e+00] [-8.23939659e-03 -1.13514489e-04 9.99966049e-01 -9.74951629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:5.51, Z:-0.98 [[ 9.57363849e-01 -2.88798808e-01 7.05049610e-03 6.10046246e+01] [ 2.88790141e-01 9.57389804e-01 2.24001902e-03 5.50518720e+00] [-7.39698790e-03 -1.08399466e-04 9.99972636e-01 -9.75709907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:5.52, Z:-0.98 [[ 9.57405706e-01 -2.88678558e-01 6.24528106e-03 6.10307536e+01] [ 2.88671746e-01 9.57426070e-01 1.98559117e-03 5.51535292e+00] [-6.55259250e-03 -9.81801258e-05 9.99978527e-01 -9.76887669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:5.53, Z:-0.98 [[ 9.56745629e-01 -2.90904914e-01 3.48316756e-03 6.10558921e+01] [ 2.90902812e-01 9.56751968e-01 1.10668883e-03 5.52743664e+00] [-3.65446864e-03 -4.55564648e-05 9.99993321e-01 -9.79418892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:5.54, Z:-0.98 [[ 9.56299188e-01 -2.92383276e-01 1.97064010e-03 6.10809864e+01] [ 2.92382605e-01 9.56301218e-01 6.26927107e-04 5.53657456e+00] [-2.06782853e-03 -2.33489978e-05 9.99997862e-01 -9.80563413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:5.54, Z:-0.98 [[ 9.55804734e-01 -2.94000254e-01 1.07739735e-03 6.11068552e+01] [ 2.94000056e-01 9.55805341e-01 3.41315503e-04 5.54495278e+00] [-1.13012898e-03 -9.47609281e-06 9.99999361e-01 -9.81255183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:5.55, Z:-0.98 [[ 9.54895862e-01 -2.96940830e-01 -1.91185670e-04 6.11339387e+01] [ 2.96940823e-01 9.54895881e-01 -6.51476675e-05 5.55104788e+00] [ 2.01907411e-04 5.43840796e-06 9.99999980e-01 -9.80422527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:5.56, Z:-0.98 [[ 9.54588048e-01 -2.97928933e-01 -9.77112405e-05 6.11603031e+01] [ 2.97928931e-01 9.54588053e-01 -3.29958144e-05 5.55738262e+00] [ 1.03104391e-04 2.38640458e-06 9.99999995e-01 -9.79523419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:5.57, Z:-0.98 [[ 9.54511174e-01 -2.98175077e-01 2.08127051e-04 6.11871994e+01] [ 2.98175070e-01 9.54511196e-01 6.25556149e-05 5.56561851e+00] [-2.17312125e-04 2.34826447e-06 9.99999976e-01 -9.78881482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:5.58, Z:-0.98 [[ 9.54345239e-01 -2.98705813e-01 5.35644150e-05 6.12134753e+01] [ 2.98705812e-01 9.54345240e-01 1.30890684e-05 5.57527636e+00] [-5.50287254e-05 3.50851203e-06 9.99999998e-01 -9.79953751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:5.58, Z:-0.98 [[ 9.54022542e-01 -2.99734572e-01 -4.19928777e-04 6.12399991e+01] [ 2.99734540e-01 9.54022634e-01 -1.38711023e-04 5.58467249e+00] [ 4.42198047e-04 6.46628371e-06 9.99999902e-01 -9.81241589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:61.27, Y:5.59, Z:-0.98 [[ 9.52922091e-01 -3.03213266e-01 -1.09703059e-03 6.12653204e+01] [ 3.03213060e-01 9.52922723e-01 -3.53627465e-04 5.59301806e+00] [ 1.15260992e-03 4.34542125e-06 9.99999336e-01 -9.83981650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:5.60, Z:-0.98 [[ 9.52484428e-01 -3.04586069e-01 8.60383106e-04 6.12928118e+01] [ 3.04585948e-01 9.52484817e-01 2.72152286e-04 5.60088358e+00] [-9.02395640e-04 2.83978933e-06 9.99999593e-01 -9.80750672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:5.61, Z:-0.98 [[ 9.51739043e-01 -3.06898405e-01 2.48268910e-03 6.13194266e+01] [ 3.06897379e-01 9.51742281e-01 7.93776903e-04 5.60861877e+00] [-2.60648905e-03 6.46230766e-06 9.99996603e-01 -9.79898641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:5.62, Z:-0.98 [[ 9.50405664e-01 -3.10961723e-01 5.64627126e-03 6.13457862e+01] [ 3.10956436e-01 9.50422436e-01 1.81350199e-03 5.61549937e+00] [-5.93027258e-03 3.21818228e-05 9.99982415e-01 -9.77370346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:5.62, Z:-0.98 [[ 9.49613490e-01 -3.13349763e-01 6.79309739e-03 6.13726545e+01] [ 3.13342171e-01 9.49637785e-01 2.18201914e-03 5.62384662e+00] [-7.13471714e-03 5.64890702e-05 9.99974546e-01 -9.76806021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:5.63, Z:-0.98 [[ 9.48830537e-01 -3.15702099e-01 7.26611784e-03 6.13996358e+01] [ 3.15693462e-01 9.48858355e-01 2.33650637e-03 5.63258733e+00] [-7.63215659e-03 7.69173032e-05 9.99970872e-01 -9.76704136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:5.64, Z:-0.98 [[ 9.47542995e-01 -3.19534288e-01 7.75315520e-03 6.14263776e+01] [ 3.19524561e-01 9.47574707e-01 2.49578380e-03 5.64193621e+00] [-8.14418227e-03 1.12461053e-04 9.99966829e-01 -9.77980514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:5.65, Z:-0.98 [[ 9.47137489e-01 -3.20738924e-01 7.55772057e-03 6.14516363e+01] [ 3.20729693e-01 9.47167635e-01 2.43609573e-03 5.65046387e+00] [-7.93977905e-03 1.16667804e-04 9.99968473e-01 -9.79203064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:5.66, Z:-0.98 [[ 9.47066902e-01 -3.20959383e-01 7.02557649e-03 6.14787187e+01] [ 3.20951414e-01 9.47092953e-01 2.26432806e-03 5.65901288e+00] [-7.38063132e-03 1.10398554e-04 9.99972757e-01 -9.79331900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:5.67, Z:-0.98 [[ 9.47539877e-01 -3.19569299e-01 6.60638792e-03 6.15053810e+01] [ 3.19562207e-01 9.47562903e-01 2.13104875e-03 5.66793447e+00] [-6.94098587e-03 9.18982287e-05 9.99975907e-01 -9.79280722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:61.53, Y:5.68, Z:-0.98 [[ 9.47829139e-01 -3.18740687e-01 4.92933211e-03 6.15303598e+01] [ 3.18736717e-01 9.47841954e-01 1.59199797e-03 5.67717020e+00] [-5.17966231e-03 6.22170728e-05 9.99986584e-01 -9.82006730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:5.69, Z:-0.98 [[ 9.48701400e-01 -3.16136300e-01 4.84694099e-03 6.15562160e+01] [ 3.16132425e-01 9.48713781e-01 1.56602370e-03 5.68596789e+00] [-5.09343665e-03 4.65863265e-05 9.99987027e-01 -9.80482911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:61.58, Y:5.70, Z:-0.98 [[ 9.49512117e-01 -3.13718724e-01 2.70223439e-03 6.15823081e+01] [ 3.13717516e-01 9.49515962e-01 8.70889763e-04 5.69684539e+00] [-2.83902911e-03 2.08178775e-05 9.99995970e-01 -9.82334630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247628 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:61.61, Y:5.71, Z:-0.98 [[ 9.49671181e-01 -3.13240690e-01 2.21752286e-03 6.16085520e+01] [ 3.13239875e-01 9.49673770e-01 7.14652291e-04 5.70613984e+00] [-2.32978148e-03 1.59319010e-05 9.99997286e-01 -9.83267837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277628 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:61.63, Y:5.71, Z:-0.98 [[ 9.49931091e-01 -3.12451967e-01 2.16562572e-03 6.16344809e+01] [ 3.12451182e-01 9.49933560e-01 7.00361961e-04 5.71427186e+00] [-2.27603002e-03 1.13567154e-05 9.99997410e-01 -9.83805305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30762800000001 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:61.66, Y:5.72, Z:-0.99 [[ 9.49738602e-01 -3.13038896e-01 1.79913342e-03 6.16614980e+01] [ 3.13038359e-01 9.49740306e-01 5.79832868e-04 5.72321936e+00] [-1.89021977e-03 1.25081166e-05 9.99998213e-01 -9.85305965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:61.69, Y:5.73, Z:-0.98 [[ 9.49678009e-01 -3.13214332e-01 2.90882267e-03 6.16875452e+01] [ 3.13212916e-01 9.49682464e-01 9.41803013e-04 5.73177924e+00] [-3.05744408e-03 1.66712203e-05 9.99995326e-01 -9.84470818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:61.71, Y:5.74, Z:-0.98 [[ 9.48980864e-01 -3.15299136e-01 4.66624948e-03 6.17139251e+01] [ 3.15295510e-01 9.48992336e-01 1.51251724e-03 5.74091029e+00] [-4.90513037e-03 3.58975889e-05 9.99987969e-01 -9.84952145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39762800000001 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:61.74, Y:5.75, Z:-0.99 [[ 9.48513904e-01 -3.16691481e-01 5.28022394e-03 6.17397990e+01] [ 3.16686843e-01 9.48528600e-01 1.71451116e-03 5.74899209e+00] [-5.55141450e-03 4.59397706e-05 9.99984590e-01 -9.85338368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:61.77, Y:5.76, Z:-0.99 [[ 9.47675889e-01 -3.19167311e-01 6.52968521e-03 6.17667277e+01] [ 3.19160267e-01 9.47698382e-01 2.12164011e-03 5.75603657e+00] [-6.86533028e-03 7.33888999e-05 9.99976431e-01 -9.85053997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45762800000001 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:61.79, Y:5.76, Z:-0.99 [[ 9.47133770e-01 -3.20764521e-01 6.90971599e-03 6.17936600e+01] [ 3.20756659e-01 9.47158970e-01 2.24750911e-03 5.76407872e+00] [-7.26552066e-03 8.76456396e-05 9.99973602e-01 -9.87131711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.487628 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:61.82, Y:5.77, Z:-0.99 [[ 9.47031603e-01 -3.21027948e-01 8.49700317e-03 6.18208273e+01] [ 3.21016039e-01 9.47069715e-01 2.76732888e-03 5.77215584e+00] [-8.93564428e-03 1.06926391e-04 9.99960071e-01 -9.85184024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:61.85, Y:5.78, Z:-0.99 [[ 9.47289731e-01 -3.20218247e-01 1.01212781e-02 6.18479894e+01] [ 3.20201260e-01 9.47343793e-01 3.30022923e-03 5.78079011e+00] [-1.06451236e-02 1.14572755e-04 9.99943333e-01 -9.85918686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.547628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:61.88, Y:5.79, Z:-0.99 [[ 9.47206332e-01 -3.20464887e-01 1.01203459e-02 6.18751514e+01] [ 3.20447884e-01 9.47260388e-01 3.30308503e-03 5.78973775e+00] [-1.06451256e-02 1.14340387e-04 9.99943333e-01 -9.86309362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:61.90, Y:5.80, Z:-0.99 [[ 9.47564027e-01 -3.19396210e-01 1.04151631e-02 6.19011211e+01] [ 3.19378099e-01 9.47621259e-01 3.40282507e-03 5.79859312e+00] [-1.09564794e-02 1.01980379e-04 9.99939971e-01 -9.87061692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:61.93, Y:5.81, Z:-0.99 [[ 9.47876131e-01 -3.18480655e-01 1.00455565e-02 6.19281222e+01] [ 3.18463747e-01 9.47929356e-01 3.28283279e-03 5.80756022e+00] [-1.05679967e-02 8.74267266e-05 9.99944153e-01 -9.87541832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:61.95, Y:5.82, Z:-0.99 [[ 9.48408274e-01 -3.16933200e-01 8.66562546e-03 6.19536168e+01] [ 3.16920527e-01 9.48447860e-01 2.83472383e-03 5.81554690e+00] [-9.11731202e-03 5.78390527e-05 9.99958435e-01 -9.88868938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66762800000001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:61.98, Y:5.82, Z:-0.99 [[ 9.48561689e-01 -3.16495734e-01 7.82131995e-03 6.19803481e+01] [ 3.16485396e-01 9.48593932e-01 2.55852745e-03 5.82419865e+00] [-8.22901967e-03 4.84124284e-05 9.99966140e-01 -9.89512780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69762800000001 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:62.01, Y:5.83, Z:-0.99 [[ 9.49529950e-01 -3.13601416e-01 6.85752680e-03 6.20067085e+01] [ 3.13593383e-01 9.49554712e-01 2.24476708e-03 5.83401094e+00] [-7.21555902e-03 1.90014517e-05 9.99973967e-01 -9.90301705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72762800000001 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:62.03, Y:5.84, Z:-0.99 [[ 9.49969750e-01 -3.12285855e-01 5.91768218e-03 6.20320901e+01] [ 3.12279832e-01 9.49988181e-01 1.93960603e-03 5.84327995e+00] [-6.22743966e-03 5.40574399e-06 9.99980609e-01 -9.91029498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75762800000001 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:62.06, Y:5.85, Z:-0.99 [[ 9.50330240e-01 -3.11204454e-01 4.92167825e-03 6.20583317e+01] [ 3.11200278e-01 9.50342984e-01 1.61217503e-03 5.85283555e+00] [-5.17899845e-03 -4.71039713e-07 9.99986589e-01 -9.91727630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78762800000001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:62.08, Y:5.86, Z:-0.99 [[ 9.50606052e-01 -3.10389160e-01 2.58921494e-03 6.20843643e+01] [ 3.10388004e-01 9.50609578e-01 8.47049398e-04 5.86316862e+00] [-2.72424747e-03 -1.54902628e-06 9.99996289e-01 -9.92885373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81762800000001 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:62.11, Y:5.87, Z:-0.99 [[ 9.50374632e-01 -3.11100835e-01 2.08055001e-03 6.21108364e+01] [ 3.11100091e-01 9.50376910e-01 6.80500474e-04 5.87229219e+00] [-2.18901095e-03 5.28907597e-07 9.99997604e-01 -9.93544157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.847628 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:62.14, Y:5.88, Z:-0.99 [[ 9.49895689e-01 -3.12561810e-01 1.81519332e-03 6.21359110e+01] [ 3.12561242e-01 9.49897423e-01 5.95657195e-04 5.88099984e+00] [-1.91042715e-03 1.54687652e-06 9.99998175e-01 -9.94222251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:62.16, Y:5.89, Z:-1.00 [[ 9.48636274e-01 -3.16360867e-01 2.24097809e-03 6.21622667e+01] [ 3.16360015e-01 9.48638921e-01 7.34279622e-04 5.88986046e+00] [-2.35817637e-03 1.23915776e-05 9.99997219e-01 -9.95022664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.907628 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:62.19, Y:5.90, Z:-1.00 [[ 9.47887814e-01 -3.18589231e-01 3.09727663e-03 6.21888362e+01] [ 3.18587608e-01 9.47892874e-01 1.01725253e-03 5.89929708e+00] [-3.25997215e-03 2.25126785e-05 9.99994686e-01 -9.95334070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:62.21, Y:5.91, Z:-0.99 [[ 9.46307165e-01 -3.23211220e-01 6.10385021e-03 6.22148699e+01] [ 3.23204976e-01 9.46326847e-01 2.01023804e-03 5.90862833e+00] [-6.42596882e-03 7.04921029e-05 9.99979351e-01 -9.94767074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.967628 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:62.24, Y:5.92, Z:-1.00 [[ 9.44954295e-01 -3.27143530e-01 6.20409808e-03 6.22419678e+01] [ 3.27137152e-01 9.44974656e-01 2.04513092e-03 5.91703395e+00] [-6.53176680e-03 9.70357288e-05 9.99978663e-01 -9.95994635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:62.27, Y:5.92, Z:-0.99 [[ 9.43818405e-01 -3.30374726e-01 7.70452461e-03 6.22675188e+01] [ 3.30364967e-01 9.43849840e-01 2.54339364e-03 5.92459787e+00] [-8.11218729e-03 1.44803290e-04 9.99967085e-01 -9.93667674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027628 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:62.29, Y:5.93, Z:-0.99 [[ 9.41088898e-01 -3.38027307e-01 9.44597795e-03 6.22933488e+01] [ 3.38012998e-01 9.41136268e-01 3.12073554e-03 5.93233863e+00] [-9.94484627e-03 2.55973751e-04 9.99950516e-01 -9.93067390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:62.32, Y:5.94, Z:-0.99 [[ 9.39805322e-01 -3.41573770e-01 9.65999967e-03 6.23204811e+01] [ 3.41558975e-01 9.39854920e-01 3.19309607e-03 5.94106413e+00] [-1.01696761e-02 2.98570905e-04 9.99948243e-01 -9.93067845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08762800000001 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:62.35, Y:5.95, Z:-0.99 [[ 9.38794206e-01 -3.44338979e-01 9.80343731e-03 6.23472053e+01] [ 3.44323863e-01 9.38845332e-01 3.24326959e-03 5.94953151e+00] [-1.03206955e-02 3.30794713e-04 9.99946685e-01 -9.92902834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11762800000001 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:62.37, Y:5.96, Z:-0.99 [[ 9.37514789e-01 -3.47803315e-01 9.94358986e-03 6.23739108e+01] [ 3.47787927e-01 9.37567446e-01 3.29270863e-03 5.95945444e+00] [-1.04680011e-02 3.71297465e-04 9.99945140e-01 -9.93967044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14762800000001 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:62.40, Y:5.97, Z:-0.99 [[ 9.37263352e-01 -3.48492084e-01 9.52243271e-03 6.23992430e+01] [ 3.48477976e-01 9.37311654e-01 3.15640527e-03 5.96900902e+00] [-1.00254694e-02 3.59975092e-04 9.99949679e-01 -9.94585799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17762800000001 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:62.43, Y:5.98, Z:-1.00 [[ 9.37445218e-01 -3.48027791e-01 8.55103371e-03 6.24250742e+01] [ 3.48016385e-01 9.37484163e-01 2.83551092e-03 5.97894742e+00] [-9.00329528e-03 3.17763686e-04 9.99959419e-01 -9.95552466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20762800000001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:62.45, Y:5.99, Z:-1.00 [[ 9.37695153e-01 -3.47362117e-01 8.20733141e-03 6.24511789e+01] [ 3.47351563e-01 9.37731023e-01 2.72392130e-03 5.98810448e+00] [-8.64245635e-03 2.96621591e-04 9.99962609e-01 -9.95992496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:62.48, Y:6.00, Z:-1.00 [[ 9.37995171e-01 -3.46557516e-01 7.93388339e-03 6.24774878e+01] [ 3.46547606e-01 9.38028683e-01 2.63549200e-03 5.99748687e+00] [-8.35555975e-03 2.77389529e-04 9.99965053e-01 -9.96098509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.267628 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:62.50, Y:6.01, Z:-1.00 [[ 9.39047834e-01 -3.43687633e-01 8.24478451e-03 6.25020447e+01] [ 3.43676790e-01 9.39083992e-01 2.74234350e-03 6.00791233e+00] [-8.68505470e-03 2.58349352e-04 9.99962251e-01 -9.95707122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:62.53, Y:6.02, Z:-1.00 [[ 9.39619867e-01 -3.42110071e-01 8.67207917e-03 6.25280037e+01] [ 3.42098002e-01 9.39659850e-01 2.88500209e-03 6.01789306e+00] [-9.13579288e-03 2.55895677e-04 9.99958235e-01 -9.95849061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.327628 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:62.55, Y:6.03, Z:-1.00 [[ 9.40149473e-01 -3.40640501e-01 9.11144194e-03 6.25546886e+01] [ 3.40627081e-01 9.40193590e-01 3.03408451e-03 6.02826647e+00] [-9.60005137e-03 2.51110920e-04 9.99953887e-01 -9.95852615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:62.58, Y:6.04, Z:-1.00 [[ 9.41234776e-01 -3.37616034e-01 9.61819406e-03 6.25795187e+01] [ 3.37600885e-01 9.41283890e-01 3.20643828e-03 6.03927073e+00] [-1.01359961e-02 2.29099609e-04 9.99948603e-01 -9.95772738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387628 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:62.61, Y:6.05, Z:-1.00 [[ 9.41707220e-01 -3.36278442e-01 1.02137676e-02 6.26056852e+01] [ 3.36261258e-01 9.41762581e-01 3.40707192e-03 6.04904463e+00] [-1.07646690e-02 2.26030116e-04 9.99942034e-01 -9.96530117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41762800000001 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:62.63, Y:6.06, Z:-1.00 [[ 9.42829956e-01 -3.33115958e-01 1.02680512e-02 6.26312027e+01] [ 3.33098363e-01 9.42885849e-01 3.42888700e-03 6.05878549e+00] [-1.08238172e-02 1.87413673e-04 9.99941403e-01 -9.97040861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44762800000001 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:62.66, Y:6.07, Z:-1.00 [[ 9.43233758e-01 -3.31980368e-01 9.95559399e-03 6.26571908e+01] [ 3.31963756e-01 9.43286280e-01 3.32530199e-03 6.06823066e+00] [-1.04949102e-02 1.68359280e-04 9.99944913e-01 -9.97433150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:62.68, Y:6.08, Z:-1.00 [[ 9.43494563e-01 -3.31232437e-01 1.01529820e-02 6.26836110e+01] [ 3.31215082e-01 9.43549176e-01 3.39444532e-03 6.07805590e+00] [-1.07041881e-02 1.60180046e-04 9.99942696e-01 -9.98551212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50762800000001 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:62.71, Y:6.09, Z:-1.00 [[ 9.43682746e-01 -3.30691070e-01 1.03097323e-02 6.27089606e+01] [ 3.30673101e-01 9.43739049e-01 3.45067318e-03 6.08775715e+00] [-1.08708038e-02 1.52810426e-04 9.99940899e-01 -9.99676166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:62.73, Y:6.10, Z:-1.01 [[ 9.42423827e-01 -3.34036908e-01 1.60210581e-02 6.27286268e+01] [ 3.34084810e-01 9.42542958e-01 -3.33895701e-04 6.10193092e+00] [-1.49890020e-02 5.66706341e-03 9.99871599e-01 -1.00711693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56762800000001 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:62.76, Y:6.10, Z:-1.00 [[ 9.43653991e-01 -3.30792791e-01 9.65788160e-03 6.27633944e+01] [ 3.30710375e-01 9.43687461e-01 9.19911554e-03 6.10246932e+00] [-1.21570229e-02 -5.48682045e-03 9.99911047e-01 -9.97504935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:62.79, Y:6.11, Z:-1.00 [[ 9.43428246e-01 -3.31371068e-01 1.16773113e-02 6.27897075e+01] [ 3.31348008e-01 9.43500495e-01 3.91330960e-03 6.11276075e+00] [-1.23143066e-02 1.77327037e-04 9.99924160e-01 -9.98670571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.627628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.82, Y:6.12, Z:-1.00 [[ 9.43434450e-01 -3.31369978e-01 1.11971204e-02 6.28158456e+01] [ 3.31348736e-01 9.43500880e-01 3.75570406e-03 6.12222606e+00] [-1.18090205e-02 1.66891094e-04 9.99930257e-01 -9.99363105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:62.84, Y:6.13, Z:-1.00 [[ 9.43587029e-01 -3.30967821e-01 1.01892550e-02 6.28425862e+01] [ 3.30950177e-01 9.43642030e-01 3.42043434e-03 6.13213546e+00] [-1.07470630e-02 1.44658281e-04 9.99942238e-01 -1.00021842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.687628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:62.87, Y:6.14, Z:-1.00 [[ 9.43762102e-01 -3.30491113e-01 9.41908652e-03 6.28690774e+01] [ 3.30475985e-01 9.43809095e-01 3.16457764e-03 6.14177950e+00] [-9.93568431e-03 1.26173458e-04 9.99950632e-01 -1.00121521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:62.90, Y:6.15, Z:-1.00 [[ 9.44267249e-01 -3.29055749e-01 9.03749604e-03 6.28951426e+01] [ 3.29041725e-01 9.44310491e-01 3.03974927e-03 6.15066324e+00] [-9.53444930e-03 1.03377598e-04 9.99954541e-01 -1.00138987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:62.92, Y:6.16, Z:-1.00 [[ 9.44608416e-01 -3.28047495e-01 9.98905087e-03 6.29215113e+01] [ 3.28030295e-01 9.44661225e-01 3.36082600e-03 6.15888037e+00] [-1.05387796e-02 1.02046781e-04 9.99944460e-01 -1.00098985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:62.95, Y:6.17, Z:-1.00 [[ 9.44535324e-01 -3.28242146e-01 1.04935724e-02 6.29484399e+01] [ 3.28223137e-01 9.44593607e-01 3.53408169e-03 6.16803165e+00] [-1.10721960e-02 1.06168272e-04 9.99938696e-01 -1.00150723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:62.98, Y:6.18, Z:-1.00 [[ 9.44410717e-01 -3.28599181e-01 1.05344914e-02 6.29750303e+01] [ 3.28580009e-01 9.44469463e-01 3.55116195e-03 6.17697180e+00] [-1.11164144e-02 1.07667886e-04 9.99938205e-01 -1.00180052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.00, Y:6.18, Z:-1.00 [[ 9.44446940e-01 -3.28493665e-01 1.05777442e-02 6.30008097e+01] [ 3.28474288e-01 9.44506168e-01 3.56947713e-03 6.18499835e+00] [-1.11632952e-02 1.03335227e-04 9.99937683e-01 -1.00214089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:6.19, Z:-1.00 [[ 9.44470354e-01 -3.28449761e-01 9.82370893e-03 6.30270828e+01] [ 3.28433038e-01 9.44521437e-01 3.31569227e-03 6.19351253e+00] [-1.03677420e-02 9.48575172e-05 9.99946249e-01 -1.00265320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.05, Y:6.20, Z:-1.00 [[ 9.44650525e-01 -3.27961783e-01 8.74381489e-03 6.30539056e+01] [ 3.27948493e-01 9.44690988e-01 2.95345586e-03 6.20237354e+00] [-9.22882378e-03 7.75372874e-05 9.99957410e-01 -1.00343842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.08, Y:6.21, Z:-1.00 [[ 9.45293911e-01 -3.26155096e-01 6.50192868e-03 6.30804699e+01] [ 3.26147698e-01 9.45316271e-01 2.19720761e-03 6.21015125e+00] [-6.86300944e-03 4.35820955e-05 9.99976448e-01 -1.00467378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:63.11, Y:6.22, Z:-1.01 [[ 9.45454020e-01 -3.25699908e-01 6.02212282e-03 6.31078258e+01] [ 3.25742518e-01 9.45420084e-01 -8.52500523e-03 6.22338979e+00] [-2.91684244e-03 1.00216619e-02 9.99945528e-01 -1.00990514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.987628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.14, Y:6.22, Z:-1.00 [[ 9.46626579e-01 -3.22329149e-01 1.42855002e-03 6.31362688e+01] [ 3.22295382e-01 9.46575908e-01 1.09424328e-02 6.22355012e+00] [-4.87929609e-03 -9.89798265e-03 9.99939109e-01 -1.00164974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:6.24, Z:-1.01 [[ 9.47229846e-01 -3.20515605e-01 5.03656082e-03 6.31616113e+01] [ 3.20511065e-01 9.47243235e-01 1.70595959e-03 6.23635478e+00] [-5.31763484e-03 -1.66237015e-06 9.99985861e-01 -1.00658242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:6.24, Z:-1.01 [[ 9.47863381e-01 -3.18643788e-01 4.59855765e-03 6.31887944e+01] [ 3.18639976e-01 9.47874536e-01 1.55862478e-03 6.24488471e+00] [-4.85550180e-03 -1.20790613e-05 9.99988212e-01 -1.00645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.22, Y:6.25, Z:-1.01 [[ 9.49114801e-01 -3.14889752e-01 5.05363296e-03 6.32151397e+01] [ 3.14885078e-01 9.49128254e-01 1.71624773e-03 6.25206089e+00] [-5.33697465e-03 -3.76025107e-05 9.99985758e-01 -1.00884313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:6.26, Z:-1.01 [[ 9.49522512e-01 -3.13640602e-01 6.04752552e-03 6.32415675e+01] [ 3.13633878e-01 9.49541768e-01 2.05444763e-03 6.25987924e+00] [-6.38673626e-03 -5.40353922e-05 9.99979603e-01 -1.00666607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:6.27, Z:-1.01 [[ 9.49599148e-01 -3.13392632e-01 6.82029520e-03 6.32689095e+01] [ 3.13384065e-01 9.49623638e-01 2.31815933e-03 6.26764181e+00] [-7.20320759e-03 -6.39502962e-05 9.99974055e-01 -1.00673284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:6.27, Z:-1.01 [[ 9.47911679e-01 -3.18418880e-01 8.53613982e-03 6.32932059e+01] [ 3.18380028e-01 9.47946535e-01 5.61461577e-03 6.27472005e+00] [-9.87960384e-03 -2.60442343e-03 9.99947804e-01 -1.00673091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:6.28, Z:-1.01 [[ 9.48282788e-01 -3.17245910e-01 1.07138092e-02 6.33239874e+01] [ 3.17253446e-01 9.48340225e-01 1.03376445e-03 6.28201549e+00] [-1.04882938e-02 2.41869186e-03 9.99942071e-01 -1.00745257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:6.29, Z:-1.01 [[ 9.47600455e-01 -3.19266790e-01 1.10496158e-02 6.33508257e+01] [ 3.19244593e-01 9.47664875e-01 3.76494870e-03 6.28839706e+00] [-1.16733559e-02 -4.01369943e-05 9.99931863e-01 -1.00671042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:6.30, Z:-1.01 [[ 9.46807597e-01 -3.21584488e-01 1.17810112e-02 6.33775228e+01] [ 3.21559401e-01 9.46880889e-01 4.01675854e-03 6.29605552e+00] [-1.24469416e-02 -1.48026015e-05 9.99922534e-01 -1.00702484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:6.30, Z:-1.01 [[ 9.45512213e-01 -3.25368953e-01 1.19037842e-02 6.34050672e+01] [ 3.25343595e-01 9.45587142e-01 4.06224199e-03 6.30293483e+00] [-1.25777927e-02 3.19205221e-05 9.99920896e-01 -1.00707454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:6.31, Z:-1.01 [[ 9.45240043e-01 -3.26137333e-01 1.24780440e-02 6.34301696e+01] [ 3.26109481e-01 9.45322399e-01 4.26240608e-03 6.31188369e+00] [-1.31859043e-02 4.02115650e-05 9.99913061e-01 -1.00743922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:6.32, Z:-1.01 [[ 9.44791653e-01 -3.27463189e-01 1.16872628e-02 6.34557956e+01] [ 3.27438841e-01 9.44863936e-01 3.99356612e-03 6.32320249e+00] [-1.23506190e-02 5.37758573e-05 9.99923727e-01 -1.00805185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:6.33, Z:-1.01 [[ 9.44238103e-01 -3.29079765e-01 1.09960277e-02 6.34822075e+01] [ 3.29058284e-01 9.44302125e-01 3.76056310e-03 6.33403747e+00] [-1.16210976e-02 6.74670466e-05 9.99932470e-01 -1.00903469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:6.34, Z:-1.01 [[ 9.43593433e-01 -3.30947049e-01 1.02705266e-02 6.35068517e+01] [ 3.30928383e-01 9.43649323e-01 3.51585140e-03 6.34429301e+00] [-1.08553361e-02 8.12744525e-05 9.99941076e-01 -1.01029623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:6.36, Z:-1.01 [[ 9.41608384e-01 -3.36590710e-01 8.96356155e-03 6.35324630e+01] [ 3.36576745e-01 9.41651038e-01 3.06875135e-03 6.35544357e+00] [-9.47346024e-03 1.27364367e-04 9.99955118e-01 -1.01110879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:6.36, Z:-1.01 [[ 9.41519585e-01 -3.36839045e-01 8.96267245e-03 6.35594924e+01] [ 3.36825066e-01 9.41562235e-01 3.07134537e-03 6.36478336e+00] [-9.47346294e-03 1.27120923e-04 9.99955118e-01 -1.01149458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:6.37, Z:-1.01 [[ 9.40322561e-01 -3.40169508e-01 8.84231567e-03 6.35848735e+01] [ 3.40156019e-01 9.40364122e-01 3.03328688e-03 6.37380030e+00] [-9.34682811e-03 1.55498812e-04 9.99956305e-01 -1.01192384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:6.38, Z:-1.01 [[ 9.38923272e-01 -3.44022099e-01 8.47852445e-03 6.36113610e+01] [ 3.44009851e-01 9.38961533e-01 2.90880979e-03 6.38258756e+00] [-8.96170317e-03 1.85546727e-04 9.99959826e-01 -1.01195745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:63.64, Y:6.39, Z:-1.02 [[ 9.35704323e-01 -3.52703384e-01 7.59888724e-03 6.36383748e+01] [ 3.52693816e-01 9.35735147e-01 2.60894092e-03 6.39175250e+00] [-8.03072816e-03 2.38883240e-04 9.99967725e-01 -1.01522079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:6.40, Z:-1.01 [[ 9.34203842e-01 -3.56647922e-01 8.08962239e-03 6.36637061e+01] [ 3.56637194e-01 9.34238822e-01 2.78114586e-03 6.40051048e+00] [-8.54952918e-03 2.86903081e-04 9.99963411e-01 -1.01418283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:6.41, Z:-1.01 [[ 9.32824961e-01 -3.60237668e-01 8.14947702e-03 6.36897906e+01] [ 3.60226914e-01 9.32860504e-01 2.80206067e-03 6.41039912e+00] [-8.61173304e-03 3.21828819e-04 9.99962867e-01 -1.01497634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:6.42, Z:-1.02 [[ 9.31713346e-01 -3.63094164e-01 8.53629803e-03 6.37160792e+01] [ 3.63082459e-01 9.31752379e-01 2.93788383e-03 6.42091483e+00] [-9.02044448e-03 3.62114507e-04 9.99959249e-01 -1.01558406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:6.44, Z:-1.02 [[ 9.30294611e-01 -3.66695882e-01 9.27721429e-03 6.37399464e+01] [ 3.66752180e-01 9.30303645e-01 -5.28838900e-03 6.43569767e+00] [-6.69139580e-03 8.32219835e-03 9.99942981e-01 -1.01927384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:6.44, Z:-1.01 [[ 9.29913994e-01 -3.67721455e-01 6.39487014e-03 6.37696057e+01] [ 3.67643856e-01 9.29904599e-01 1.07439284e-02 6.43980430e+00] [-9.89739212e-03 -7.63989462e-03 9.99921834e-01 -1.01224069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:6.45, Z:-1.02 [[ 9.29854011e-01 -3.67808309e-01 9.41091050e-03 6.37943217e+01] [ 3.67794249e-01 9.29901528e-01 3.24632247e-03 6.45320203e+00] [-9.94524443e-03 4.42672790e-04 9.99950447e-01 -1.01509725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:6.47, Z:-1.01 [[ 9.30592332e-01 -3.65885181e-01 1.12225265e-02 6.38201788e+01] [ 3.65864995e-01 9.30659865e-01 3.87558201e-03 6.46560992e+00] [-1.18623730e-02 4.99342709e-04 9.99929515e-01 -1.01334553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:6.48, Z:-1.01 [[ 9.31184749e-01 -3.64326743e-01 1.26880946e-02 6.38459543e+01] [ 3.64300736e-01 9.31271032e-01 4.38621654e-03 6.47736937e+00] [-1.34140710e-02 5.37904260e-04 9.99909883e-01 -1.01364728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:6.49, Z:-1.01 [[ 9.31870798e-01 -3.62538911e-01 1.35038817e-02 6.38704752e+01] [ 3.62509200e-01 9.31968479e-01 4.67269275e-03 6.48974721e+00] [-1.42792251e-02 5.40935455e-04 9.99897900e-01 -1.01466004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:6.51, Z:-1.02 [[ 9.33332696e-01 -3.58716518e-01 1.45787159e-02 6.38947598e+01] [ 3.58681369e-01 9.33446405e-01 5.04814065e-03 6.50569631e+00] [-1.54193014e-02 5.17519057e-04 9.99880982e-01 -1.01619717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:6.52, Z:-1.02 [[ 9.33969614e-01 -3.57057801e-01 1.45081996e-02 6.39201028e+01] [ 3.57022722e-01 9.34082166e-01 5.02820927e-03 6.51729017e+00] [-1.53472118e-02 4.83562245e-04 9.99882108e-01 -1.01659898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:6.53, Z:-1.02 [[ 9.34427469e-01 -3.55860258e-01 1.44492650e-02 6.39463402e+01] [ 3.55825253e-01 9.34539067e-01 5.01223808e-03 6.52883659e+00] [-1.52870590e-02 4.57840431e-04 9.99883041e-01 -1.01685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:6.54, Z:-1.02 [[ 9.35105328e-01 -3.54110728e-01 1.35505555e-02 6.39714455e+01] [ 3.54079702e-01 9.35203418e-01 4.70441912e-03 6.54131240e+00] [-1.43384111e-02 3.98849265e-04 9.99897120e-01 -1.01651593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:6.55, Z:-1.02 [[ 9.35252487e-01 -3.53742244e-01 1.30080757e-02 6.39972359e+01] [ 3.53713563e-01 9.35342870e-01 4.51998564e-03 6.55230730e+00] [-1.37659208e-02 3.73805000e-04 9.99905175e-01 -1.01684943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:6.56, Z:-1.02 [[ 9.35397337e-01 -3.53395625e-01 1.19730700e-02 6.40228290e+01] [ 3.53371255e-01 9.35473901e-01 4.16378271e-03 6.56324534e+00] [-1.26719571e-02 3.36147519e-04 9.99919651e-01 -1.01746496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:6.58, Z:-1.02 [[ 9.35567449e-01 -3.52994787e-01 1.04033036e-02 6.40475683e+01] [ 3.52976333e-01 9.35625245e-01 3.62058084e-03 6.57662060e+00] [-1.10116396e-02 2.84822369e-04 9.99939329e-01 -1.01911651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:6.59, Z:-1.02 [[ 9.35646698e-01 -3.52816041e-01 9.27883172e-03 6.40720922e+01] [ 3.52801325e-01 9.35692673e-01 3.23210630e-03 6.58773083e+00] [-9.82247381e-03 2.49474530e-04 9.99951727e-01 -1.02069842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:6.60, Z:-1.02 [[ 9.35499600e-01 -3.53226310e-01 8.46598750e-03 6.40978370e+01] [ 3.53214065e-01 9.35537878e-01 2.95013544e-03 6.59893673e+00] [-8.96231743e-03 2.30455336e-04 9.99959811e-01 -1.02235284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:6.61, Z:-1.02 [[ 9.35199094e-01 -3.54040588e-01 7.61031791e-03 6.41236295e+01] [ 3.54030704e-01 9.35230034e-01 2.65395296e-03 6.60911152e+00] [-8.05700494e-03 2.12311798e-04 9.99967519e-01 -1.02310837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:6.62, Z:-1.02 [[ 9.34025151e-01 -3.57142272e-01 6.81289882e-03 6.41486760e+01] [ 3.57134414e-01 9.34049973e-01 2.37863502e-03 6.61854936e+00] [-7.21309908e-03 2.11415698e-04 9.99973963e-01 -1.02245405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:6.63, Z:-1.02 [[ 9.33125574e-01 -3.59480668e-01 7.09316306e-03 6.41754000e+01] [ 3.59472216e-01 9.33152502e-01 2.47654497e-03 6.62770079e+00] [-7.50927290e-03 2.38867599e-04 9.99971776e-01 -1.02187621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:6.64, Z:-1.02 [[ 9.31913897e-01 -3.62604674e-01 7.37145232e-03 6.42022825e+01] [ 3.62595625e-01 9.31943011e-01 2.57612678e-03 6.63712023e+00] [-7.80388908e-03 2.72128020e-04 9.99969512e-01 -1.02187430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:6.65, Z:-1.02 [[ 9.29763673e-01 -3.68066301e-01 8.16766479e-03 6.42277880e+01] [ 3.68055370e-01 9.29799482e-01 2.85809185e-03 6.64687123e+00] [-8.64625779e-03 3.48802909e-04 9.99962560e-01 -1.02181335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:6.66, Z:-1.02 [[ 9.27908423e-01 -3.72725066e-01 7.87292184e-03 6.42509106e+01] [ 3.72685329e-01 9.27937878e-01 6.07783579e-03 6.65769870e+00] [-9.57094413e-03 -2.70555256e-03 9.99950537e-01 -1.02109638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.28, Y:6.67, Z:-1.03 [[ 9.26767783e-01 -3.75410258e-01 1.29851530e-02 6.42756884e+01] [ 3.75453286e-01 9.26840822e-01 -9.59315057e-04 6.67201340e+00] [-1.16750332e-02 5.76438066e-03 9.99915229e-01 -1.02687927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:6.68, Z:-1.02 [[ 9.27112314e-01 -3.74661425e-01 9.56941053e-03 6.43079123e+01] [ 3.74623286e-01 9.27160346e-01 5.57558096e-03 6.67645130e+00] [-1.09613331e-02 -1.58426576e-03 9.99938668e-01 -1.02199436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:6.69, Z:-1.02 [[ 9.25982443e-01 -3.77434061e-01 1.00022025e-02 6.43328072e+01] [ 3.77418139e-01 9.26036312e-01 3.50679049e-03 6.68806705e+00] [-1.05859849e-02 5.27786226e-04 9.99943828e-01 -1.02295734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:6.70, Z:-1.02 [[ 9.25719609e-01 -3.78079616e-01 9.95030047e-03 6.43590860e+01] [ 3.78063887e-01 9.25772932e-01 3.48938979e-03 6.69856903e+00] [-1.05309860e-02 5.31652723e-04 9.99944406e-01 -1.02309712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:6.71, Z:-1.02 [[ 9.25806328e-01 -3.77876070e-01 9.60824809e-03 6.43847939e+01] [ 3.77861366e-01 9.25856045e-01 3.37209617e-03 6.70908730e+00] [-1.01700890e-02 5.08677783e-04 9.99948154e-01 -1.02316384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:6.72, Z:-1.02 [[ 9.26963032e-01 -3.75053722e-01 8.61644194e-03 6.44091072e+01] [ 3.75041750e-01 9.27002979e-01 3.02679342e-03 6.72204114e+00] [-9.12267749e-03 4.25799860e-04 9.99958297e-01 -1.02325908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:6.73, Z:-1.02 [[ 9.27826865e-01 -3.72935867e-01 7.49315858e-03 6.44344487e+01] [ 3.72926745e-01 9.27857055e-01 2.63208963e-03 6.73408648e+00] [-7.93418068e-03 3.52275773e-04 9.99968462e-01 -1.02396494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:6.75, Z:-1.03 [[ 9.30431171e-01 -3.66431543e-01 5.07552936e-03 6.44584439e+01] [ 3.66427256e-01 9.30444993e-01 1.78382876e-03 6.74821923e+00] [-5.37615200e-03 2.00082414e-04 9.99985528e-01 -1.02559844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:6.76, Z:-1.03 [[ 9.31664614e-01 -3.63299634e-01 3.79769513e-03 6.44845993e+01] [ 3.63297211e-01 9.31672344e-01 1.33404518e-03 6.75952615e+00] [-4.02286565e-03 1.36809360e-04 9.99991899e-01 -1.02626732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:6.77, Z:-1.03 [[ 9.32853813e-01 -3.60243275e-01 2.92352472e-03 6.45092092e+01] [ 3.60241821e-01 9.32858389e-01 1.02784878e-03 6.77002394e+00] [-3.09751017e-03 9.43432188e-05 9.99995198e-01 -1.02629944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.53, Y:6.78, Z:-1.03 [[ 9.35323794e-01 -3.53785876e-01 2.22580331e-03 6.45339675e+01] [ 3.53785018e-01 9.35326441e-01 7.81439101e-04 6.78323457e+00] [-2.35831481e-03 5.65572797e-05 9.99997218e-01 -1.02655729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:6.79, Z:-1.03 [[ 9.36422265e-01 -3.50868313e-01 2.18352753e-03 6.45594675e+01] [ 3.50867479e-01 9.36424810e-01 7.66641906e-04 6.79446593e+00] [-2.31369970e-03 4.82282477e-05 9.99997322e-01 -1.02739297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:6.80, Z:-1.03 [[ 9.37532627e-01 -3.47890766e-01 2.14175034e-03 6.45850105e+01] [ 3.47889950e-01 9.37535073e-01 7.54574825e-04 6.80477985e+00] [-2.27047568e-03 3.76549015e-05 9.99997422e-01 -1.02760278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:6.81, Z:-1.03 [[ 9.38597539e-01 -3.45006708e-01 2.24299120e-03 6.46104939e+01] [ 3.45005805e-01 9.38600219e-01 7.89860389e-04 6.81406296e+00] [-2.37777916e-03 3.24839664e-05 9.99997173e-01 -1.02739420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:6.83, Z:-1.03 [[ 9.40037016e-01 -3.41058825e-01 3.04728110e-03 6.46392663e+01] [ 3.41072078e-01 9.40011480e-01 -6.94657591e-03 6.82676109e+00] [-4.95288202e-04 7.56938099e-03 9.99971229e-01 -1.02952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:6.83, Z:-1.02 [[ 9.41272288e-01 -3.37646672e-01 1.09746044e-03 6.46657616e+01] [ 3.37626432e-01 9.41243045e-01 8.36202512e-03 6.82905085e+00] [-3.85638695e-03 -7.50041087e-03 9.99964435e-01 -1.02426840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:6.84, Z:-1.03 [[ 9.42007629e-01 -3.35562603e-01 4.40064478e-03 6.46905939e+01] [ 3.35558998e-01 9.42017908e-01 1.55544775e-03 6.84103087e+00] [-4.66743628e-03 1.14323053e-05 9.99989107e-01 -1.02732804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:6.85, Z:-1.03 [[ 9.43168068e-01 -3.32262020e-01 5.99538168e-03 6.47171555e+01] [ 3.32255252e-01 9.43187123e-01 2.12074057e-03 6.84910414e+00] [-6.35940835e-03 -8.21772871e-06 9.99979779e-01 -1.02734959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:6.86, Z:-1.03 [[ 9.43632821e-01 -3.30917197e-01 7.13496991e-03 6.47440362e+01] [ 3.30907550e-01 9.43659795e-01 2.52680534e-03 6.85727172e+00] [-7.56914758e-03 -2.33610343e-05 9.99971353e-01 -1.02790924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:6.88, Z:-1.05 [[ 9.42018353e-01 -3.34935583e-01 2.04836027e-02 6.47602198e+01] [ 3.35239526e-01 9.42032679e-01 -1.37437717e-02 6.87714963e+00] [-1.46929449e-02 1.98137985e-02 9.99695719e-01 -1.04503518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:6.86, Z:-1.02 [[ 9.44138120e-01 -3.29549984e-01 1.32898443e-04 6.48011575e+01] [ 3.29471481e-01 9.43921865e-01 2.14489061e-02 6.86316100e+00] [-7.19393242e-03 -2.02069437e-02 9.99769937e-01 -1.02006550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:6.88, Z:-1.03 [[ 9.43952797e-01 -3.30003445e-01 7.13039428e-03 6.48256655e+01] [ 3.29993746e-01 9.43979727e-01 2.53033198e-03 6.87545987e+00] [-7.56596592e-03 -3.55284361e-05 9.99971377e-01 -1.02769416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:6.88, Z:-1.03 [[ 9.43664516e-01 -3.30830106e-01 6.98016802e-03 6.48528410e+01] [ 3.30820835e-01 9.43690330e-01 2.47696166e-03 6.88260813e+00] [-7.40657055e-03 -2.82358093e-05 9.99972571e-01 -1.02854046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:6.89, Z:-1.03 [[ 9.43349559e-01 -3.31741235e-01 6.27390010e-03 6.48791166e+01] [ 3.31733747e-01 9.43370422e-01 2.22910463e-03 6.88959402e+00] [-6.65809771e-03 -2.15604841e-05 9.99977834e-01 -1.02944942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:6.89, Z:-1.03 [[ 9.42543794e-01 -3.34052976e-01 4.45041243e-03 6.49072671e+01] [ 3.34049240e-01 9.42554300e-01 1.57993048e-03 6.89341612e+00] [-4.72253585e-03 -2.49677791e-06 9.99988849e-01 -1.03119554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:6.90, Z:-1.03 [[ 9.41824377e-01 -3.36085171e-01 3.68796918e-03 6.49352835e+01] [ 3.36082619e-01 9.41831597e-01 1.30974276e-03 6.89971113e+00] [-3.91363103e-03 5.91468180e-06 9.99992342e-01 -1.03213467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:6.90, Z:-1.03 [[ 9.40181546e-01 -3.40669558e-01 1.70694875e-03 6.49642660e+01] [ 3.40669022e-01 9.40183095e-01 6.04586791e-04 6.90078723e+00] [-1.81080868e-03 1.30832186e-05 9.99998360e-01 -1.03237416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:6.91, Z:-1.03 [[ 9.39103588e-01 -3.43631601e-01 1.33201536e-03 6.49914821e+01] [ 3.43631275e-01 9.39104532e-01 4.73361202e-04 6.90555937e+00] [-1.41356353e-03 1.31869341e-05 9.99999001e-01 -1.03232246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:6.91, Z:-1.03 [[ 9.37827141e-01 -3.47100018e-01 1.35301348e-03 6.50197849e+01] [ 3.47099688e-01 9.37828117e-01 4.79025708e-04 6.91102836e+00] [-1.43516392e-03 2.03872469e-05 9.99998970e-01 -1.03259463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:6.92, Z:-1.03 [[ 9.36533567e-01 -3.50575315e-01 1.35170298e-03 6.50478846e+01] [ 3.50574989e-01 9.36534542e-01 4.79015829e-04 6.91692900e+00] [-1.43384766e-03 2.52588533e-05 9.99998972e-01 -1.03262158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:6.92, Z:-1.03 [[ 9.33793195e-01 -3.57807208e-01 2.06666848e-03 6.50766245e+01] [ 3.57806457e-01 9.33795480e-01 7.35131937e-04 6.91954931e+00] [-2.19288120e-03 5.30061272e-05 9.99997594e-01 -1.03308479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:6.92, Z:-1.03 [[ 9.32593671e-01 -3.60920675e-01 2.30451326e-03 6.51036157e+01] [ 3.60919743e-01 9.32596516e-01 8.22758412e-04 6.92485135e+00] [-2.44613156e-03 6.44450463e-05 9.99997006e-01 -1.03296474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:6.93, Z:-1.03 [[ 9.30469399e-01 -3.66358330e-01 2.87608032e-03 6.51320427e+01] [ 3.66356902e-01 9.30473839e-01 1.02766983e-03 6.92700434e+00] [-3.05261290e-03 9.74565477e-05 9.99995336e-01 -1.03274117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:6.93, Z:-1.03 [[ 9.29592589e-01 -3.68572036e-01 3.50309861e-03 6.51593730e+01] [ 3.68569936e-01 9.29599181e-01 1.25096074e-03 6.93289064e+00] [-3.71754674e-03 1.28252994e-04 9.99993082e-01 -1.03244932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:6.94, Z:-1.03 [[ 9.28773567e-01 -3.70626994e-01 3.91047264e-03 6.51868033e+01] [ 3.70624388e-01 9.28781787e-01 1.39807283e-03 6.93942626e+00] [-4.15013930e-03 1.50823436e-04 9.99991377e-01 -1.03209814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:6.95, Z:-1.03 [[ 9.28214082e-01 -3.72016327e-01 4.74022677e-03 6.52128967e+01] [ 3.72012497e-01 9.28226167e-01 1.69844373e-03 6.94613294e+00] [-5.03185132e-03 1.86904206e-04 9.99987323e-01 -1.03210923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:6.96, Z:-1.03 [[ 9.28121125e-01 -3.72248178e-01 4.74037554e-03 6.52397815e+01] [ 3.72244353e-01 9.28133211e-01 1.69802969e-03 6.95586672e+00] [-5.03178843e-03 1.88600798e-04 9.99987323e-01 -1.03248682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:6.96, Z:-1.03 [[ 9.27844249e-01 -3.72918048e-01 6.09744024e-03 6.52672223e+01] [ 3.72911717e-01 9.27864252e-01 2.18671418e-03 6.96372169e+00] [-6.47306201e-03 2.44876732e-04 9.99979020e-01 -1.03256408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:6.97, Z:-1.03 [[ 9.28314878e-01 -3.71730671e-01 6.91347877e-03 6.52925858e+01] [ 3.71722473e-01 9.28340583e-01 2.48294569e-03 6.97307895e+00] [-7.34104998e-03 2.64940000e-04 9.99973019e-01 -1.03285084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:6.98, Z:-1.04 [[ 9.29730227e-01 -3.68164408e-01 7.52821525e-03 6.53171493e+01] [ 3.68195385e-01 9.29742913e-01 -3.20527509e-03 6.98363223e+00] [-5.81923657e-03 5.75189525e-03 9.99966526e-01 -1.03500639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:6.99, Z:-1.03 [[ 9.30085408e-01 -3.67304895e-01 5.31488113e-03 6.53471845e+01] [ 3.67263016e-01 9.30087248e-01 7.45582801e-03 6.98936752e+00] [-7.68186528e-03 -4.98259756e-03 9.99958080e-01 -1.03001014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:7.00, Z:-1.03 [[ 9.30591601e-01 -3.65986045e-01 7.31355717e-03 6.53726618e+01] [ 3.65976690e-01 9.30620310e-01 2.62702332e-03 7.00141757e+00] [-7.76759872e-03 2.31905610e-04 9.99969805e-01 -1.03258000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:7.01, Z:-1.03 [[ 9.31391051e-01 -3.63960506e-01 6.59240452e-03 6.53991087e+01] [ 3.63952842e-01 9.31414362e-01 2.36968669e-03 7.01221738e+00] [-7.00273262e-03 1.92219383e-04 9.99975462e-01 -1.03269077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:7.02, Z:-1.03 [[ 9.31554245e-01 -3.63544575e-01 6.48304103e-03 6.54241722e+01] [ 3.63537136e-01 9.31576786e-01 2.33294822e-03 7.02260108e+00] [-6.88758119e-03 1.83558351e-04 9.99976263e-01 -1.03350733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:7.03, Z:-1.03 [[ 9.31519264e-01 -3.63632197e-01 6.59442666e-03 6.54499008e+01] [ 3.63624495e-01 9.31542587e-01 2.37396193e-03 7.03372138e+00] [-7.00623826e-03 1.86503801e-04 9.99975439e-01 -1.03479605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:7.04, Z:-1.04 [[ 9.31544228e-01 -3.63573895e-01 6.27483552e-03 6.54758800e+01] [ 3.63566909e-01 9.31565345e-01 2.26071968e-03 7.04464387e+00] [-6.66735798e-03 1.75362181e-04 9.99977758e-01 -1.03540657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:7.05, Z:-1.03 [[ 9.31362107e-01 -3.64026330e-01 7.03248897e-03 6.55025424e+01] [ 3.64017548e-01 9.31388636e-01 2.53635247e-03 7.05474663e+00] [-7.47327939e-03 1.97686808e-04 9.99972055e-01 -1.03455723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:7.06, Z:-1.03 [[ 9.31130925e-01 -3.64607607e-01 7.51625534e-03 6.55287753e+01] [ 3.64597573e-01 9.31161236e-01 2.71344036e-03 7.06439742e+00] [-7.98818660e-03 2.13840225e-04 9.99968071e-01 -1.03415099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:7.07, Z:-1.03 [[ 9.30854280e-01 -3.65306538e-01 7.83853553e-03 6.55546176e+01] [ 3.65295628e-01 9.30887255e-01 2.83236444e-03 7.07459031e+00] [-8.33147407e-03 2.26864199e-04 9.99965267e-01 -1.03390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:7.09, Z:-1.03 [[ 9.30512022e-01 -3.66186546e-01 7.40207977e-03 6.55798735e+01] [ 3.66176828e-01 9.30541437e-01 2.67678689e-03 7.08612837e+00] [-7.86814529e-03 2.19687706e-04 9.99969022e-01 -1.03427200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:7.10, Z:-1.04 [[ 9.30107092e-01 -3.67221349e-01 7.01985202e-03 6.56057024e+01] [ 3.67212623e-01 9.30133558e-01 2.54060574e-03 7.09651818e+00] [-7.46236460e-03 2.14742861e-04 9.99972133e-01 -1.03501707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:7.11, Z:-1.04 [[ 9.29661294e-01 -3.68349732e-01 6.95364863e-03 6.56310071e+01] [ 3.68361939e-01 9.29682318e-01 -5.18331641e-04 7.10776185e+00] [-6.27375686e-03 3.04333236e-03 9.99975689e-01 -1.03716889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:7.12, Z:-1.04 [[ 9.28413495e-01 -3.71517332e-01 4.82230970e-03 6.56575993e+01] [ 3.71496277e-01 9.28422361e-01 4.73668055e-03 7.11596506e+00] [-6.23689908e-03 -2.60612804e-03 9.99977154e-01 -1.03527111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:7.13, Z:-1.04 [[ 9.27832890e-01 -3.72948327e-01 5.97271470e-03 6.56835350e+01] [ 3.72942104e-01 9.27852088e-01 2.16554782e-03 7.12667700e+00] [-6.34943325e-03 2.18210292e-04 9.99979818e-01 -1.03729125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92762800000001 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:65.71, Y:7.14, Z:-1.04 [[ 9.27102753e-01 -3.74772235e-01 5.12413329e-03 6.57084836e+01] [ 3.74767669e-01 9.27116893e-01 1.86021874e-03 7.13624871e+00] [-5.44782887e-03 1.95745572e-04 9.99985141e-01 -1.03985587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:7.15, Z:-1.04 [[ 9.26830960e-01 -3.75438169e-01 5.52743478e-03 6.57348842e+01] [ 3.75432870e-01 9.26847417e-01 2.00640549e-03 7.14708279e+00] [-5.87636985e-03 2.15581977e-04 9.99982711e-01 -1.03810122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:7.16, Z:-1.04 [[ 9.26930742e-01 -3.75192982e-01 5.44286160e-03 6.57613130e+01] [ 3.75211328e-01 9.26934967e-01 -2.83302172e-03 7.15963085e+00] [-3.98224887e-03 4.66823825e-03 9.99981174e-01 -1.04068393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:7.17, Z:-1.04 [[ 9.27755024e-01 -3.73176435e-01 3.15652522e-03 6.57879711e+01] [ 3.73154262e-01 9.27750230e-01 5.95034289e-03 7.16623163e+00] [-5.14899474e-03 -4.34258967e-03 9.99977315e-01 -1.03775039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:7.18, Z:-1.04 [[ 9.28125337e-01 -3.72227655e-01 5.47100281e-03 6.58138229e+01] [ 3.72222385e-01 9.28141442e-01 1.98986754e-03 7.17777056e+00] [-5.81854817e-03 1.89583236e-04 9.99983054e-01 -1.04027430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:7.19, Z:-1.04 [[ 9.28768770e-01 -3.70618337e-01 5.53354938e-03 6.58395213e+01] [ 3.70612900e-01 9.28785237e-01 2.01553463e-03 7.18679015e+00] [-5.88647307e-03 1.78839166e-04 9.99982659e-01 -1.04070885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:7.20, Z:-1.04 [[ 9.29268851e-01 -3.69371637e-01 4.89855488e-03 6.58656075e+01] [ 3.69367362e-01 9.29281750e-01 1.78341248e-03 7.19602997e+00] [-5.21087964e-03 1.52096630e-04 9.99986412e-01 -1.04121642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:7.20, Z:-1.04 [[ 9.30727283e-01 -3.65695780e-01 3.64983298e-03 6.58920437e+01] [ 3.65693379e-01 9.30734434e-01 1.32900055e-03 7.20488693e+00] [-3.88303512e-03 9.77826846e-05 9.99992456e-01 -1.04222221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:7.21, Z:-1.04 [[ 9.31498118e-01 -3.63733502e-01 3.03259351e-03 6.59186593e+01] [ 3.63731832e-01 9.31503051e-01 1.10452850e-03 7.21392253e+00] [-3.22662413e-03 7.41845790e-05 9.99994792e-01 -1.04231158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:7.22, Z:-1.04 [[ 9.32428015e-01 -3.61344853e-01 2.80978341e-03 6.59444726e+01] [ 3.61343402e-01 9.32432246e-01 1.02567543e-03 7.22260867e+00] [-2.99055519e-03 5.89281917e-05 9.99995527e-01 -1.04280746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:7.23, Z:-1.04 [[ 9.33379810e-01 -3.58877464e-01 3.01589042e-03 6.59711889e+01] [ 3.58875783e-01 9.33384681e-01 1.09989215e-03 7.23129991e+00] [-3.20971243e-03 5.57129104e-05 9.99994847e-01 -1.04270514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:7.24, Z:-1.04 [[ 9.35523830e-01 -3.53241760e-01 3.92725561e-03 6.59980314e+01] [ 3.53238849e-01 9.35532072e-01 1.43458889e-03 7.23875054e+00] [-4.18083028e-03 4.51671615e-05 9.99991259e-01 -1.04287534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:7.25, Z:-1.04 [[ 9.36553818e-01 -3.50503393e-01 3.78399745e-03 6.60235649e+01] [ 3.50500658e-01 9.36561461e-01 1.38482294e-03 7.24726423e+00] [-4.02933132e-03 2.93323903e-05 9.99991882e-01 -1.04300822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:7.26, Z:-1.04 [[ 9.38557022e-01 -3.45108111e-01 3.33299306e-03 6.60505826e+01] [ 3.45105960e-01 9.38562940e-01 1.21850835e-03 7.25501166e+00] [-3.54874088e-03 6.59619950e-06 9.99993703e-01 -1.04411436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:7.26, Z:-1.04 [[ 9.39292428e-01 -3.43101721e-01 3.30805595e-03 6.60777662e+01] [ 3.43099586e-01 9.39298254e-01 1.21038286e-03 7.26352999e+00] [-3.52253562e-03 -1.91082741e-06 9.99993796e-01 -1.04494080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:7.27, Z:-1.05 [[ 9.39846104e-01 -3.41579123e-01 3.60601793e-03 6.61034850e+01] [ 3.41576563e-01 9.39853022e-01 1.32240258e-03 7.27129532e+00] [-3.84083197e-03 -1.11237045e-05 9.99992624e-01 -1.04536711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:7.28, Z:-1.04 [[ 9.40204799e-01 -3.40575955e-01 4.79121620e-03 6.61299733e+01] [ 3.40571417e-01 9.40217006e-01 1.75827145e-03 7.27655620e+00] [-5.10360792e-03 -2.13839647e-05 9.99986976e-01 -1.04486748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:7.28, Z:-1.04 [[ 9.39976593e-01 -3.41187039e-01 5.95047664e-03 6.61572859e+01] [ 3.41180051e-01 9.39995427e-01 2.18377658e-03 7.28443155e+00] [-6.33849710e-03 -2.25149395e-05 9.99979911e-01 -1.04499733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:7.29, Z:-1.04 [[ 9.39870985e-01 -3.41460660e-01 6.86650159e-03 6.61827453e+01] [ 3.41451335e-01 9.39896067e-01 2.52368992e-03 7.29295755e+00] [-7.31553867e-03 -2.73667993e-05 9.99973241e-01 -1.04466622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:7.30, Z:-1.04 [[ 9.40044105e-01 -3.40968333e-01 7.59447528e-03 6.62087872e+01] [ 3.40956906e-01 9.40074781e-01 2.79176112e-03 7.30402037e+00] [-8.09127683e-03 -3.49897888e-05 9.99967264e-01 -1.04484048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:7.31, Z:-1.04 [[ 9.39877274e-01 -3.41434315e-01 7.30188672e-03 6.62354268e+01] [ 3.41423749e-01 9.39905638e-01 2.68622353e-03 7.31420799e+00] [-7.78025338e-03 -3.16829075e-05 9.99969733e-01 -1.04486899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:7.32, Z:-1.04 [[ 9.39024660e-01 -3.43791343e-01 6.34034113e-03 6.62616982e+01] [ 3.43783420e-01 9.39046065e-01 2.33400436e-03 7.32476777e+00] [-6.75628288e-03 -1.19834931e-05 9.99977176e-01 -1.04492104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:7.33, Z:-1.05 [[ 9.38933552e-01 -3.44040106e-01 6.33964574e-03 6.62885076e+01] [ 3.44032176e-01 9.38954954e-01 2.33589088e-03 7.33473096e+00] [-6.75628192e-03 -1.22041981e-05 9.99977176e-01 -1.04528439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:7.35, Z:-1.05 [[ 9.37149204e-01 -3.48887161e-01 5.39615115e-03 6.63135057e+01] [ 3.48881483e-01 9.37164739e-01 1.99040527e-03 7.34538484e+00] [-5.75150943e-03 1.73105030e-05 9.99983460e-01 -1.04694917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:7.35, Z:-1.05 [[ 9.35785994e-01 -3.52533626e-01 4.96133994e-03 6.63394727e+01] [ 3.52528882e-01 9.35799146e-01 1.82929369e-03 7.35496798e+00] [-5.28770522e-03 3.71882096e-05 9.99986019e-01 -1.04773924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:7.36, Z:-1.05 [[ 9.33532246e-01 -3.58458021e-01 5.03909621e-03 6.63644596e+01] [ 3.58453197e-01 9.33545844e-01 1.86091597e-03 7.36496882e+00] [-5.37128758e-03 6.90550858e-05 9.99985572e-01 -1.04836704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:7.38, Z:-1.05 [[ 9.32361880e-01 -3.61487977e-01 5.26946392e-03 6.63899856e+01] [ 3.61482746e-01 9.32376766e-01 1.94681040e-03 7.37504491e+00] [-5.61687428e-03 8.96884851e-05 9.99984221e-01 -1.04848166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:7.39, Z:-1.05 [[ 9.29477920e-01 -3.68832887e-01 5.75303760e-03 6.64159826e+01] [ 3.68826793e-01 9.29495713e-01 2.12529410e-03 7.38536852e+00] [-6.13130214e-03 1.46460468e-04 9.99981193e-01 -1.04778709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:7.40, Z:-1.05 [[ 9.27740657e-01 -3.73179918e-01 5.83284258e-03 6.64418520e+01] [ 3.73173727e-01 9.27758976e-01 2.15667749e-03 7.39534931e+00] [-6.21630079e-03 1.75826214e-04 9.99980663e-01 -1.04778605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:7.41, Z:-1.05 [[ 9.25909769e-01 -3.77695562e-01 6.09604917e-03 6.64670654e+01] [ 3.77688877e-01 9.25929812e-01 2.25718996e-03 7.40523379e+00] [-6.49704430e-03 2.12455732e-04 9.99978871e-01 -1.04811623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:7.42, Z:-1.05 [[ 9.23965984e-01 -3.82420022e-01 6.46430198e-03 6.64934411e+01] [ 3.82412620e-01 9.23988560e-01 2.39357587e-03 7.41557319e+00] [-6.88829242e-03 2.60447972e-04 9.99976242e-01 -1.04862140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:7.43, Z:-1.05 [[ 9.20856307e-01 -3.89830062e-01 7.49565528e-03 6.65182405e+01] [ 3.89820324e-01 9.20886742e-01 2.77921158e-03 7.42656083e+00] [-7.98606980e-03 3.62704256e-04 9.99968045e-01 -1.04902775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:7.44, Z:-1.05 [[ 9.19478970e-01 -3.93052420e-01 8.25944624e-03 6.65440780e+01] [ 3.93040720e-01 9.19515965e-01 3.06302582e-03 7.43702337e+00] [-8.79862239e-03 4.29910871e-04 9.99961199e-01 -1.04928535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:7.45, Z:-1.05 [[ 9.18320603e-01 -3.95740254e-01 8.77048158e-03 6.65700887e+01] [ 3.95727156e-01 9.18362357e-01 3.25555303e-03 7.44729855e+00] [-9.34283353e-03 4.81076306e-04 9.99956239e-01 -1.04936274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:7.46, Z:-1.05 [[ 9.16726095e-01 -3.99428519e-01 8.37402898e-03 6.65957028e+01] [ 3.99416708e-01 9.16764209e-01 3.11090134e-03 7.45912908e+00] [-8.91959277e-03 4.92882654e-04 9.99960098e-01 -1.04899789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:7.47, Z:-1.05 [[ 9.16316196e-01 -4.00376735e-01 7.94348462e-03 6.66200277e+01] [ 4.00366117e-01 9.16350504e-01 2.95403174e-03 7.47013703e+00] [-8.46174172e-03 4.73474968e-04 9.99964087e-01 -1.04943926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:7.48, Z:-1.05 [[ 9.16035668e-01 -4.01015469e-01 8.07764911e-03 6.66451200e+01] [ 4.01004510e-01 9.16071153e-01 3.00439264e-03 7.48192879e+00] [-8.60450926e-03 4.87042901e-04 9.99962862e-01 -1.05051172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:7.50, Z:-1.05 [[ 9.16469385e-01 -4.00043006e-01 7.03277661e-03 6.66689377e+01] [ 4.00034651e-01 9.16496275e-01 2.61836127e-03 7.49574108e+00] [-7.49297068e-03 4.13706395e-04 9.99971842e-01 -1.05119615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:7.51, Z:-1.05 [[ 9.16769454e-01 -3.99350691e-01 7.26594106e-03 6.66937983e+01] [ 3.99341743e-01 9.16798151e-01 2.70621965e-03 7.50758714e+00] [-7.74213202e-03 4.20614051e-04 9.99969941e-01 -1.05160246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:7.52, Z:-1.05 [[ 9.17037999e-01 -3.98734702e-01 7.20735377e-03 6.67190763e+01] [ 3.98725878e-01 9.17066229e-01 2.68454849e-03 7.51957727e+00] [-7.68004339e-03 4.11925485e-04 9.99970423e-01 -1.05188150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.127628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:66.74, Y:7.53, Z:-1.05 [[ 9.17411050e-01 -3.97889921e-01 6.36991935e-03 6.67432303e+01] [ 3.97882998e-01 9.17433095e-01 2.37411450e-03 7.53440069e+00] [-6.78861106e-03 3.56443729e-04 9.99976894e-01 -1.05467806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:7.55, Z:-1.05 [[ 9.17844917e-01 -3.96862387e-01 7.80728884e-03 6.67673956e+01] [ 3.96851917e-01 9.17878023e-01 2.91380458e-03 7.54620790e+00] [-8.32251829e-03 4.23916822e-04 9.99965277e-01 -1.05283832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:7.56, Z:-1.05 [[ 9.18233996e-01 -3.95946269e-01 8.53697237e-03 6.67925849e+01] [ 3.95933704e-01 9.18273568e-01 3.18684040e-03 7.55833506e+00] [-9.10109365e-03 4.53809896e-04 9.99958481e-01 -1.05279172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:7.57, Z:-1.05 [[ 9.19161503e-01 -3.93738392e-01 1.05928997e-02 6.68176993e+01] [ 3.93718853e-01 9.19222386e-01 3.95841779e-03 7.57245585e+00] [-1.12958116e-02 5.32199064e-04 9.99936059e-01 -1.05202453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:7.58, Z:-1.05 [[ 9.19735426e-01 -3.92369057e-01 1.15442276e-02 6.68433649e+01] [ 3.92345693e-01 9.19807704e-01 4.31796639e-03 7.58485046e+00] [-1.23127059e-02 5.57941329e-04 9.99924040e-01 -1.05204445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:7.59, Z:-1.05 [[ 9.19632126e-01 -3.92611146e-01 1.15430130e-02 6.68701170e+01] [ 3.92587761e-01 9.19704397e-01 4.32121086e-03 7.59493523e+00] [-1.23127154e-02 5.57721305e-04 9.99924040e-01 -1.05240780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:7.61, Z:-1.05 [[ 9.20367344e-01 -3.90870503e-01 1.20083996e-02 6.68951938e+01] [ 3.90844998e-01 9.20445514e-01 4.49918174e-03 7.60715533e+00] [-1.28116750e-02 5.52522956e-04 9.99917774e-01 -1.05246894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:7.62, Z:-1.05 [[ 9.21367026e-01 -3.88499475e-01 1.22866208e-02 6.69197720e+01] [ 3.88472513e-01 9.21448794e-01 4.60735638e-03 7.61937800e+00] [-1.31114474e-02 5.27948203e-04 9.99913902e-01 -1.05269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:7.63, Z:-1.05 [[ 9.24174249e-01 -3.81784432e-01 1.19417136e-02 6.69432416e+01] [ 3.81758381e-01 9.24251303e-01 4.47962014e-03 7.63496510e+00] [-1.27473936e-02 4.18899667e-04 9.99918661e-01 -1.05411740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:7.65, Z:-1.06 [[ 9.25877394e-01 -3.77658567e-01 1.11829242e-02 6.69679757e+01] [ 3.77635406e-01 9.25944865e-01 4.19619558e-03 7.64817660e+00] [-1.19395004e-02 3.37905479e-04 9.99928665e-01 -1.05525266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:7.66, Z:-1.06 [[ 9.29546181e-01 -3.68573891e-01 9.85817139e-03 6.69923376e+01] [ 3.68555352e-01 9.29598435e-01 3.70175056e-03 7.66352838e+00] [-1.05285093e-02 1.92333728e-04 9.99944555e-01 -1.05717819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:7.68, Z:-1.06 [[ 9.31330230e-01 -3.64058359e-01 9.24738946e-03 6.70180813e+01] [ 3.64041797e-01 9.31376129e-01 3.47506549e-03 7.67570145e+00] [-9.87792444e-03 1.30002728e-04 9.99951204e-01 -1.05785570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:7.69, Z:-1.06 [[ 9.32974105e-01 -3.59841177e-01 8.58172500e-03 6.70437937e+01] [ 3.59826712e-01 9.33013570e-01 3.22735287e-03 7.68801725e+00] [-9.16820034e-03 7.68972352e-05 9.99957968e-01 -1.05868929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:7.70, Z:-1.06 [[ 9.36122531e-01 -3.51591670e-01 7.60949593e-03 6.70679799e+01] [ 3.51580000e-01 9.36153458e-01 2.86455371e-03 7.70081954e+00] [-8.13080915e-03 -6.22669179e-06 9.99966944e-01 -1.05959986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:7.71, Z:-1.06 [[ 9.37413756e-01 -3.48147266e-01 6.99517556e-03 6.70939783e+01] [ 3.48137309e-01 9.37439854e-01 2.63321551e-03 7.71153109e+00] [-7.47430313e-03 -3.31308442e-05 9.99972066e-01 -1.05982521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:7.72, Z:-1.06 [[ 9.39405514e-01 -3.42746339e-01 6.49833155e-03 6.71186643e+01] [ 3.42737597e-01 9.39427987e-01 2.44906400e-03 7.72195797e+00] [-6.94412225e-03 -7.34416856e-05 9.99975887e-01 -1.06078013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:7.73, Z:-1.06 [[ 9.39979652e-01 -3.41154712e-01 7.19147097e-03 6.71444652e+01] [ 3.41143949e-01 9.40007156e-01 2.71150769e-03 7.73137670e+00] [-7.68507780e-03 -9.54352496e-05 9.99970465e-01 -1.06131069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:7.74, Z:-1.06 [[ 9.40129303e-01 -3.40721917e-01 8.09129489e-03 6.71709012e+01] [ 3.40708271e-01 9.40164115e-01 3.05144207e-03 7.74024067e+00] [-8.64683829e-03 -1.11979015e-04 9.99962609e-01 -1.06161268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:7.75, Z:-1.06 [[ 9.39980888e-01 -3.41124714e-01 8.35818642e-03 6.71975606e+01] [ 3.41110144e-01 9.40018040e-01 3.15487319e-03 7.74851896e+00] [-8.93305123e-03 -1.14458327e-04 9.99960093e-01 -1.06147704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:7.76, Z:-1.06 [[ 9.38594012e-01 -3.44920608e-01 8.42934578e-03 6.72250929e+01] [ 3.44905917e-01 9.38631859e-01 3.18451089e-03 7.75507164e+00] [-9.01045594e-03 -8.16316183e-05 9.99959402e-01 -1.06268541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:7.76, Z:-1.06 [[ 9.37484527e-01 -3.47917737e-01 8.71834244e-03 6.72519152e+01] [ 3.47902123e-01 9.37525064e-01 3.29661976e-03 7.76284232e+00] [-9.32061703e-03 -5.74001710e-05 9.99956560e-01 -1.06308132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:7.77, Z:-1.06 [[ 9.36342049e-01 -3.50970647e-01 9.11993097e-03 6.72786251e+01] [ 3.50953670e-01 9.36386461e-01 3.45214261e-03 7.76984097e+00] [-9.75138061e-03 -3.17130330e-05 9.99952454e-01 -1.06325608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:7.77, Z:-1.06 [[ 9.34083314e-01 -3.56934541e-01 9.27880016e-03 6.73071190e+01] [ 3.56917253e-01 9.34129398e-01 3.51312796e-03 7.77325545e+00] [-9.92155672e-03 3.02096549e-05 9.99950780e-01 -1.06275393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:7.78, Z:-1.06 [[ 9.33093771e-01 -3.59510089e-01 9.40798264e-03 6.73336091e+01] [ 3.59492411e-01 9.33141197e-01 3.56562876e-03 7.78016185e+00] [-1.00608557e-02 5.50323773e-05 9.99949387e-01 -1.06325058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:7.78, Z:-1.06 [[ 9.31311930e-01 -3.64131988e-01 8.12309027e-03 6.73613049e+01] [ 3.64118982e-01 9.31347350e-01 3.07887568e-03 7.78499418e+00] [-8.68653572e-03 9.03777113e-05 9.99962267e-01 -1.06435159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:7.79, Z:-1.07 [[ 9.30669774e-01 -3.65794964e-01 6.91489815e-03 6.73888728e+01] [ 3.65785573e-01 9.30695459e-01 2.62260356e-03 7.79216231e+00] [-7.39499948e-03 8.85921182e-05 9.99972653e-01 -1.06509182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:7.80, Z:-1.07 [[ 9.29977736e-01 -3.67576457e-01 5.38135902e-03 6.74158676e+01] [ 3.67570794e-01 9.29993302e-01 2.04184736e-03 7.79899396e+00] [-5.75516286e-03 7.91578184e-05 9.99983436e-01 -1.06534671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:7.81, Z:-1.07 [[ 9.29420920e-01 -3.69000724e-01 3.90121509e-03 6.74427322e+01] [ 3.68997754e-01 9.29429105e-01 1.48190862e-03 7.80564145e+00] [-4.17272820e-03 6.22227321e-05 9.99991292e-01 -1.06569246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.967628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:67.47, Y:7.81, Z:-1.07 [[ 9.27770087e-01 -3.73146741e-01 2.04345543e-03 6.74713544e+01] [ 3.73145941e-01 9.27772336e-01 7.73846513e-04 7.80982635e+00] [-2.18461973e-03 4.45554534e-05 9.99997613e-01 -1.06753773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:7.82, Z:-1.07 [[ 9.26790379e-01 -3.75570531e-01 2.52368706e-03 6.74979917e+01] [ 3.75569313e-01 9.26793813e-01 9.58456011e-04 7.81692725e+00] [-2.69890539e-03 5.95316045e-05 9.99996356e-01 -1.06677783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:7.82, Z:-1.07 [[ 9.25520732e-01 -3.78682645e-01 3.29079450e-03 6.75250766e+01] [ 3.78680590e-01 9.25526578e-01 1.25047382e-03 7.82383719e+00] [-3.51925051e-03 8.88205612e-05 9.99993803e-01 -1.06712660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.55, Y:7.83, Z:-1.07 [[ 9.22781425e-01 -3.85298260e-01 4.43750929e-03 6.75523051e+01] [ 3.85294581e-01 9.22792083e-01 1.69036325e-03 7.82707161e+00] [-4.74619246e-03 1.49912470e-04 9.99988726e-01 -1.06672994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:7.83, Z:-1.07 [[ 9.21212650e-01 -3.89026889e-01 5.03329764e-03 6.75792139e+01] [ 3.89022213e-01 9.21226380e-01 1.91700377e-03 7.83400188e+00] [-5.38257258e-03 1.92096463e-04 9.99985495e-01 -1.06684425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:7.84, Z:-1.07 [[ 9.19539729e-01 -3.92954960e-01 5.75197922e-03 6.76062310e+01] [ 3.92948916e-01 9.19557687e-01 2.19307229e-03 7.84094031e+00] [-6.15105535e-03 2.43616895e-04 9.99981052e-01 -1.06670204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:7.85, Z:-1.07 [[ 9.17197990e-01 -3.98344591e-01 8.33264087e-03 6.76328242e+01] [ 3.98332085e-01 9.17235753e-01 3.18183880e-03 7.84668390e+00] [-8.91046439e-03 4.00782055e-04 9.99960221e-01 -1.06540465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:7.86, Z:-1.07 [[ 9.17029345e-01 -3.98688971e-01 1.02119642e-02 6.76588331e+01] [ 3.98670179e-01 9.17086071e-01 3.90213705e-03 7.85783064e+00] [-1.09209891e-02 4.92831408e-04 9.99940243e-01 -1.06573590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:7.87, Z:-1.07 [[ 9.16834179e-01 -3.99105893e-01 1.13830264e-02 6.76839859e+01] [ 3.99082524e-01 9.16904675e-01 4.35389002e-03 7.86852018e+00] [-1.21748133e-02 5.50971730e-04 9.99925732e-01 -1.06641921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:7.88, Z:-1.07 [[ 9.16733873e-01 -3.99343833e-01 1.11134555e-02 6.77093714e+01] [ 3.99321557e-01 9.16801076e-01 4.25231964e-03 7.87874944e+00] [-1.18869655e-02 5.39596876e-04 9.99929202e-01 -1.06683547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:7.89, Z:-1.07 [[ 9.16637553e-01 -3.99571373e-01 1.08772549e-02 6.77352822e+01] [ 3.99550035e-01 9.16701935e-01 4.16323365e-03 7.88913523e+00] [-1.16347096e-02 5.29831250e-04 9.99932174e-01 -1.06731265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:7.90, Z:-1.07 [[ 9.16877767e-01 -3.99066818e-01 8.99079549e-03 6.77611031e+01] [ 3.99052195e-01 9.16921746e-01 3.44336008e-03 7.90080549e+00] [-9.61798665e-03 4.30656367e-04 9.99953653e-01 -1.06846679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.327628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.79, Y:7.91, Z:-1.07 [[ 9.17050100e-01 -3.98691173e-01 8.02884774e-03 6.77859245e+01] [ 3.98679472e-01 9.17085168e-01 3.07785677e-03 7.91243271e+00] [-8.59025151e-03 3.78387914e-04 9.99963032e-01 -1.07018556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:7.92, Z:-1.07 [[ 9.17608481e-01 -3.97412657e-01 7.60626815e-03 6.78098878e+01] [ 3.97402104e-01 9.17639940e-01 2.91685500e-03 7.92444526e+00] [-8.13901055e-03 3.46216080e-04 9.99966818e-01 -1.07015749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:7.94, Z:-1.07 [[ 9.17977745e-01 -3.96558444e-01 7.63282710e-03 6.78351149e+01] [ 3.96547785e-01 9.18009415e-01 2.92730883e-03 7.93748551e+00] [-8.16785617e-03 3.39576314e-04 9.99966585e-01 -1.07099343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:7.95, Z:-1.07 [[ 9.18950634e-01 -3.94286576e-01 8.23575751e-03 6.78587406e+01] [ 3.94274043e-01 9.18987475e-01 3.16217364e-03 7.95272649e+00] [-8.81536062e-03 3.41263934e-04 9.99961086e-01 -1.07226906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:7.96, Z:-1.07 [[ 9.19472041e-01 -3.93053689e-01 8.94222207e-03 6.78843732e+01] [ 3.93038847e-01 9.19515454e-01 3.43428213e-03 7.96422146e+00] [-9.57236864e-03 3.56914258e-04 9.99954120e-01 -1.07271454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:7.97, Z:-1.07 [[ 9.20092502e-01 -3.91585667e-01 9.51068401e-03 6.79094111e+01] [ 3.91568762e-01 9.20141585e-01 3.65632529e-03 7.97482525e+00] [-1.01829404e-02 3.59929280e-04 9.99948088e-01 -1.07255712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:7.99, Z:-1.07 [[ 9.21312420e-01 -3.88660178e-01 1.12557434e-02 6.79338024e+01] [ 3.88636260e-01 9.21381092e-01 4.32902093e-03 7.98736156e+00] [-1.20533472e-02 3.86009266e-04 9.99927281e-01 -1.07238513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:8.00, Z:-1.07 [[ 9.21972519e-01 -3.87059667e-01 1.23080859e-02 6.79578124e+01] [ 3.87030887e-01 9.22054584e-01 4.73662703e-03 7.99917031e+00] [-1.31820843e-02 3.96569461e-04 9.99913034e-01 -1.07310411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:8.01, Z:-1.07 [[ 9.23546753e-01 -3.83251881e-01 1.33936652e-02 6.79818625e+01] [ 3.83217367e-01 9.23643794e-01 5.15663049e-03 8.01359741e+00] [-1.43472641e-02 3.70295772e-04 9.99897004e-01 -1.07473954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:8.03, Z:-1.08 [[ 9.24571725e-01 -3.80776022e-01 1.32946034e-02 6.80065599e+01] [ 3.80741705e-01 9.24667246e-01 5.12242559e-03 8.02558181e+00] [-1.42435812e-02 3.25760109e-04 9.99898502e-01 -1.07573289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:8.04, Z:-1.08 [[ 9.25738893e-01 -3.77919799e-01 1.35693245e-02 6.80323929e+01] [ 3.77883710e-01 9.25838292e-01 5.23046255e-03 8.03734097e+00] [-1.45396956e-02 2.85584091e-04 9.99894252e-01 -1.07673343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:8.05, Z:-1.08 [[ 9.27189502e-01 -3.74360577e-01 1.31828049e-02 6.80571862e+01] [ 3.74326100e-01 9.27283188e-01 5.08534438e-03 8.04783512e+00] [-1.41279458e-02 2.19590021e-04 9.99900171e-01 -1.07687782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:8.06, Z:-1.08 [[ 9.30407784e-01 -3.66329274e-01 1.20091172e-02 6.80824422e+01] [ 3.66299962e-01 9.30485279e-01 4.63491395e-03 8.05978389e+00] [-1.28722115e-02 8.65791692e-05 9.99917146e-01 -1.07681109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:8.07, Z:-1.08 [[ 9.32095912e-01 -3.62027688e-01 1.15396981e-02 6.81065173e+01] [ 3.62000250e-01 9.32167341e-01 4.45719171e-03 8.07112333e+00] [-1.23705565e-02 2.28434083e-05 9.99923481e-01 -1.07790548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:8.08, Z:-1.08 [[ 9.33684269e-01 -3.57927545e-01 1.10253223e-02 6.81324607e+01] [ 3.57902197e-01 9.33749362e-01 4.25975950e-03 8.08323868e+00] [-1.18195730e-02 -3.12833394e-05 9.99930146e-01 -1.07968398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:8.09, Z:-1.08 [[ 9.36294583e-01 -3.51100955e-01 8.97628986e-03 6.81570071e+01] [ 3.51083817e-01 9.36337605e-01 3.47043125e-03 8.09441387e+00] [-9.62330947e-03 -9.79158799e-05 9.99953690e-01 -1.08143665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:8.10, Z:-1.08 [[ 9.37165843e-01 -3.48786611e-01 8.25121527e-03 6.81835411e+01] [ 3.48772030e-01 9.37202159e-01 3.19126202e-03 8.10468494e+00] [-8.84612623e-03 -1.12948662e-04 9.99960866e-01 -1.08221277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:8.11, Z:-1.08 [[ 9.37697552e-01 -3.47368455e-01 7.64577921e-03 6.82097658e+01] [ 3.47355872e-01 9.37728715e-01 2.95900477e-03 8.11404696e+00] [-8.19753163e-03 -1.18845225e-04 9.99966393e-01 -1.08292427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:8.12, Z:-1.08 [[ 9.38193678e-01 -3.46050481e-01 6.45661478e-03 6.82366283e+01] [ 3.46041459e-01 9.38215888e-01 2.50132688e-03 8.12083678e+00] [-6.92328394e-03 -1.12472662e-04 9.99976027e-01 -1.08310020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:8.13, Z:-1.08 [[ 9.38039741e-01 -3.46478242e-01 5.85419159e-03 6.82632552e+01] [ 3.46470836e-01 9.38058004e-01 2.26750299e-03 8.12943660e+00] [-6.27721172e-03 -9.87012644e-05 9.99980293e-01 -1.08309641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:8.14, Z:-1.08 [[ 9.37494902e-01 -3.47962436e-01 5.04502535e-03 6.82891282e+01] [ 3.47956947e-01 9.37508473e-01 1.95593234e-03 8.13626927e+00] [-5.41034500e-03 -7.82249738e-05 9.99985361e-01 -1.08415260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:8.14, Z:-1.09 [[ 9.37065570e-01 -3.49124231e-01 4.51543061e-03 6.83161604e+01] [ 3.49119848e-01 9.37076447e-01 1.75061993e-03 8.14433293e+00] [-4.84248751e-03 -6.40192152e-05 9.99988273e-01 -1.08509296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:8.15, Z:-1.09 [[ 9.36496651e-01 -3.50656041e-01 3.78982878e-03 6.83430598e+01] [ 3.50652963e-01 9.36504319e-01 1.46985068e-03 8.15204231e+00] [-4.06460304e-03 -4.75955485e-05 9.99991738e-01 -1.08572998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:8.16, Z:-1.09 [[ 9.35655383e-01 -3.52901644e-01 3.07158955e-03 6.83704814e+01] [ 3.52899628e-01 9.35660424e-01 1.19319692e-03 8.15630284e+00] [-3.29504594e-03 -3.24583108e-05 9.99994571e-01 -1.08613594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:8.16, Z:-1.09 [[ 9.35222828e-01 -3.54049089e-01 2.73935345e-03 6.83982937e+01] [ 3.54047495e-01 9.35226840e-01 1.06266945e-03 8.16347847e+00] [-2.93815402e-03 -2.39715018e-05 9.99995683e-01 -1.08592332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:8.17, Z:-1.09 [[ 9.34876442e-01 -3.54965612e-01 2.33526027e-03 6.84249236e+01] [ 3.54964453e-01 9.34879358e-01 9.07096925e-04 8.17008591e+00] [-2.50517484e-03 -1.90891584e-05 9.99996862e-01 -1.08579168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:8.17, Z:-1.09 [[ 9.34367655e-01 -3.56307478e-01 1.43755910e-03 6.84518786e+01] [ 3.56307042e-01 9.34368761e-01 5.57728620e-04 8.17448391e+00] [-1.54193320e-03 -8.91115094e-06 9.99998811e-01 -1.08607375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:8.18, Z:-1.09 [[ 9.34160340e-01 -3.56850580e-01 1.45699426e-03 6.84787957e+01] [ 3.56850134e-01 9.34161476e-01 5.64495323e-04 8.18242820e+00] [-1.56250839e-03 -7.40054766e-06 9.99998779e-01 -1.08646098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:8.19, Z:-1.09 [[ 9.34285023e-01 -3.56524678e-01 1.28435517e-03 6.85056666e+01] [ 3.56524330e-01 9.34285906e-01 4.98679533e-04 8.18752105e+00] [-1.37774649e-03 -8.00495432e-06 9.99999051e-01 -1.08609163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:8.20, Z:-1.09 [[ 9.34192662e-01 -3.56766618e-01 1.28453349e-03 6.85322761e+01] [ 3.56766270e-01 9.34193545e-01 4.98223730e-04 8.19799659e+00] [-1.37775249e-03 -7.15873155e-06 9.99999051e-01 -1.08645545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:8.21, Z:-1.09 [[ 9.34624724e-01 -3.55633378e-01 1.23522289e-03 6.85578591e+01] [ 3.55633053e-01 9.34625540e-01 4.81039605e-04 8.20614641e+00] [-1.32554460e-03 -1.03054224e-05 9.99999121e-01 -1.08597402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:8.22, Z:-1.09 [[ 9.35410667e-01 -3.53559939e-01 1.50140950e-03 6.85834959e+01] [ 3.53559458e-01 9.35411872e-01 5.83322242e-04 8.21644915e+00] [-1.61067565e-03 -1.48083190e-05 9.99998703e-01 -1.08549506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:8.23, Z:-1.09 [[ 9.35951170e-01 -3.52128287e-01 1.03792282e-03 6.86096101e+01] [ 3.52128057e-01 9.35951745e-01 4.02386404e-04 8.22804276e+00] [-1.11313731e-03 -1.11322802e-05 9.99999380e-01 -1.08540801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:8.24, Z:-1.09 [[ 9.36430643e-01 -3.50852466e-01 4.46181779e-04 6.86330729e+01] [ 3.50852423e-01 9.36430749e-01 1.73026399e-04 8.24111585e+00] [-4.78525076e-04 -5.48326400e-06 9.99999885e-01 -1.08580126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:8.25, Z:-1.09 [[ 9.36238634e-01 -3.51364644e-01 3.28518462e-04 6.86586879e+01] [ 3.51364622e-01 9.36238691e-01 1.24944178e-04 8.25355914e+00] [-3.51472662e-04 -1.54780130e-06 9.99999938e-01 -1.08638196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:8.27, Z:-1.09 [[ 9.35889617e-01 -3.52293378e-01 -2.42922145e-05 6.86841072e+01] [ 3.52293378e-01 9.35889617e-01 -1.33403193e-05 8.26566602e+00] [ 2.74345374e-05 3.92707998e-06 1.00000000e+00 -1.08665541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:8.28, Z:-1.09 [[ 9.35103618e-01 -3.54373239e-01 9.11609673e-04 6.87101444e+01] [ 3.54373062e-01 9.35104062e-01 3.53944294e-04 8.27649357e+00] [-9.77878294e-04 -7.92467815e-06 9.99999522e-01 -1.08573993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:8.29, Z:-1.09 [[ 9.34712945e-01 -3.55398138e-01 1.96820203e-03 6.87358095e+01] [ 3.55397302e-01 9.34715017e-01 7.71158756e-04 8.28574712e+00] [-2.11377638e-03 -2.13183791e-05 9.99997766e-01 -1.08510490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:8.30, Z:-1.08 [[ 9.34316518e-01 -3.56437181e-01 2.27619180e-03 6.87620864e+01] [ 3.56436068e-01 9.34319290e-01 8.90731044e-04 8.29521672e+00] [-2.44417957e-03 -2.09078693e-05 9.99997013e-01 -1.08467956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:8.30, Z:-1.08 [[ 9.33762649e-01 -3.57883253e-01 2.62526967e-03 6.87889996e+01] [ 3.57881775e-01 9.33766340e-01 1.02863519e-03 8.30469176e+00] [-2.81951976e-03 -2.09649516e-05 9.99996025e-01 -1.08475953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:8.31, Z:-1.09 [[ 9.33503284e-01 -3.58560576e-01 2.43557511e-03 6.88141427e+01] [ 3.58559300e-01 9.33506461e-01 9.56592721e-04 8.31448548e+00] [-2.61662154e-03 -1.96843398e-05 9.99996576e-01 -1.08561296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:8.32, Z:-1.09 [[ 9.32941930e-01 -3.60025884e-01 8.47070705e-04 6.88400205e+01] [ 3.60025733e-01 9.32942315e-01 3.29706892e-04 8.32461700e+00] [-9.08971120e-04 -2.63013328e-06 9.99999587e-01 -1.08682673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:8.33, Z:-1.09 [[ 9.32621029e-01 -3.60857265e-01 -2.27318956e-04 6.88654595e+01] [ 3.60857253e-01 9.32621056e-01 -9.12129960e-05 8.33407780e+00] [ 2.44917317e-04 3.03746428e-06 9.99999970e-01 -1.08698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:8.34, Z:-1.09 [[ 9.32219612e-01 -3.61892481e-01 -6.52867556e-04 6.88904778e+01] [ 3.61892388e-01 9.32219841e-01 -2.59837587e-04 8.34314797e+00] [ 7.02649358e-04 5.95789605e-06 9.99999753e-01 -1.08660068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:8.35, Z:-1.09 [[ 9.31832156e-01 -3.62888684e-01 -7.97763384e-04 6.89166176e+01] [ 3.62888544e-01 9.31832497e-01 -3.18494673e-04 8.35294422e+00] [ 8.58959959e-04 7.28438449e-06 9.99999631e-01 -1.08586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:8.36, Z:-1.09 [[ 9.31241538e-01 -3.64401471e-01 8.74915370e-04 6.89430130e+01] [ 3.64401311e-01 9.31241949e-01 3.41536375e-04 8.36333331e+00] [-9.39214252e-04 7.67448718e-07 9.99999559e-01 -1.08584971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:8.37, Z:-1.09 [[ 9.31002494e-01 -3.65007378e-01 1.99251124e-03 6.89691539e+01] [ 3.65006538e-01 9.31004626e-01 7.83279863e-04 8.37416398e+00] [-2.14094011e-03 -1.95587732e-06 9.99997708e-01 -1.08603430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:8.38, Z:-1.09 [[ 9.30968894e-01 -3.65085603e-01 3.06922742e-03 6.89945797e+01] [ 3.65083593e-01 9.30973954e-01 1.21141748e-03 8.38445680e+00] [-3.29964187e-03 -7.26741839e-06 9.99994556e-01 -1.08609518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:8.40, Z:-1.09 [[ 9.31027273e-01 -3.64929344e-01 3.84573739e-03 6.90199876e+01] [ 3.64926183e-01 9.31035216e-01 1.51893215e-03 8.39507190e+00] [-4.13481985e-03 -1.07569874e-05 9.99991452e-01 -1.08556533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:8.41, Z:-1.09 [[ 9.30838824e-01 -3.65408234e-01 3.98834852e-03 6.90459404e+01] [ 3.65404842e-01 9.30847368e-01 1.57441119e-03 8.40543785e+00] [-4.28784653e-03 -8.16119940e-06 9.99990807e-01 -1.08593874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:8.42, Z:-1.09 [[ 9.30153374e-01 -3.67156963e-01 3.23516109e-03 6.90718890e+01] [ 3.67154741e-01 9.30159000e-01 1.27743249e-03 8.41622735e+00] [-3.47823244e-03 -4.03407080e-07 9.99993951e-01 -1.08735115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:8.43, Z:-1.09 [[ 9.29652220e-01 -3.68430208e-01 2.43536025e-03 6.90980239e+01] [ 3.68428953e-01 9.29655410e-01 9.61478835e-04 8.42636325e+00] [-2.61828368e-03 3.41629390e-06 9.99996572e-01 -1.08819274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:8.44, Z:-1.09 [[ 9.29015182e-01 -3.70037660e-01 1.70918173e-03 6.91246958e+01] [ 3.70037046e-01 9.29016755e-01 6.74165855e-04 8.43649387e+00] [-1.83732522e-03 6.15024181e-06 9.99998312e-01 -1.08829818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:8.45, Z:-1.09 [[ 9.28098411e-01 -3.72334810e-01 3.58026615e-04 6.91505377e+01] [ 3.72334784e-01 9.28098481e-01 1.38275204e-04 8.44669078e+00] [-3.83768629e-04 4.97276517e-06 9.99999926e-01 -1.08835371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:8.46, Z:-1.09 [[ 9.27722504e-01 -3.73270607e-01 9.45888185e-05 6.91755673e+01] [ 3.73270605e-01 9.27722509e-01 3.58909102e-05 8.45711283e+00] [-1.01149198e-04 2.01042044e-06 9.99999995e-01 -1.08884085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:8.47, Z:-1.09 [[ 9.27484039e-01 -3.73862535e-01 -4.02571536e-04 6.92015758e+01] [ 3.73862499e-01 9.27484127e-01 -1.63837647e-04 8.46828165e+00] [ 4.34631467e-04 1.45040211e-06 9.99999906e-01 -1.08901018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:8.48, Z:-1.09 [[ 9.27331450e-01 -3.74240462e-01 -6.77197291e-04 6.92261064e+01] [ 3.74240363e-01 9.27331697e-01 -2.71921141e-04 8.47868395e+00] [ 7.29750407e-04 -1.27353482e-06 9.99999734e-01 -1.08946186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:8.49, Z:-1.09 [[ 9.27100288e-01 -3.74808994e-01 -1.80926025e-03 6.92510557e+01] [ 3.74808300e-01 9.27102054e-01 -7.21444819e-04 8.48967943e+00] [ 1.94777290e-03 -9.27405794e-06 9.99998103e-01 -1.08957455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:8.50, Z:-1.09 [[ 9.26930502e-01 -3.75227605e-01 -2.02226870e-03 6.92769919e+01] [ 3.75226733e-01 9.26932708e-01 -8.09019742e-04 8.50045867e+00] [ 2.17807355e-03 -8.90420347e-06 9.99997628e-01 -1.09018510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:8.51, Z:-1.09 [[ 9.26819423e-01 -3.75495474e-01 -2.98443940e-03 6.93030832e+01] [ 3.75493579e-01 9.26824227e-01 -1.19317610e-03 8.51187544e+00] [ 3.21408296e-03 -1.47790420e-05 9.99994835e-01 -1.09047012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:8.52, Z:-1.09 [[ 9.26838657e-01 -3.75445315e-01 -3.30453103e-03 6.93276355e+01] [ 3.75442994e-01 9.26844548e-01 -1.32022664e-03 8.52249717e+00] [ 3.55845947e-03 -1.70259368e-05 9.99993669e-01 -1.09119428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:8.53, Z:-1.09 [[ 9.26931590e-01 -3.75215561e-01 -3.33320012e-03 6.93524978e+01] [ 3.75213196e-01 9.26937583e-01 -1.33236779e-03 8.53317974e+00] [ 3.58959359e-03 -1.56468795e-05 9.99993557e-01 -1.09164510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:8.54, Z:-1.09 [[ 9.27568838e-01 -3.73642169e-01 -2.75335113e-03 6.93781427e+01] [ 3.73640541e-01 9.27572924e-01 -1.10316787e-03 8.54422193e+00] [ 2.96612399e-03 -5.49946651e-06 9.99995601e-01 -1.09107918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:8.55, Z:-1.09 [[ 9.27982930e-01 -3.72613645e-01 -2.59872948e-03 6.94033586e+01] [ 3.72612195e-01 9.27986569e-01 -1.03961895e-03 8.55495340e+00] [ 2.79896226e-03 -3.56965307e-06 9.99996083e-01 -1.09103253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:8.57, Z:-1.09 [[ 9.28187681e-01 -3.72104693e-01 -2.39282867e-03 6.94290295e+01] [ 3.72103454e-01 9.28190765e-01 -9.60328127e-04 8.56604218e+00] [ 2.57834408e-03 9.84923993e-07 9.99996676e-01 -1.09110422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:8.58, Z:-1.09 [[ 9.28535110e-01 -3.71241271e-01 -1.57085014e-03 6.94544021e+01] [ 3.71240733e-01 9.28536439e-01 -6.32305496e-04 8.57701115e+00] [ 1.69332949e-03 3.95429597e-06 9.99998566e-01 -1.09090239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:8.59, Z:-1.09 [[ 9.28453429e-01 -3.71445783e-01 -1.50356784e-03 6.94804541e+01] [ 3.71445289e-01 9.28454646e-01 -6.05865917e-04 8.58755764e+00] [ 1.62104088e-03 4.02509857e-06 9.99998686e-01 -1.09116772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:8.60, Z:-1.09 [[ 9.28434604e-01 -3.71492743e-01 -1.52578756e-03 6.95072497e+01] [ 3.71492233e-01 9.28435858e-01 -6.15256515e-04 8.59685660e+00] [ 1.64515921e-03 4.40721045e-06 9.99998647e-01 -1.09137752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:8.61, Z:-1.09 [[ 9.28407572e-01 -3.71559728e-01 -1.65810684e-03 6.95327020e+01] [ 3.71559131e-01 9.28409052e-01 -6.66326937e-04 8.60632151e+00] [ 1.78698166e-03 2.53823673e-06 9.99998403e-01 -1.09156462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:8.62, Z:-1.09 [[ 9.28053233e-01 -3.72444883e-01 -1.41655066e-03 6.95587541e+01] [ 3.72444444e-01 9.28054314e-01 -5.72177774e-04 8.61594404e+00] [ 1.52774064e-03 3.42500902e-06 9.99998833e-01 -1.09204804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:8.63, Z:-1.09 [[ 9.27703565e-01 -3.73315366e-01 -1.31656769e-03 6.95851564e+01] [ 3.73314987e-01 9.27704499e-01 -5.32495034e-04 8.62561672e+00] [ 1.42017434e-03 2.50309304e-06 9.99998992e-01 -1.09251526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:8.64, Z:-1.10 [[ 9.26508747e-01 -3.76264606e-01 2.54727954e-03 6.96067005e+01] [ 3.76272803e-01 9.26496648e-01 -4.76852193e-03 8.63918940e+00] [-5.65819926e-04 5.37654929e-03 9.99985386e-01 -1.09860260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:8.64, Z:-1.09 [[ 9.26899133e-01 -3.75300536e-01 -2.73937217e-03 6.96399750e+01] [ 3.75309843e-01 9.26886741e-01 4.84682194e-03 8.64290644e+00] [ 7.20072866e-04 -5.52062839e-03 9.99984502e-01 -1.09070324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:8.65, Z:-1.09 [[ 9.26225407e-01 -3.76969885e-01 -4.48243498e-04 6.96646280e+01] [ 3.76969841e-01 9.26225516e-01 -1.81910946e-04 8.65298145e+00] [ 4.83749514e-04 -4.83740208e-07 9.99999883e-01 -1.09236772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:8.66, Z:-1.09 [[ 9.25960347e-01 -3.77620756e-01 9.82239391e-06 6.96906762e+01] [ 3.77620756e-01 9.25960347e-01 2.49483696e-07 8.66288994e+00] [-9.18935755e-06 3.47812780e-06 1.00000000e+00 -1.09235846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:8.67, Z:-1.09 [[ 9.26587990e-01 -3.76074361e-01 1.66452025e-03 6.97157649e+01] [ 3.76073767e-01 9.26589486e-01 6.68607825e-04 8.67336335e+00] [-1.79377322e-03 6.45841825e-06 9.99998391e-01 -1.09272069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:8.68, Z:-1.09 [[ 9.26845542e-01 -3.75440112e-01 1.43653191e-03 6.97421653e+01] [ 3.75439671e-01 9.26846655e-01 5.75215788e-04 8.68415518e+00] [-1.54740388e-03 6.19487838e-06 9.99998803e-01 -1.09322975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:8.69, Z:-1.09 [[ 9.27249923e-01 -3.74442351e-01 7.11191531e-04 6.97684095e+01] [ 3.74442244e-01 9.27250196e-01 2.83003488e-04 8.69460958e+00] [-7.65420978e-04 3.88518977e-06 9.99999707e-01 -1.09341295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:8.71, Z:-1.09 [[ 9.28153776e-01 -3.72194827e-01 -1.25658444e-03 6.97941545e+01] [ 3.72194477e-01 9.28154626e-01 -5.11073571e-04 8.70558386e+00] [ 1.35652360e-03 6.66107657e-06 9.99999080e-01 -1.09437681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:8.72, Z:-1.09 [[ 9.28596315e-01 -3.71086103e-01 -1.99679490e-03 6.98201369e+01] [ 3.71085219e-01 9.28598462e-01 -8.10445055e-04 8.71630301e+00] [ 2.15496557e-03 1.15952178e-05 9.99997678e-01 -1.09480123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:8.73, Z:-1.10 [[ 9.28935136e-01 -3.70233948e-01 -2.51745013e-03 6.98461943e+01] [ 3.70232539e-01 9.28938547e-01 -1.02159648e-03 8.72719448e+00] [ 2.71678616e-03 1.69549050e-05 9.99996309e-01 -1.09538572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:8.74, Z:-1.10 [[ 9.29591756e-01 -3.68575895e-01 -3.31312945e-03 6.98706620e+01] [ 3.68573454e-01 9.29597660e-01 -1.34151384e-03 8.73829838e+00] [ 3.57432705e-03 2.59286366e-05 9.99993612e-01 -1.09573614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:8.75, Z:-1.10 [[ 9.29677208e-01 -3.68357117e-01 -3.65008266e-03 6.98961400e+01] [ 3.68354141e-01 9.29684373e-01 -1.48116407e-03 8.74955834e+00] [ 3.93902214e-03 3.24814188e-05 9.99992241e-01 -1.09612647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:8.76, Z:-1.10 [[ 9.29748240e-01 -3.68176436e-01 -3.78453556e-03 6.99215698e+01] [ 3.68173231e-01 9.29755941e-01 -1.53679917e-03 8.76079626e+00] [ 4.08450767e-03 3.54716368e-05 9.99991658e-01 -1.09641783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:8.77, Z:-1.10 [[ 9.29741022e-01 -3.68197358e-01 -3.51249644e-03 6.99471770e+01] [ 3.68194591e-01 9.29747656e-01 -1.42779891e-03 8.77151152e+00] [ 3.79144712e-03 3.42010226e-05 9.99992812e-01 -1.09669419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:8.78, Z:-1.10 [[ 9.29328100e-01 -3.69249707e-01 -1.98396046e-03 6.99726823e+01] [ 3.69248827e-01 9.29330218e-01 -8.06234032e-04 8.78173863e+00] [ 2.14145609e-03 1.66808695e-05 9.99997707e-01 -1.09614146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:8.79, Z:-1.10 [[ 9.28575893e-01 -3.71141058e-01 -1.06119210e-03 6.99978608e+01] [ 3.71140807e-01 9.28576499e-01 -4.32157603e-04 8.79178982e+00] [ 1.14578947e-03 7.43944023e-06 9.99999344e-01 -1.09552796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:8.80, Z:-1.10 [[ 9.27683116e-01 -3.73368493e-01 5.95926251e-05 7.00244998e+01] [ 3.73368493e-01 9.27683118e-01 2.02791976e-05 8.80159024e+00] [-6.28546858e-05 3.43733943e-06 9.99999998e-01 -1.09578777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:8.81, Z:-1.09 [[ 9.25648092e-01 -3.78378489e-01 2.30842582e-03 7.00519298e+01] [ 3.78377336e-01 9.25650970e-01 9.34034833e-04 8.81006135e+00] [-2.49021529e-03 8.86845089e-06 9.99996899e-01 -1.09484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:8.82, Z:-1.09 [[ 9.24822597e-01 -3.80385958e-01 3.11223903e-03 7.00777053e+01] [ 3.80383863e-01 9.24827834e-01 1.26260607e-03 8.81929688e+00] [-3.35856290e-03 1.61588833e-05 9.99994360e-01 -1.09437850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:8.83, Z:-1.09 [[ 9.23542544e-01 -3.83462323e-01 5.08094764e-03 7.01032604e+01] [ 3.83456767e-01 9.23556520e-01 2.06467949e-03 8.82840365e+00] [-5.48426911e-03 4.15044080e-05 9.99984960e-01 -1.09401683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:8.84, Z:-1.09 [[ 9.23227005e-01 -3.84210832e-01 5.82526441e-03 7.01292116e+01] [ 3.84203543e-01 9.23245381e-01 2.36710666e-03 8.83898049e+00] [-6.28761648e-03 5.27104295e-05 9.99980231e-01 -1.09448961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:8.85, Z:-1.09 [[ 9.23126521e-01 -3.84452208e-01 5.82456050e-03 7.01556719e+01] [ 3.84444914e-01 9.23144895e-01 2.36883670e-03 8.84983076e+00] [-6.28761779e-03 5.24866791e-05 9.99980231e-01 -1.09485476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:8.86, Z:-1.10 [[ 9.23105883e-01 -3.84495364e-01 6.23253118e-03 7.01802811e+01] [ 3.84486992e-01 9.23126921e-01 2.53783572e-03 8.85979435e+00] [-6.72920339e-03 5.36360817e-05 9.99977357e-01 -1.09523223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:8.87, Z:-1.10 [[ 9.23291992e-01 -3.84047498e-01 6.27828390e-03 7.02064962e+01] [ 3.84038993e-01 9.23313336e-01 2.55634846e-03 8.87061273e+00] [-6.77858248e-03 5.08497587e-05 9.99977024e-01 -1.09515340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:8.88, Z:-1.10 [[ 9.24085955e-01 -3.82149578e-01 5.18143431e-03 7.02317160e+01] [ 3.82143746e-01 9.24100481e-01 2.11143432e-03 8.88116989e+00] [-5.59504967e-03 2.89059161e-05 9.99984347e-01 -1.09544266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:8.89, Z:-1.10 [[ 9.24310015e-01 -3.81619847e-01 4.15782124e-03 7.02575929e+01] [ 3.81616088e-01 9.24319367e-01 1.69394704e-03 8.89214036e+00] [-4.48959850e-03 2.09592612e-05 9.99989921e-01 -1.09610672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:8.90, Z:-1.10 [[ 9.24756142e-01 -3.80553014e-01 2.34109000e-03 7.02815117e+01] [ 3.80551817e-01 9.24759106e-01 9.54598168e-04 8.90427377e+00] [-2.52821950e-03 8.13553182e-06 9.99996804e-01 -1.09788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:8.92, Z:-1.10 [[ 9.24907589e-01 -3.80187517e-01 1.84503003e-03 7.03073683e+01] [ 3.80186776e-01 9.24909429e-01 7.50478485e-04 8.91590992e+00] [-1.99180823e-03 7.33277460e-06 9.99998016e-01 -1.09898022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:8.93, Z:-1.10 [[ 9.24921942e-01 -3.80154553e-01 1.38441831e-03 7.03329279e+01] [ 3.80154137e-01 9.24922978e-01 5.62464901e-04 8.92726534e+00] [-1.49430390e-03 6.05622008e-06 9.99998884e-01 -1.09957947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:8.94, Z:-1.10 [[ 9.24325599e-01 -3.81600769e-01 1.74331734e-03 7.03585029e+01] [ 3.81600109e-01 9.24327243e-01 7.09862932e-04 8.93885959e+00] [-1.88227995e-03 9.10560566e-06 9.99998228e-01 -1.09950083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:8.95, Z:-1.10 [[ 9.23654597e-01 -3.83218828e-01 2.34837675e-03 7.03839482e+01] [ 3.83217630e-01 9.23657582e-01 9.58344515e-04 8.94975844e+00] [-2.53635165e-03 1.47600552e-05 9.99996783e-01 -1.09971135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:8.96, Z:-1.10 [[ 9.23092251e-01 -3.84567758e-01 2.88704752e-03 7.04090703e+01] [ 3.84565943e-01 9.23096766e-01 1.18170279e-03 8.96040088e+00] [-3.11946902e-03 1.94394611e-05 9.99995134e-01 -1.09980652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:8.97, Z:-1.10 [[ 9.21703290e-01 -3.87876662e-01 3.83927211e-03 7.04346245e+01] [ 3.87873482e-01 9.21711285e-01 1.57108088e-03 8.97162478e+00] [-4.14808604e-03 4.10814238e-05 9.99991396e-01 -1.10035783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:8.98, Z:-1.10 [[ 9.20925822e-01 -3.89716648e-01 4.06996642e-03 7.04595755e+01] [ 3.89713079e-01 9.20934814e-01 1.66850922e-03 8.98189964e+00] [-4.39841959e-03 4.95459156e-05 9.99990326e-01 -1.10059302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:8.99, Z:-1.10 [[ 9.20132531e-01 -3.91581367e-01 4.48969940e-03 7.04858518e+01] [ 3.91577050e-01 9.20143483e-01 1.84005142e-03 8.99246982e+00] [-4.85169749e-03 6.49720687e-05 9.99988228e-01 -1.10034645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:9.00, Z:-1.10 [[ 9.19397739e-01 -3.93294882e-01 5.18966360e-03 7.05118815e+01] [ 3.93289127e-01 9.19412382e-01 2.12919379e-03 9.00296972e+00] [-5.60884200e-03 8.34623065e-05 9.99984267e-01 -1.09998769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53762800000001 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:70.54, Y:9.01, Z:-1.10 [[ 9.18207308e-01 -3.96062570e-01 5.45715408e-03 7.05375070e+01] [ 3.96056244e-01 9.18223518e-01 2.24092488e-03 9.01352263e+00] [-5.89843369e-03 1.03706350e-04 9.99982599e-01 -1.10232768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:9.02, Z:-1.10 [[ 9.17975256e-01 -3.96593012e-01 5.95085027e-03 7.05630550e+01] [ 3.96585486e-01 9.17994537e-01 2.44592225e-03 9.02444248e+00] [-6.43288371e-03 1.14724742e-04 9.99979302e-01 -1.10042620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:9.04, Z:-1.10 [[ 9.17892836e-01 -3.96796862e-01 4.99910097e-03 7.05874296e+01] [ 3.96791542e-01 9.17906445e-01 2.05702750e-03 9.03532756e+00] [-5.40492906e-03 9.54701781e-05 9.99985389e-01 -1.10060302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:9.05, Z:-1.10 [[ 9.17842568e-01 -3.96915410e-01 4.81428500e-03 7.06133917e+01] [ 3.96910481e-01 9.17855189e-01 1.98026175e-03 9.04679863e+00] [-5.20481287e-03 9.32716467e-05 9.99986451e-01 -1.10127511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.64, Y:9.06, Z:-1.10 [[ 9.17944554e-01 -3.96691353e-01 3.71035646e-03 7.06381114e+01] [ 3.96688416e-01 9.17952050e-01 1.52805226e-03 9.05735896e+00] [-4.01209444e-03 6.91881798e-05 9.99991949e-01 -1.10361755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:9.07, Z:-1.10 [[ 9.18523789e-01 -3.95348712e-01 3.66676051e-03 7.06639661e+01] [ 3.95345837e-01 9.18531105e-01 1.50911668e-03 9.06743061e+00] [-3.96466093e-03 6.34789326e-05 9.99992139e-01 -1.10096973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.69, Y:9.08, Z:-1.10 [[ 9.18678303e-01 -3.94985555e-01 4.07278210e-03 7.06902055e+01] [ 3.94981996e-01 9.18687328e-01 1.67797923e-03 9.07833395e+00] [-4.40439087e-03 6.71524957e-05 9.99990298e-01 -1.10100888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:9.09, Z:-1.10 [[ 9.18878121e-01 -3.94514144e-01 4.64641303e-03 7.07147118e+01] [ 3.94509489e-01 9.18889866e-01 1.91769836e-03 9.08869907e+00] [-5.02610097e-03 7.09229650e-05 9.99987367e-01 -1.10111694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:9.10, Z:-1.10 [[ 9.19373665e-01 -3.93348505e-01 5.38680699e-03 7.07404259e+01] [ 3.93342230e-01 9.19389443e-01 2.22308263e-03 9.10071910e+00] [-5.82701970e-03 7.50150486e-05 9.99983020e-01 -1.10158495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:9.11, Z:-1.10 [[ 9.19701843e-01 -3.92579878e-01 5.43693718e-03 7.07650007e+01] [ 3.92573457e-01 9.19717910e-01 2.24628079e-03 9.11182263e+00] [-5.88229314e-03 6.84886398e-05 9.99982697e-01 -1.10199598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:9.13, Z:-1.11 [[ 9.20023288e-01 -3.91812071e-01 6.35999463e-03 7.07905690e+01] [ 3.91842398e-01 9.20021306e-01 -4.50907529e-03 9.12597154e+00] [-4.08462044e-03 6.64056982e-03 9.99969609e-01 -1.10563163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:9.13, Z:-1.10 [[ 9.20923993e-01 -3.89732013e-01 2.82102173e-03 7.08178855e+01] [ 3.89698530e-01 9.20905009e-01 8.30781205e-03 9.13127601e+00] [-5.83571335e-03 -6.55151542e-03 9.99961510e-01 -1.09945376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:9.14, Z:-1.10 [[ 9.21229609e-01 -3.88984452e-01 5.20619394e-03 7.08427489e+01] [ 3.88978492e-01 9.21244319e-01 2.15362504e-03 9.14446139e+00] [-5.63390324e-03 4.11143178e-05 9.99984129e-01 -1.10243900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:9.16, Z:-1.10 [[ 9.22346332e-01 -3.86324209e-01 5.55424847e-03 7.08689827e+01] [ 3.86317365e-01 9.22363055e-01 2.29966623e-03 9.15525521e+00] [-6.01145032e-03 2.46139226e-05 9.99981931e-01 -1.10257272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:9.17, Z:-1.10 [[ 9.22969954e-01 -3.84826060e-01 5.94705068e-03 7.08935166e+01] [ 3.84818162e-01 9.22989113e-01 2.46560195e-03 9.16562409e+00] [-6.43789092e-03 1.28565896e-05 9.99979276e-01 -1.10298487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:9.18, Z:-1.10 [[ 9.23587042e-01 -3.83335094e-01 6.41720277e-03 7.09188380e+01] [ 3.83325861e-01 9.23609336e-01 2.66058596e-03 9.17665372e+00] [-6.94688436e-03 2.59705716e-06 9.99975870e-01 -1.10323518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:9.19, Z:-1.10 [[ 9.25323951e-01 -3.79112460e-01 7.02343121e-03 7.09437389e+01] [ 3.79101251e-01 9.25350605e-01 2.91542596e-03 9.18779597e+00] [-7.60441062e-03 -3.51219055e-05 9.99971085e-01 -1.10365428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:9.20, Z:-1.10 [[ 9.26106148e-01 -3.77201088e-01 6.83678333e-03 7.09694172e+01] [ 3.77190415e-01 9.26131382e-01 2.83796243e-03 9.19866515e+00] [-7.40224211e-03 -4.94853169e-05 9.99972602e-01 -1.10380048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:9.21, Z:-1.10 [[ 9.26858764e-01 -3.75352430e-01 6.58675540e-03 7.09939534e+01] [ 3.75342456e-01 9.26882166e-01 2.73709474e-03 9.20894610e+00] [-7.13252127e-03 -6.46112978e-05 9.99974561e-01 -1.10392274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:9.22, Z:-1.10 [[ 9.27403155e-01 -3.74015363e-01 5.99130941e-03 7.10192870e+01] [ 3.74007086e-01 9.27422505e-01 2.48923209e-03 9.21990692e+00] [-6.48748622e-03 -6.77295229e-05 9.99978954e-01 -1.10451525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:9.23, Z:-1.11 [[ 9.27385068e-01 -3.74055371e-01 6.28604362e-03 7.10454129e+01] [ 3.74046245e-01 9.27406369e-01 2.61394768e-03 9.23123472e+00] [-6.80747806e-03 -7.28650350e-05 9.99976826e-01 -1.10560011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:9.24, Z:-1.11 [[ 9.27112129e-01 -3.74736904e-01 5.94578862e-03 7.10707501e+01] [ 3.74728742e-01 9.27131193e-01 2.47419322e-03 9.24238341e+00] [-6.43969761e-03 -6.57966520e-05 9.99979263e-01 -1.10686554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:9.25, Z:-1.11 [[ 9.26684311e-01 -3.75795676e-01 5.81361243e-03 7.10966323e+01] [ 3.75787882e-01 9.26702545e-01 2.42105574e-03 9.25284624e+00] [-6.29731171e-03 -5.88692651e-05 9.99980170e-01 -1.10695553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:9.26, Z:-1.11 [[ 9.26188702e-01 -3.77017823e-01 5.66128021e-03 7.11230193e+01] [ 3.77010444e-01 9.26206002e-01 2.35941480e-03 9.26286611e+00] [-6.13305314e-03 -5.09015681e-05 9.99981191e-01 -1.10673602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:9.27, Z:-1.11 [[ 9.24661974e-01 -3.80751497e-01 5.34157799e-03 7.11491437e+01] [ 3.80744980e-01 9.24677402e-01 2.22770639e-03 9.27224552e+00] [-5.78743900e-03 -2.60963770e-05 9.99983252e-01 -1.10615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:9.28, Z:-1.11 [[ 9.23642803e-01 -3.83217399e-01 5.32893187e-03 7.11756532e+01] [ 3.83210944e-01 9.23658176e-01 2.22414785e-03 9.28286122e+00] [-5.77444364e-03 -1.22131453e-05 9.99983328e-01 -1.10660682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:9.29, Z:-1.11 [[ 9.22516707e-01 -3.85920780e-01 5.29882353e-03 7.12019996e+01] [ 3.85914433e-01 9.22531924e-01 2.21331512e-03 9.29304010e+00] [-5.74249816e-03 3.07230797e-06 9.99983512e-01 -1.10702059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:9.30, Z:-1.11 [[ 9.21321743e-01 -3.88769561e-01 4.94724552e-03 7.12271412e+01] [ 3.88764055e-01 9.21335025e-01 2.06917810e-03 9.30240122e+00] [-5.36250403e-03 1.69324543e-05 9.99985622e-01 -1.10708824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:9.31, Z:-1.11 [[ 9.18427025e-01 -3.95565312e-01 4.45904460e-03 7.12537574e+01] [ 3.95560923e-01 9.18437848e-01 1.86411088e-03 9.31153577e+00] [-4.83273293e-03 5.17739901e-05 9.99988321e-01 -1.10769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:9.32, Z:-1.11 [[ 9.16846303e-01 -3.99219489e-01 4.08119130e-03 7.12802840e+01] [ 3.99215844e-01 9.16855384e-01 1.70719097e-03 9.32174512e+00] [-4.42340612e-03 6.40444953e-05 9.99990215e-01 -1.10846122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:9.33, Z:-1.11 [[ 9.13400285e-01 -4.07047435e-01 3.50799549e-03 7.13066878e+01] [ 4.07044797e-01 9.13407017e-01 1.46802864e-03 9.33100518e+00] [-3.80178498e-03 8.70135322e-05 9.99992769e-01 -1.10931732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:9.34, Z:-1.11 [[ 9.11597886e-01 -4.11068977e-01 3.40457047e-03 7.13316256e+01] [ 4.11066511e-01 9.11604238e-01 1.42731345e-03 9.34058023e+00] [-3.69034514e-03 9.83689841e-05 9.99993186e-01 -1.10956449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:9.35, Z:-1.11 [[ 9.09655796e-01 -4.15348669e-01 3.43736822e-03 7.13574212e+01] [ 4.15346189e-01 9.09662283e-01 1.44004833e-03 9.35086096e+00] [-3.72496638e-03 1.17749484e-04 9.99993055e-01 -1.10928602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:9.36, Z:-1.11 [[ 9.05988971e-01 -4.23273744e-01 4.82929305e-03 7.13839401e+01] [ 4.23268946e-01 9.06001818e-01 2.02623809e-03 9.36105782e+00] [-5.23300167e-03 2.08340415e-04 9.99986286e-01 -1.10876986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:9.37, Z:-1.11 [[ 9.04210891e-01 -4.27049327e-01 5.61578511e-03 7.14092966e+01] [ 4.27042891e-01 9.04228291e-01 2.35939462e-03 9.37187181e+00] [-6.08552966e-03 2.64790801e-04 9.99981448e-01 -1.10867441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:9.38, Z:-1.11 [[ 9.02629437e-01 -4.30381373e-01 5.65444769e-03 7.14353561e+01] [ 4.30374910e-01 9.02647102e-01 2.37629141e-03 9.38314071e+00] [-6.12668238e-03 2.88621835e-04 9.99981190e-01 -1.10850039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:9.39, Z:-1.11 [[ 9.01325740e-01 -4.33101264e-01 5.93338797e-03 7.14600077e+01] [ 4.33094188e-01 9.01345213e-01 2.49628313e-03 9.39457525e+00] [-6.42917422e-03 3.19751606e-04 9.99979282e-01 -1.10881212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:9.41, Z:-1.11 [[ 8.99825749e-01 -4.36204497e-01 6.26559169e-03 7.14849603e+01] [ 4.36196675e-01 8.99847491e-01 2.63701848e-03 9.40771042e+00] [-6.78835628e-03 3.60173134e-04 9.99976894e-01 -1.10872964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:9.42, Z:-1.11 [[ 8.99716867e-01 -4.36428546e-01 6.29950279e-03 7.15092618e+01] [ 4.36420623e-01 8.99738848e-01 2.65440431e-03 9.41986774e+00] [-6.82636520e-03 3.61020599e-04 9.99976635e-01 -1.10871786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:9.44, Z:-1.11 [[ 9.00552121e-01 -4.34697878e-01 6.60543589e-03 7.15334875e+01] [ 4.34689120e-01 9.00576272e-01 2.78339962e-03 9.43530562e+00] [-7.15863674e-03 3.64714684e-04 9.99974310e-01 -1.10887742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:9.45, Z:-1.11 [[ 9.01461558e-01 -4.32813056e-01 6.31815930e-03 7.15571324e+01] [ 4.32804977e-01 9.01483637e-01 2.66522645e-03 9.44855661e+00] [-6.84926203e-03 3.31931600e-04 9.99976488e-01 -1.10897597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:9.46, Z:-1.11 [[ 9.02567279e-01 -4.30497665e-01 6.63833451e-03 7.15815504e+01] [ 4.30488683e-01 9.02591630e-01 2.80038666e-03 9.46280604e+00] [-7.19726509e-03 3.30190511e-04 9.99974045e-01 -1.10936995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:9.48, Z:-1.11 [[ 9.05213189e-01 -4.24895008e-01 7.30168456e-03 7.16037920e+01] [ 4.24883931e-01 9.05242584e-01 3.08372153e-03 9.47959518e+00] [-7.92005369e-03 3.10943040e-04 9.99968588e-01 -1.10953167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:9.49, Z:-1.11 [[ 9.06259789e-01 -4.22652108e-01 7.64134638e-03 7.16284897e+01] [ 4.22639895e-01 9.06291952e-01 3.22751120e-03 9.49336243e+00] [-8.28940514e-03 3.04574212e-04 9.99965596e-01 -1.11014524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:9.51, Z:-1.11 [[ 9.08571336e-01 -4.17676833e-01 6.64757936e-03 7.16515974e+01] [ 4.17667445e-01 9.08595627e-01 2.80943478e-03 9.51032491e+00] [-7.21339735e-03 2.23905566e-04 9.99973958e-01 -1.11054847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:9.52, Z:-1.11 [[ 9.09692848e-01 -4.15240615e-01 5.84419690e-03 7.16745946e+01] [ 4.15233295e-01 9.09711603e-01 2.47199378e-03 9.52452139e+00] [-6.34300595e-03 1.77950079e-04 9.99979867e-01 -1.11170029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:9.54, Z:-1.11 [[ 9.10618112e-01 -4.13212571e-01 5.47958373e-03 7.16986020e+01] [ 4.13206097e-01 9.10634585e-01 2.31809669e-03 9.53922461e+00] [-5.94776515e-03 1.53296578e-04 9.99982300e-01 -1.11323098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:9.55, Z:-1.11 [[ 9.11725681e-01 -4.10771351e-01 4.81448106e-03 7.17225535e+01] [ 4.10766307e-01 9.11738385e-01 2.03924075e-03 9.55284107e+00] [-5.22720887e-03 1.18398442e-04 9.99986331e-01 -1.11363369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:9.57, Z:-1.11 [[ 9.13448683e-01 -4.06924848e-01 4.86537188e-03 7.17464131e+01] [ 4.06919644e-01 9.13461635e-01 2.06024769e-03 9.56868257e+00] [-5.28269653e-03 9.78848592e-05 9.99986042e-01 -1.11323040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:9.58, Z:-1.11 [[ 9.13376649e-01 -4.07086519e-01 4.86447328e-03 7.17726730e+01] [ 4.07081307e-01 9.13389597e-01 2.06236601e-03 9.57990686e+00] [-5.28272070e-03 9.65191815e-05 9.99986042e-01 -1.11359435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:9.59, Z:-1.11 [[ 9.13896671e-01 -4.05911670e-01 5.34711067e-03 7.17977264e+01] [ 4.05905348e-01 9.13912308e-01 2.26753085e-03 9.59370687e+00] [-5.80720749e-03 9.81319240e-05 9.99983133e-01 -1.11348072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:9.61, Z:-1.11 [[ 9.14754676e-01 -4.03956900e-01 6.53490600e-03 7.18205754e+01] [ 4.03947379e-01 9.14778013e-01 2.77530725e-03 9.60994701e+00] [-7.09909284e-03 1.01032864e-04 9.99974796e-01 -1.11342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:9.62, Z:-1.11 [[ 9.14670780e-01 -4.04137890e-01 7.06608785e-03 7.18451096e+01] [ 4.04126762e-01 9.14698067e-01 3.00119402e-03 9.62373680e+00] [-7.67623311e-03 1.10490728e-04 9.99970531e-01 -1.11445003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:9.64, Z:-1.12 [[ 9.14618186e-01 -4.04245794e-01 7.67543862e-03 7.18688152e+01] [ 4.04232636e-01 9.14650384e-01 3.26364446e-03 9.63659953e+00] [-8.33965742e-03 1.17674216e-04 9.99965218e-01 -1.11510063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:9.65, Z:-1.12 [[ 9.14049025e-01 -4.05521032e-01 8.18975959e-03 7.18932905e+01] [ 4.05506097e-01 9.14085704e-01 3.48296959e-03 9.65135487e+00] [-8.89855958e-03 1.37392492e-04 9.99960398e-01 -1.11550273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:9.66, Z:-1.12 [[ 9.13747582e-01 -4.06203518e-01 8.00362682e-03 7.19186854e+01] [ 4.06189259e-01 9.13782623e-01 3.40633775e-03 9.66371296e+00] [-8.69724149e-03 1.38454362e-04 9.99962169e-01 -1.11532539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:9.68, Z:-1.12 [[ 9.13314838e-01 -4.07173151e-01 8.12598162e-03 7.19434679e+01] [ 4.07158467e-01 9.13350975e-01 3.46110499e-03 9.67631541e+00] [-8.83114225e-03 1.47483678e-04 9.99960994e-01 -1.11546043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:9.69, Z:-1.12 [[ 9.12725314e-01 -4.08487657e-01 8.38660961e-03 7.19667737e+01] [ 4.08472040e-01 9.12763829e-01 3.57556443e-03 9.69058083e+00] [-9.11556784e-03 1.62187371e-04 9.99958439e-01 -1.11541101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:9.70, Z:-1.12 [[ 9.12568161e-01 -4.08843378e-01 8.15133028e-03 7.19923067e+01] [ 4.08828635e-01 9.12604551e-01 3.47571742e-03 9.70353263e+00] [-8.85996516e-03 1.60668177e-04 9.99960737e-01 -1.11570766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:9.72, Z:-1.12 [[ 9.12919607e-01 -4.08070583e-01 7.49610943e-03 7.20172168e+01] [ 4.08058072e-01 9.12950371e-01 3.19839291e-03 9.71716985e+00] [-8.14874595e-03 1.38972363e-04 9.99966789e-01 -1.11577283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:9.73, Z:-1.12 [[ 9.12982662e-01 -4.07934912e-01 7.19486213e-03 7.20426141e+01] [ 4.07923366e-01 9.13011002e-01 3.07198474e-03 9.72942747e+00] [-7.82215811e-03 1.30283568e-04 9.99969398e-01 -1.11625185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.06, Y:9.76, Z:-1.14 [[ 9.10992143e-01 -4.11538595e-01 2.70055729e-02 7.20554347e+01] [ 4.12118033e-01 9.10883881e-01 -2.11962863e-02 9.75846062e+00] [-1.58758511e-02 3.04391339e-02 9.99410535e-01 -1.14099958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.09, Y:9.76, Z:-1.13 [[ 9.11071775e-01 -4.11977246e-01 1.49321545e-02 7.20869900e+01] [ 4.11936510e-01 9.11193764e-01 5.85115080e-03 9.75760637e+00] [-1.60166271e-02 8.20281278e-04 9.99871389e-01 -1.13079421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:9.76, Z:-1.11 [[ 9.12994864e-01 -4.07906814e-01 -7.23935895e-03 7.21245408e+01] [ 4.07930723e-01 9.12511390e-01 3.02570307e-02 9.75583656e+00] [-5.73605149e-03 -3.05776705e-02 9.99515935e-01 -1.10791228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:9.78, Z:-1.12 [[ 9.12743456e-01 -4.08520196e-01 3.26085652e-03 7.21432242e+01] [ 4.08517823e-01 9.12749279e-01 1.39372493e-03 9.77951883e+00] [-3.54570922e-03 6.00046976e-05 9.99993712e-01 -1.11999025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:9.79, Z:-1.12 [[ 9.12363259e-01 -4.09371908e-01 2.81526186e-03 7.21685874e+01] [ 4.09370147e-01 9.12367600e-01 1.20184928e-03 9.79077159e+00] [-3.06055704e-03 5.59610403e-05 9.99995315e-01 -1.12006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:9.80, Z:-1.12 [[ 9.12178311e-01 -4.09786888e-01 2.33121975e-03 7.21944547e+01] [ 4.09785682e-01 9.12181289e-01 9.95361155e-04 9.80156443e+00] [-2.53438099e-03 4.73536198e-05 9.99996787e-01 -1.12013068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:9.81, Z:-1.12 [[ 9.12219715e-01 -4.09693624e-01 2.51502673e-03 7.22201222e+01] [ 4.09692217e-01 9.12223181e-01 1.07498689e-03 9.81219382e+00] [-2.73468096e-03 4.97626383e-05 9.99996260e-01 -1.11910812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:9.82, Z:-1.12 [[ 9.12439808e-01 -4.09198408e-01 3.20315033e-03 7.22444609e+01] [ 4.09196110e-01 9.12445428e-01 1.37269899e-03 9.82309592e+00] [-3.48440611e-03 5.82114521e-05 9.99993928e-01 -1.11909266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:9.83, Z:-1.12 [[ 9.12798502e-01 -4.08391031e-01 3.95747005e-03 7.22698196e+01] [ 4.08387517e-01 9.12807078e-01 1.69555749e-03 9.83457057e+00] [-4.30485715e-03 6.84790296e-05 9.99990732e-01 -1.11884662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:9.85, Z:-1.12 [[ 9.13655351e-01 -4.06454595e-01 5.34438152e-03 7.22951268e+01] [ 4.06448136e-01 9.13670978e-01 2.29274247e-03 9.84610668e+00] [-5.81490201e-03 7.74374778e-05 9.99983090e-01 -1.11853926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:9.86, Z:-1.12 [[ 9.14016278e-01 -4.05631034e-01 6.14069000e-03 7.23205942e+01] [ 4.05622471e-01 9.14036902e-01 2.63696149e-03 9.85712487e+00] [-6.68245067e-03 8.05761274e-05 9.99977669e-01 -1.11871399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:9.87, Z:-1.12 [[ 9.14373069e-01 -4.04795660e-01 7.89717212e-03 7.23452797e+01] [ 4.04781427e-01 9.14407166e-01 3.39572086e-03 9.86826429e+00] [-8.59580384e-03 9.16728913e-05 9.99963051e-01 -1.11947022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:9.88, Z:-1.12 [[ 9.14224476e-01 -4.05114342e-01 8.71653998e-03 7.23713952e+01] [ 4.05097008e-01 9.14266022e-01 3.74902093e-03 9.87946944e+00] [-9.48801848e-03 1.03597575e-04 9.99954982e-01 -1.11996412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:9.89, Z:-1.12 [[ 9.13907652e-01 -4.05816417e-01 9.26497893e-03 7.23971335e+01] [ 4.05796835e-01 9.13954607e-01 3.98826378e-03 9.88996583e+00] [-1.00862731e-02 1.14794340e-04 9.99949126e-01 -1.12001839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:9.90, Z:-1.12 [[ 9.13472332e-01 -4.06785728e-01 9.67835993e-03 7.24233909e+01] [ 4.06764378e-01 9.13523593e-01 4.16966442e-03 9.90025641e+00] [-1.05375701e-02 1.27938978e-04 9.99944470e-01 -1.12014338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:9.91, Z:-1.12 [[ 9.12316672e-01 -4.09361951e-01 1.00539976e-02 7.24485512e+01] [ 4.09339025e-01 9.12372056e-01 4.33531196e-03 9.90899424e+00] [-1.09476982e-02 1.60316192e-04 9.99940059e-01 -1.12026931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:9.92, Z:-1.12 [[ 9.11547195e-01 -4.11074758e-01 9.96261611e-03 7.24745503e+01] [ 4.11052326e-01 9.11601619e-01 4.29811975e-03 9.91885552e+00] [-1.08487855e-02 1.77217521e-04 9.99941134e-01 -1.12076910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:9.93, Z:-1.12 [[ 9.10847116e-01 -4.12630123e-01 9.69085856e-03 7.25011776e+01] [ 4.12608952e-01 9.10898648e-01 4.18400709e-03 9.92878826e+00] [-1.05538373e-02 1.87544207e-04 9.99944289e-01 -1.12139151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:9.94, Z:-1.12 [[ 9.09438210e-01 -4.15761548e-01 8.02982622e-03 7.25279895e+01] [ 4.15747117e-01 9.09473640e-01 3.46886570e-03 9.93713885e+00] [-8.74513626e-03 1.83658090e-04 9.99961744e-01 -1.12253274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:9.95, Z:-1.12 [[ 9.08806328e-01 -4.17161508e-01 6.88005403e-03 7.25531382e+01] [ 4.17150934e-01 9.08832355e-01 2.97480185e-03 9.94652209e+00] [-7.49378853e-03 1.66502215e-04 9.99971907e-01 -1.12348532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:9.95, Z:-1.12 [[ 9.07879855e-01 -4.19208366e-01 4.30290804e-03 7.25791510e+01] [ 4.19204253e-01 9.07890045e-01 1.86052823e-03 9.95470921e+00] [-4.68651637e-03 1.14661256e-04 9.99989012e-01 -1.12482161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:9.96, Z:-1.13 [[ 9.07517173e-01 -4.20001449e-01 3.37086090e-03 7.26055336e+01] [ 4.19998936e-01 9.07523429e-01 1.45619520e-03 9.96445379e+00] [-3.67073934e-03 9.42358389e-05 9.99993258e-01 -1.12564177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:9.97, Z:-1.13 [[ 9.07289202e-01 -4.20498223e-01 2.74742735e-03 7.26317147e+01] [ 4.20496555e-01 9.07293359e-01 1.18705584e-03 9.97379536e+00] [-2.99187746e-03 7.82807837e-05 9.99995521e-01 -1.12590180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05762800000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:72.65, Y:9.99, Z:-1.15 [[ 9.05783542e-01 -4.23462161e-01 1.53614008e-02 7.26518705e+01] [ 4.23688701e-01 9.05644962e-01 -1.71781326e-02 9.99357297e+00] [-6.63768611e-03 2.20681218e-02 9.99734434e-01 -1.14598313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:9.98, Z:-1.12 [[ 9.07306256e-01 -4.20424917e-01 -6.18450287e-03 7.26893228e+01] [ 4.20456799e-01 9.07060445e-01 2.13876244e-02 9.98407073e+00] [-3.38217227e-03 -2.20054417e-02 9.99752130e-01 -1.11794918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:10.00, Z:-1.13 [[ 9.07613181e-01 -4.19796208e-01 3.07516668e-03 7.27119443e+01] [ 4.19794106e-01 9.07618387e-01 1.33099381e-03 1.00024868e+01] [-3.34982398e-03 8.29093257e-05 9.99994386e-01 -1.12661854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:10.01, Z:-1.13 [[ 9.08936529e-01 -4.16912572e-01 4.27711003e-03 7.27394738e+01] [ 4.16908461e-01 9.08946587e-01 1.85402997e-03 1.00108400e+01] [-4.66063297e-03 9.79677958e-05 9.99989134e-01 -1.12655158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:10.02, Z:-1.13 [[ 9.09838868e-01 -4.14935404e-01 4.67384387e-03 7.27661215e+01] [ 4.14930460e-01 9.09850868e-01 2.02783702e-03 1.00208665e+01] [-5.09392228e-03 9.43152450e-05 9.99987021e-01 -1.12676278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:10.03, Z:-1.13 [[ 9.10979934e-01 -4.12419926e-01 5.03637616e-03 7.27913698e+01] [ 4.12414132e-01 9.10993852e-01 2.18780126e-03 1.00300916e+01] [-5.49040055e-03 8.40296523e-05 9.99984924e-01 -1.12696207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:10.04, Z:-1.13 [[ 9.13868197e-01 -4.05968905e-01 5.84519962e-03 7.28178797e+01] [ 4.05960956e-01 9.13886889e-01 2.54093672e-03 1.00381476e+01] [-6.37339260e-03 5.08415629e-05 9.99979688e-01 -1.12713738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:10.05, Z:-1.13 [[ 9.15421542e-01 -4.02449623e-01 6.14013432e-03 7.28442638e+01] [ 4.02440766e-01 9.15442134e-01 2.67015944e-03 1.00480705e+01] [-6.69554233e-03 2.67188887e-05 9.99977584e-01 -1.12758389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:10.06, Z:-1.13 [[ 9.18394968e-01 -3.95604957e-01 6.88480521e-03 7.28712259e+01] [ 3.95593607e-01 9.18420774e-01 2.99676868e-03 1.00552870e+01] [-7.50868467e-03 -2.86323471e-05 9.99971809e-01 -1.12871135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:10.06, Z:-1.13 [[ 9.19485549e-01 -3.93060621e-01 7.04792387e-03 7.28976291e+01] [ 3.93048633e-01 9.19512559e-01 3.07020359e-03 1.00640332e+01] [-7.68743064e-03 -5.28309835e-05 9.99970450e-01 -1.12874602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:10.07, Z:-1.13 [[ 9.20505511e-01 -3.90660898e-01 7.32582795e-03 7.29235479e+01] [ 3.90647844e-01 9.20534658e-01 3.19463025e-03 1.00720695e+01] [-7.99169565e-03 -7.88558618e-05 9.99968063e-01 -1.12861921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:10.08, Z:-1.13 [[ 9.21582084e-01 -3.88120971e-01 6.96944845e-03 7.29520557e+01] [ 3.88109082e-01 9.21608432e-01 3.03940116e-03 1.00777939e+01] [-7.60275779e-03 -9.61514124e-05 9.99971094e-01 -1.12876157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:10.09, Z:-1.13 [[ 9.21621127e-01 -3.88036627e-01 6.48655461e-03 7.29786834e+01] [ 3.88026312e-01 9.21643949e-01 2.83073173e-03 1.00861634e+01] [-7.07672140e-03 -9.19083031e-05 9.99974955e-01 -1.12939354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:10.09, Z:-1.13 [[ 9.21255525e-01 -3.88906044e-01 6.35192599e-03 7.30070919e+01] [ 3.88896161e-01 9.21277418e-01 2.77399282e-03 1.00919614e+01] [-6.93070855e-03 -8.53165833e-05 9.99975979e-01 -1.13129243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:10.10, Z:-1.13 [[ 9.20789220e-01 -3.90014380e-01 5.99956007e-03 7.30347499e+01] [ 3.90005574e-01 9.20808763e-01 2.62193483e-03 1.01000718e+01] [-6.54703977e-03 -7.43874577e-05 9.99978565e-01 -1.13185849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:10.11, Z:-1.13 [[ 9.20197937e-01 -3.91413632e-01 5.57911146e-03 7.30623339e+01] [ 3.91406033e-01 9.20214847e-01 2.43980258e-03 1.01077764e+01] [-6.08895319e-03 -6.14034185e-05 9.99981460e-01 -1.13220824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:10.12, Z:-1.13 [[ 9.19471125e-01 -3.93119780e-01 5.44869379e-03 7.30900239e+01] [ 3.93112552e-01 9.19487268e-01 2.38450963e-03 1.01155799e+01] [-5.94740246e-03 -5.05378315e-05 9.99982313e-01 -1.13284569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:10.12, Z:-1.13 [[ 9.18034677e-01 -3.96469565e-01 4.92098517e-03 7.31180128e+01] [ 3.96463704e-01 9.18047865e-01 2.15604867e-03 1.01194765e+01] [-5.37250761e-03 -2.83354378e-05 9.99985568e-01 -1.13414076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:10.13, Z:-1.14 [[ 9.17168321e-01 -3.98470373e-01 4.86140383e-03 7.31453408e+01] [ 3.98464684e-01 9.17181204e-01 2.12945353e-03 1.01272384e+01] [-5.30731237e-03 -1.59695792e-05 9.99985916e-01 -1.13500572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:10.13, Z:-1.14 [[ 9.15699684e-01 -4.01840669e-01 4.26206271e-03 7.31741068e+01] [ 4.01836327e-01 9.15709603e-01 1.86789926e-03 1.01314351e+01] [-4.65340964e-03 2.21686300e-06 9.99989173e-01 -1.13597205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:10.14, Z:-1.14 [[ 9.15629986e-01 -4.01998105e-01 4.38773614e-03 7.31998115e+01] [ 4.01993494e-01 9.15640499e-01 1.92529109e-03 1.01400682e+01] [-4.79155228e-03 9.87128391e-07 9.99988520e-01 -1.13588965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:10.15, Z:-1.14 [[ 9.16561753e-01 -3.99857217e-01 5.36281599e-03 7.32249974e+01] [ 3.99850286e-01 9.16577441e-01 2.35431132e-03 1.01516163e+01] [-5.85682453e-03 -1.35481994e-05 9.99982849e-01 -1.13632417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:10.16, Z:-1.14 [[ 9.18214126e-01 -3.96057977e-01 4.57133332e-03 7.32509007e+01] [ 3.96052889e-01 9.18225505e-01 2.00785485e-03 1.01621999e+01] [-4.99274177e-03 -3.31509127e-05 9.99987536e-01 -1.13575773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:10.17, Z:-1.14 [[ 9.18555675e-01 -3.95270476e-01 4.08936380e-03 7.32766818e+01] [ 3.95266392e-01 9.18564777e-01 1.79712090e-03 1.01741264e+01] [-4.46669438e-03 -3.43675239e-05 9.99990024e-01 -1.13615017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:10.19, Z:-1.14 [[ 9.18592407e-01 -3.95191927e-01 3.36596048e-03 7.33006936e+01] [ 3.95189153e-01 9.18598574e-01 1.48116776e-03 1.01854756e+01] [-3.67731204e-03 -3.03983876e-05 9.99993238e-01 -1.13731642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:10.20, Z:-1.14 [[ 9.17190661e-01 -3.98439791e-01 2.65035037e-03 7.33266218e+01] [ 3.98438089e-01 9.17194490e-01 1.16476513e-03 1.01966809e+01] [-2.89497553e-03 -1.23111631e-05 9.99995809e-01 -1.13867714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:10.21, Z:-1.14 [[ 9.16056076e-01 -4.01037210e-01 3.22833781e-03 7.33527769e+01] [ 4.01034694e-01 9.16061764e-01 1.42063793e-03 1.02077954e+01] [-3.52708550e-03 -6.70853705e-06 9.99993780e-01 -1.13863401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:10.22, Z:-1.14 [[ 9.13584500e-01 -4.06609383e-01 5.67193554e-03 7.33778976e+01] [ 4.06601694e-01 9.13602107e-01 2.50053485e-03 1.02194179e+01] [-6.19863319e-03 2.17687167e-05 9.99980788e-01 -1.13779597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:10.23, Z:-1.14 [[ 9.13475846e-01 -4.06853434e-01 5.67118012e-03 7.34040346e+01] [ 4.06845740e-01 9.13493450e-01 2.50224631e-03 1.02310361e+01] [-6.19863339e-03 2.15539002e-05 9.99980788e-01 -1.13814042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:10.24, Z:-1.14 [[ 9.11769191e-01 -4.10648521e-01 6.68836403e-03 7.34301197e+01] [ 4.10637901e-01 9.11793721e-01 2.95373221e-03 1.02423939e+01] [-7.31135408e-03 5.33737376e-05 9.99973270e-01 -1.13751034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:10.25, Z:-1.14 [[ 9.09905910e-01 -4.14747689e-01 7.45582524e-03 7.34559884e+01] [ 4.14734606e-01 9.09936451e-01 3.29562199e-03 1.02535800e+01] [-8.15117876e-03 9.34828155e-05 9.99966774e-01 -1.13699327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:10.27, Z:-1.14 [[ 9.06422796e-01 -4.22294862e-01 8.04760148e-03 7.34807985e+01] [ 4.22279889e-01 9.06458504e-01 3.56021445e-03 1.02669056e+01] [-8.79827707e-03 1.71280722e-04 9.99961280e-01 -1.13790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:10.28, Z:-1.14 [[ 9.04909440e-01 -4.25521666e-01 8.37952853e-03 7.35053218e+01] [ 4.25505538e-01 9.04948213e-01 3.71058106e-03 1.02794388e+01] [-9.16197200e-03 2.07795964e-04 9.99958007e-01 -1.13909134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:10.29, Z:-1.14 [[ 9.01866827e-01 -4.31940928e-01 7.95364853e-03 7.35307213e+01] [ 4.31926642e-01 9.01901862e-01 3.52248233e-03 1.02916677e+01] [-8.69491470e-03 2.58582732e-04 9.99962165e-01 -1.13961207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:10.30, Z:-1.14 [[ 9.00663485e-01 -4.34445615e-01 7.89262945e-03 7.35549228e+01] [ 4.34431616e-01 9.00698024e-01 3.49873783e-03 1.03027938e+01] [-8.62888706e-03 2.77622351e-04 9.99962732e-01 -1.13962113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:73.58, Y:10.31, Z:-1.14 [[ 8.99755378e-01 -4.36329698e-01 7.52690890e-03 7.35801763e+01] [ 4.36317028e-01 8.99786817e-01 3.33698903e-03 1.03149223e+01] [-8.22864082e-03 2.81644699e-04 9.99966104e-01 -1.14269705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:10.33, Z:-1.14 [[ 9.00061160e-01 -4.35684288e-01 8.31320600e-03 7.36048222e+01] [ 4.35668776e-01 9.00099500e-01 3.68877465e-03 1.03285031e+01] [-9.08985372e-03 3.01681499e-04 9.99958641e-01 -1.14088409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.63, Y:10.34, Z:-1.14 [[ 9.00856912e-01 -4.34043403e-01 7.94655632e-03 7.36296379e+01] [ 4.34029144e-01 9.00891920e-01 3.52859932e-03 1.03412696e+01] [-8.69055364e-03 2.70273948e-04 9.99962200e-01 -1.14374436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:10.35, Z:-1.14 [[ 9.02437085e-01 -4.30733281e-01 8.72628822e-03 7.36542020e+01] [ 4.30715900e-01 9.02479237e-01 3.87810911e-03 1.03545117e+01] [-9.54572460e-03 2.58801602e-04 9.99954405e-01 -1.14177543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:10.37, Z:-1.14 [[ 9.07063922e-01 -4.20895978e-01 9.03421581e-03 7.36781857e+01] [ 4.20876828e-01 9.07108897e-01 4.01812440e-03 1.03702060e+01] [-9.88622993e-03 1.57596417e-04 9.99951118e-01 -1.14300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.70, Y:10.38, Z:-1.15 [[ 9.09433889e-01 -4.15765330e-01 8.31822375e-03 7.37029756e+01] [ 4.15748856e-01 9.09471925e-01 3.70217547e-03 1.03830524e+01] [-9.10442717e-03 9.14081793e-05 9.99958550e-01 -1.14507998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:10.40, Z:-1.14 [[ 9.13873064e-01 -4.05914095e-01 8.35288258e-03 7.37277131e+01] [ 4.05897045e-01 9.13911236e-01 3.72042758e-03 1.03956681e+01] [-9.14396723e-03 -9.58819013e-06 9.99958193e-01 -1.14327451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:10.41, Z:-1.14 [[ 9.15413889e-01 -4.02416904e-01 8.83448786e-03 7.37517349e+01] [ 4.02397632e-01 9.15456516e-01 3.93856156e-03 1.04071755e+01] [-9.67253322e-03 -5.04369561e-05 9.99953219e-01 -1.14404661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:10.42, Z:-1.14 [[ 9.16621670e-01 -3.99644326e-01 9.44067655e-03 7.37770658e+01] [ 3.99622160e-01 9.16670282e-01 4.20999399e-03 1.04190645e+01] [-1.03364878e-02 -8.62681692e-05 9.99946573e-01 -1.14455268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:10.43, Z:-1.15 [[ 9.17976179e-01 -3.96498374e-01 1.04294581e-02 7.38020091e+01] [ 3.96471073e-01 9.18035413e-01 4.65489737e-03 1.04309766e+01] [-1.14202711e-02 -1.38106457e-04 9.99934777e-01 -1.14562214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:10.44, Z:-1.15 [[ 9.18090008e-01 -3.96220704e-01 1.09494611e-02 7.38278266e+01] [ 3.96190545e-01 9.18155287e-01 4.89091824e-03 1.04419038e+01] [-1.19911886e-02 -1.52230214e-04 9.99928092e-01 -1.14598862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:10.45, Z:-1.15 [[ 9.17964931e-01 -3.96507629e-01 1.10491820e-02 7.38529640e+01] [ 3.96476894e-01 9.18031414e-01 4.93928133e-03 1.04519410e+01] [-1.21019589e-02 -1.53341686e-04 9.99926757e-01 -1.14575390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:10.46, Z:-1.15 [[ 9.17592992e-01 -3.97367360e-01 1.10580900e-02 7.38789985e+01] [ 3.97336617e-01 9.17659610e-01 4.94490643e-03 1.04617434e+01] [-1.21125070e-02 -1.43627411e-04 9.99926631e-01 -1.14540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:73.91, Y:10.47, Z:-1.15 [[ 9.16018278e-01 -4.00996404e-01 1.06017598e-02 7.39059479e+01] [ 4.00968350e-01 9.16079623e-01 4.74424721e-03 1.04703461e+01] [-1.16144822e-02 -9.48470234e-05 9.99932545e-01 -1.14743388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:10.48, Z:-1.15 [[ 9.14983019e-01 -4.03336249e-01 1.12225460e-02 7.39321548e+01] [ 4.03304938e-01 9.15051837e-01 5.02612280e-03 1.04803407e+01] [-1.22964289e-02 -7.27087743e-05 9.99924393e-01 -1.14550687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:10.49, Z:-1.15 [[ 9.12550969e-01 -4.08838077e-01 1.01072358e-02 7.39585684e+01] [ 4.08812981e-01 9.12606940e-01 4.52988237e-03 1.04877814e+01] [-1.10759219e-02 -1.77936678e-06 9.99938660e-01 -1.14595113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:10.50, Z:-1.15 [[ 9.10979315e-01 -4.12336632e-01 9.75656085e-03 7.39854201e+01] [ 4.12313435e-01 9.11031559e-01 4.37385340e-03 1.04974382e+01] [-1.06920348e-02 3.82711427e-05 9.99942838e-01 -1.14649000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:10.50, Z:-1.15 [[ 9.08349534e-01 -4.18134383e-01 8.04750840e-03 7.40122737e+01] [ 4.18118804e-01 9.08385178e-01 3.61036774e-03 1.05046397e+01] [-8.81985623e-03 8.53387414e-05 9.99961101e-01 -1.14741005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:10.51, Z:-1.15 [[ 9.07255062e-01 -4.20516817e-01 7.33896175e-03 7.40384434e+01] [ 4.20503937e-01 9.07284739e-01 3.29272847e-03 1.05144362e+01] [-8.04317569e-03 9.87177404e-05 9.99967648e-01 -1.14810204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:10.53, Z:-1.15 [[ 9.07202809e-01 -4.20631404e-01 7.23083906e-03 7.40634349e+01] [ 4.20618882e-01 9.07231620e-01 3.24703271e-03 1.05258100e+01] [-7.92584976e-03 9.57102462e-05 9.99968585e-01 -1.14818506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:10.54, Z:-1.15 [[ 9.07915800e-01 -4.19101339e-01 6.55495278e-03 7.40885549e+01] [ 4.19091003e-01 9.07939460e-01 2.94432939e-03 1.05381018e+01] [-7.18547268e-03 7.39185576e-05 9.99974181e-01 -1.14864939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:10.55, Z:-1.15 [[ 9.08021022e-01 -4.18882052e-01 5.97084234e-03 7.41135720e+01] [ 4.18873460e-01 9.08040650e-01 2.68361077e-03 1.05501491e+01] [-6.54588395e-03 6.42523975e-05 9.99978573e-01 -1.14924374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:10.56, Z:-1.15 [[ 9.07952028e-01 -4.19040655e-01 5.29568938e-03 7.41384117e+01] [ 4.19033885e-01 9.07967470e-01 2.38262395e-03 1.05620222e+01] [-5.80672998e-03 5.57650421e-05 9.99983139e-01 -1.14982110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:10.57, Z:-1.15 [[ 9.06906122e-01 -4.21310422e-01 4.33740159e-03 7.41642438e+01] [ 4.21305911e-01 9.06916493e-01 1.95055567e-03 1.05739359e+01] [-4.75545047e-03 5.84020442e-05 9.99988691e-01 -1.15087707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:10.59, Z:-1.15 [[ 9.05932389e-01 -4.23398477e-01 4.49853914e-03 7.41899716e+01] [ 4.23393642e-01 9.05943555e-01 2.02464158e-03 1.05854825e+01] [-4.93265270e-03 7.04644851e-05 9.99987832e-01 -1.15125612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:10.60, Z:-1.15 [[ 9.04712689e-01 -4.25996800e-01 4.65586981e-03 7.42154900e+01] [ 4.25991646e-01 9.04724665e-01 2.09716000e-03 1.05973761e+01] [-5.10566370e-03 8.60343875e-05 9.99986962e-01 -1.15150890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:10.61, Z:-1.15 [[ 9.01384843e-01 -4.32987364e-01 5.22566738e-03 7.42412950e+01] [ 4.32980976e-01 9.01399980e-01 2.35603069e-03 1.06097582e+01] [-5.73054799e-03 1.38924210e-04 9.99983571e-01 -1.15122911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:10.62, Z:-1.15 [[ 8.99301671e-01 -4.37287381e-01 6.02089876e-03 7.42669304e+01] [ 4.37278980e-01 8.99321806e-01 2.71716367e-03 1.06216827e+01] [-6.60290693e-03 1.89262636e-04 9.99978183e-01 -1.15124156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:10.63, Z:-1.15 [[ 8.95656077e-01 -4.44683041e-01 7.56205248e-03 7.42915829e+01] [ 4.44670016e-01 8.95687949e-01 3.41689319e-03 1.06329863e+01] [-8.29267373e-03 3.02256855e-04 9.99965570e-01 -1.15069166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:10.64, Z:-1.15 [[ 8.93916953e-01 -4.48147995e-01 8.70950703e-03 7.43165223e+01] [ 4.48130870e-01 8.93959299e-01 3.93646057e-03 1.06448449e+01] [-9.55006170e-03 3.84130124e-04 9.99954323e-01 -1.15110634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:10.66, Z:-1.15 [[ 8.92452787e-01 -4.51041836e-01 9.44911885e-03 7.43418270e+01] [ 4.51021805e-01 8.92502696e-01 4.27428524e-03 1.06571747e+01] [-1.03612455e-02 4.47160864e-04 9.99946221e-01 -1.15131392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:10.67, Z:-1.15 [[ 8.90717148e-01 -4.54430862e-01 1.07495927e-02 7.43670040e+01] [ 4.54405134e-01 8.90781842e-01 4.86669877e-03 1.06708493e+01] [-1.17871201e-02 5.49818072e-04 9.99930378e-01 -1.15123997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:10.68, Z:-1.15 [[ 8.90380684e-01 -4.55079263e-01 1.11848910e-02 7.43922507e+01] [ 4.55051412e-01 8.90450746e-01 5.06768214e-03 1.06839871e+01] [-1.22657916e-02 5.77534134e-04 9.99924606e-01 -1.15173098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:10.70, Z:-1.15 [[ 8.91133868e-01 -4.53599757e-01 1.12999856e-02 7.44163644e+01] [ 4.53571164e-01 8.91205334e-01 5.12369618e-03 1.06989050e+01] [-1.23947147e-02 5.59448407e-04 9.99923026e-01 -1.15292305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:10.71, Z:-1.15 [[ 8.91955477e-01 -4.51989806e-01 1.09837046e-02 7.44409015e+01] [ 4.51962626e-01 8.92022951e-01 4.98390322e-03 1.07121280e+01] [-1.20503900e-02 5.18804200e-04 9.99927257e-01 -1.15374985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:10.72, Z:-1.15 [[ 8.93199151e-01 -4.49531553e-01 1.08009420e-02 7.44652298e+01] [ 4.49505047e-01 8.93264327e-01 4.90459598e-03 1.07249586e+01] [-1.18528668e-02 4.74296983e-04 9.99929640e-01 -1.15429187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:10.74, Z:-1.16 [[ 8.96294419e-01 -4.43356690e-01 9.54777712e-03 7.44896724e+01] [ 4.43335617e-01 8.96345205e-01 4.33647792e-03 1.07402744e+01] [-1.04807107e-02 3.46108696e-04 9.99945016e-01 -1.15530742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:10.75, Z:-1.16 [[ 8.97881930e-01 -4.40148604e-01 8.78894219e-03 7.45138911e+01] [ 4.40130568e-01 8.97924901e-01 3.99449436e-03 1.07537248e+01] [-9.64998116e-03 2.81697811e-04 9.99953398e-01 -1.15632161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:10.77, Z:-1.16 [[ 9.01019802e-01 -4.33706277e-01 7.88558818e-03 7.45379536e+01] [ 4.33691491e-01 9.01054288e-01 3.58622416e-03 1.07683296e+01] [-8.66071097e-03 1.88653516e-04 9.99962478e-01 -1.15816195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:10.78, Z:-1.16 [[ 9.02588075e-01 -4.30440812e-01 7.44802379e-03 7.45632907e+01] [ 4.30427492e-01 9.02618793e-01 3.38953528e-03 1.07810455e+01] [-8.18172056e-03 1.46480075e-04 9.99966518e-01 -1.15901329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:10.79, Z:-1.16 [[ 9.03976671e-01 -4.27520631e-01 7.23109461e-03 7.45875418e+01] [ 4.27507957e-01 9.04005585e-01 3.29386784e-03 1.07932162e+01] [-7.94514637e-03 1.13770803e-04 9.99968430e-01 -1.15981203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:10.81, Z:-1.16 [[ 9.06035512e-01 -4.23144753e-01 6.94039350e-03 7.46126808e+01] [ 4.23132947e-01 9.06062091e-01 3.16160382e-03 1.08051618e+01] [-7.62624352e-03 7.21838213e-05 9.99970917e-01 -1.16058459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:10.82, Z:-1.16 [[ 9.06613597e-01 -4.21901142e-01 7.15632033e-03 7.46372543e+01] [ 4.21888526e-01 9.06641838e-01 3.26327939e-03 1.08159371e+01] [-7.86500072e-03 6.06359736e-05 9.99969069e-01 -1.16104982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:10.83, Z:-1.16 [[ 9.06732453e-01 -4.21645208e-01 7.18178762e-03 7.46635048e+01] [ 4.21632491e-01 9.06760892e-01 3.27523684e-03 1.08269606e+01] [-7.89315207e-03 5.83114774e-05 9.99968847e-01 -1.16151665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:10.84, Z:-1.16 [[ 9.06426937e-01 -4.22303745e-01 7.05373239e-03 7.46884254e+01] [ 4.22291476e-01 9.06454380e-01 3.21958990e-03 1.08375911e+01] [-7.75353149e-03 6.04080532e-05 9.99969939e-01 -1.16183218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:10.85, Z:-1.16 [[ 9.05931657e-01 -4.23362455e-01 7.21565216e-03 7.47144924e+01] [ 4.23349639e-01 9.05960389e-01 3.29481524e-03 1.08481393e+01] [-7.93199610e-03 6.98663088e-05 9.99968539e-01 -1.16207313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:10.86, Z:-1.16 [[ 9.04459786e-01 -4.26459040e-01 9.22948059e-03 7.47405586e+01] [ 4.26438189e-01 9.04506867e-01 4.21884486e-03 1.08559197e+01] [-1.01472931e-02 1.20027471e-04 9.99948508e-01 -1.16048464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:10.87, Z:-1.16 [[ 9.03450210e-01 -4.28567292e-01 1.03824074e-02 7.47664970e+01] [ 4.28541025e-01 9.03509851e-01 4.74751623e-03 1.08654101e+01] [-1.14152375e-02 1.60142958e-04 9.99934831e-01 -1.15967743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:10.88, Z:-1.16 [[ 9.02418927e-01 -4.30714889e-01 1.11697796e-02 7.47928862e+01] [ 4.30684618e-01 9.02488030e-01 5.11027767e-03 1.08753870e+01] [-1.22816651e-02 1.99040974e-04 9.99924558e-01 -1.15902054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:10.88, Z:-1.16 [[ 9.00800522e-01 -4.34085896e-01 1.13073112e-02 7.48196614e+01] [ 4.34055092e-01 9.00871453e-01 5.17704306e-03 1.08849226e+01] [-1.24337152e-02 2.44512896e-04 9.99922668e-01 -1.15980405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:10.90, Z:-1.16 [[ 8.99695901e-01 -4.36411368e-01 9.61265754e-03 7.48458945e+01] [ 4.36389210e-01 8.99747222e-01 4.40381861e-03 1.08954014e+01] [-1.05708384e-02 2.32762487e-04 9.99944100e-01 -1.16204592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:10.91, Z:-1.16 [[ 8.99355971e-01 -4.37129633e-01 8.74759631e-03 7.48718473e+01] [ 4.37111292e-01 8.99398486e-01 4.01018279e-03 1.09060672e+01] [-9.62054461e-03 2.17091284e-04 9.99953698e-01 -1.16340245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:10.92, Z:-1.16 [[ 8.99206629e-01 -4.37459817e-01 7.50648024e-03 7.48973299e+01] [ 4.37446303e-01 8.99237940e-01 3.44365463e-03 1.09161678e+01] [-8.25657235e-03 1.87124958e-04 9.99965896e-01 -1.16450244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:10.93, Z:-1.17 [[ 8.98946220e-01 -4.38018515e-01 5.95599636e-03 7.49240169e+01] [ 4.38010017e-01 8.98965938e-01 2.73267049e-03 1.09265379e+01] [-6.55119812e-03 1.52262257e-04 9.99978529e-01 -1.16511462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:10.94, Z:-1.17 [[ 8.99111215e-01 -4.37701463e-01 4.05616716e-03 7.49493074e+01] [ 4.37697512e-01 8.99120358e-01 1.86255276e-03 1.09368341e+01] [-4.46222454e-03 1.00732205e-04 9.99990039e-01 -1.16594630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:74.97, Y:10.95, Z:-1.17 [[ 8.99477463e-01 -4.36961560e-01 2.21111069e-03 7.49743540e+01] [ 4.36960388e-01 8.99480179e-01 1.01323099e-03 1.09490254e+01] [-2.43159324e-03 5.47893465e-05 9.99997042e-01 -1.16887437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:10.96, Z:-1.17 [[ 8.99902624e-01 -4.36084070e-01 2.43954843e-03 7.49990098e+01] [ 4.36082633e-01 8.99905929e-01 1.12077435e-03 1.09606384e+01] [-2.68411593e-03 5.52569273e-05 9.99996396e-01 -1.16691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:10.97, Z:-1.17 [[ 8.99789392e-01 -4.36317655e-01 2.43995519e-03 7.50249586e+01] [ 4.36316222e-01 8.99792699e-01 1.11989100e-03 1.09726595e+01] [-2.68408208e-03 5.69259921e-05 9.99996396e-01 -1.16726126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:10.98, Z:-1.17 [[ 8.99837932e-01 -4.36220428e-01 1.85323427e-03 7.50496887e+01] [ 4.36219598e-01 8.99839840e-01 8.51895029e-04 1.09829936e+01] [-2.03922805e-03 4.18496481e-05 9.99997920e-01 -1.16645363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:10.99, Z:-1.17 [[ 8.99598044e-01 -4.36711887e-01 2.46730831e-03 7.50752559e+01] [ 4.36710420e-01 8.99601425e-01 1.13345953e-03 1.09941879e+01] [-2.71458933e-03 5.78412695e-05 9.99996314e-01 -1.16625613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:11.01, Z:-1.17 [[ 8.98907171e-01 -4.38116481e-01 4.45492176e-03 7.51008903e+01] [ 4.38111694e-01 8.98918204e-01 2.05096974e-03 1.10056427e+01] [-4.90317391e-03 1.08121909e-04 9.99987974e-01 -1.16550460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:11.02, Z:-1.17 [[ 8.98388258e-01 -4.39159926e-01 6.09078005e-03 7.51257875e+01] [ 4.39150978e-01 8.98408891e-01 2.80750691e-03 1.10177527e+01] [-6.70495548e-03 1.52540773e-04 9.99977510e-01 -1.16588430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:11.03, Z:-1.17 [[ 8.97806230e-01 -4.40332326e-01 7.17054701e-03 7.51507198e+01] [ 4.40319938e-01 8.97834844e-01 3.30826397e-03 1.10305612e+01] [-7.89470253e-03 1.87154815e-04 9.99968819e-01 -1.16628650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:11.04, Z:-1.17 [[ 8.96713660e-01 -4.42513500e-01 9.29589988e-03 7.51757249e+01] [ 4.42492754e-01 8.96761804e-01 4.29301195e-03 1.10444453e+01] [-1.02359237e-02 2.63765884e-04 9.99947577e-01 -1.16692817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:11.06, Z:-1.17 [[ 8.96040851e-01 -4.43862943e-01 9.82250818e-03 7.52012882e+01] [ 4.43839822e-01 8.96094639e-01 4.53977868e-03 1.10567440e+01] [-1.08169365e-02 2.91793138e-04 9.99941453e-01 -1.16696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:11.07, Z:-1.17 [[ 8.95377095e-01 -4.45188816e-01 1.03332829e-02 7.52265595e+01] [ 4.45163274e-01 8.95436662e-01 4.77956595e-03 1.10688257e+01] [-1.13806096e-02 3.20484167e-04 9.99935187e-01 -1.16702716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:11.08, Z:-1.17 [[ 8.94296201e-01 -4.47365506e-01 9.92013606e-03 7.52516309e+01] [ 4.47342064e-01 8.94351158e-01 4.59169873e-03 1.10821856e+01] [-1.09262528e-02 3.31355404e-04 9.99940252e-01 -1.16613973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:11.10, Z:-1.17 [[ 8.93576507e-01 -4.48757700e-01 1.17282813e-02 7.52765202e+01] [ 4.48841361e-01 8.93593000e-01 -5.74302720e-03 1.10995983e+01] [-7.90308240e-03 1.03959719e-02 9.99914729e-01 -1.17108146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:11.11, Z:-1.16 [[ 8.94048840e-01 -4.47949190e-01 4.26565213e-03 7.53031250e+01] [ 4.47864737e-01 8.94005155e-01 1.31133377e-02 1.11055123e+01] [-9.68762400e-03 -9.81352921e-03 9.99904918e-01 -1.16262437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:11.12, Z:-1.17 [[ 8.94240456e-01 -4.47530428e-01 7.10795340e-03 7.53258330e+01] [ 4.47518360e-01 8.94268674e-01 3.29488569e-03 1.11231625e+01] [-7.83098167e-03 2.34519572e-04 9.99969310e-01 -1.16862973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:11.14, Z:-1.18 [[ 8.92180190e-01 -4.51545791e-01 1.09957792e-02 7.53417047e+01] [ 4.51568992e-01 8.92236109e-01 4.13828012e-04 1.11414357e+01] [-9.99769355e-03 4.59614378e-03 9.99939459e-01 -1.17608154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:11.15, Z:-1.17 [[ 8.95535220e-01 -4.44987063e-01 1.78443460e-03 7.53767687e+01] [ 4.44971170e-01 8.95526347e-01 5.76367770e-03 1.11492429e+01] [-4.16277021e-03 -4.36755442e-03 9.99981798e-01 -1.16901105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:11.16, Z:-1.17 [[ 8.95838975e-01 -4.44369366e-01 2.89788277e-03 7.54013424e+01] [ 4.44367347e-01 8.95843658e-01 1.34250233e-03 1.11639257e+01] [-3.19261681e-03 8.50585692e-05 9.99994900e-01 -1.17134407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:11.18, Z:-1.17 [[ 8.96369718e-01 -4.43290568e-01 3.84723855e-03 7.54251021e+01] [ 4.43286982e-01 8.96377968e-01 1.78617349e-03 1.11770106e+01] [-4.24037374e-03 1.04358942e-04 9.99991004e-01 -1.17181075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:11.19, Z:-1.17 [[ 8.96506370e-01 -4.43011366e-01 4.15433172e-03 7.54507764e+01] [ 4.43007184e-01 8.96515988e-01 1.92823480e-03 1.11890509e+01] [-4.57865474e-03 1.11724015e-04 9.99989512e-01 -1.17180673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:75.48, Y:11.20, Z:-1.18 [[ 8.96514618e-01 -4.42994157e-01 4.20915401e-03 7.54766122e+01] [ 4.42989857e-01 8.96524492e-01 1.95509806e-03 1.12011200e+01] [-4.63970667e-03 1.11838537e-04 9.99989230e-01 -1.17502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:11.21, Z:-1.17 [[ 8.97649344e-01 -4.40672271e-01 5.79690326e-03 7.55022465e+01] [ 4.40664045e-01 8.97668052e-01 2.69598335e-03 1.12124840e+01] [-6.39173996e-03 1.34439146e-04 9.99979564e-01 -1.17199418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:11.22, Z:-1.17 [[ 8.98362175e-01 -4.39210584e-01 6.28210726e-03 7.55265288e+01] [ 4.39200867e-01 8.98384130e-01 2.92458339e-03 1.12236995e+01] [-6.92825345e-03 1.31771854e-04 9.99975991e-01 -1.17243366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:11.24, Z:-1.17 [[ 8.99965602e-01 -4.35903160e-01 7.09583079e-03 7.55522674e+01] [ 4.35890647e-01 8.99993567e-01 3.30497732e-03 1.12351864e+01] [-7.82685212e-03 1.18640371e-04 9.99969363e-01 -1.17249659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:11.25, Z:-1.17 [[ 9.00892107e-01 -4.33981793e-01 7.29492086e-03 7.55768968e+01] [ 4.33968478e-01 9.00921636e-01 3.40096071e-03 1.12460831e+01] [-8.04810706e-03 1.01867044e-04 9.99967608e-01 -1.17266417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:11.26, Z:-1.17 [[ 9.01833231e-01 -4.32027379e-01 7.01201060e-03 7.56028558e+01] [ 4.32015016e-01 9.01860487e-01 3.26932318e-03 1.12576241e+01] [-7.73629242e-03 8.09095855e-05 9.99970071e-01 -1.17318697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:11.27, Z:-1.17 [[ 9.03279813e-01 -4.29009543e-01 6.03249979e-03 7.56291782e+01] [ 4.29000316e-01 9.03299956e-01 2.81413568e-03 1.12684522e+01] [-6.65644786e-03 4.59923635e-05 9.99977845e-01 -1.17402101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:11.28, Z:-1.17 [[ 9.03543448e-01 -4.28458188e-01 5.72879027e-03 7.56547387e+01] [ 4.28449844e-01 9.03561608e-01 2.67421017e-03 1.12791040e+01] [-6.32210220e-03 3.82342212e-05 9.99980015e-01 -1.17485203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:11.29, Z:-1.18 [[ 9.03300069e-01 -4.28973336e-01 5.55532657e-03 7.56804744e+01] [ 4.28965489e-01 9.03317151e-01 2.59497098e-03 1.12898953e+01] [-6.13139513e-03 3.90059135e-05 9.99981202e-01 -1.17542531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:11.30, Z:-1.18 [[ 9.01615635e-01 -4.32503203e-01 5.49780401e-03 7.57056401e+01] [ 4.32495566e-01 9.01632395e-01 2.57094093e-03 1.12989876e+01] [-6.06893838e-03 5.97753142e-05 9.99981582e-01 -1.17726187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:11.31, Z:-1.18 [[ 9.00172525e-01 -4.35494933e-01 5.79554848e-03 7.57315086e+01] [ 4.35486508e-01 9.00191178e-01 2.71020834e-03 1.13088808e+01] [-6.39738361e-03 8.42280879e-05 9.99979533e-01 -1.17809726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:11.32, Z:-1.18 [[ 8.96536692e-01 -4.42921791e-01 6.49980956e-03 7.57589050e+01] [ 4.42911371e-01 8.96560240e-01 3.04200605e-03 1.13160770e+01] [-7.17484158e-03 1.51569521e-04 9.99974249e-01 -1.17751937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:11.33, Z:-1.18 [[ 8.95216332e-01 -4.45574963e-01 7.11834862e-03 7.57851977e+01] [ 4.45562527e-01 8.95244613e-01 3.33434529e-03 1.13273582e+01] [-7.85836404e-03 1.86709034e-04 9.99969105e-01 -1.17698384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:11.34, Z:-1.18 [[ 8.94675657e-01 -4.46646617e-01 7.89098459e-03 7.58100554e+01] [ 4.46631348e-01 8.94710430e-01 3.69940642e-03 1.13396145e+01] [-8.71247358e-03 2.14592215e-04 9.99962023e-01 -1.17723500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:11.35, Z:-1.18 [[ 8.94542910e-01 -4.46912224e-01 7.90228362e-03 7.58349790e+01] [ 4.46896898e-01 8.94577787e-01 3.70742248e-03 1.13525617e+01] [-8.72609982e-03 2.15057543e-04 9.99961904e-01 -1.17767002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:11.36, Z:-1.18 [[ 8.94687981e-01 -4.46634078e-01 7.17059296e-03 7.58594054e+01] [ 4.46621427e-01 8.94716695e-01 3.36696437e-03 1.13644780e+01] [-7.91945027e-03 1.90157902e-04 9.99968623e-01 -1.17809906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:11.38, Z:-1.18 [[ 8.94977759e-01 -4.46066616e-01 6.27576080e-03 7.58844209e+01] [ 4.46056913e-01 8.94999747e-01 2.94664560e-03 1.13773398e+01] [-6.93120457e-03 1.62164211e-04 9.99975966e-01 -1.17912444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:11.39, Z:-1.18 [[ 8.95157550e-01 -4.45706972e-01 6.18509775e-03 7.59089451e+01] [ 4.45697518e-01 8.95178905e-01 2.90704533e-03 1.13897076e+01] [-6.83245940e-03 1.54419146e-04 9.99976647e-01 -1.18021261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:11.40, Z:-1.18 [[ 8.95268225e-01 -4.45492210e-01 5.61207730e-03 7.59344110e+01] [ 4.45484425e-01 8.95285804e-01 2.63740312e-03 1.14027190e+01] [-6.19935568e-03 1.38909821e-04 9.99980774e-01 -1.18085702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:11.42, Z:-1.18 [[ 8.95795363e-01 -4.44437775e-01 5.07259430e-03 7.59577092e+01] [ 4.44431384e-01 8.95809718e-01 2.38637202e-03 1.14169357e+01] [-5.60467314e-03 1.16719111e-04 9.99984287e-01 -1.18184425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95762800000001 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.98, Y:11.43, Z:-1.18 [[ 8.95805509e-01 -4.44423110e-01 4.53754655e-03 7.59828560e+01] [ 4.44417999e-01 8.95816995e-01 2.13393598e-03 1.14304857e+01] [-5.01318178e-03 1.04975748e-04 9.99987428e-01 -1.18327064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:11.44, Z:-1.18 [[ 8.96777456e-01 -4.42461054e-01 4.29077982e-03 7.60067369e+01] [ 4.42456452e-01 8.96787716e-01 2.01988673e-03 1.14431068e+01] [-4.74163985e-03 8.70943340e-05 9.99988755e-01 -1.18178114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:11.46, Z:-1.18 [[ 8.97174091e-01 -4.41656763e-01 4.23717013e-03 7.60306942e+01] [ 4.41652259e-01 8.97184093e-01 1.99619271e-03 1.14551235e+01] [-4.68315365e-03 8.04233807e-05 9.99989031e-01 -1.18202097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:11.47, Z:-1.18 [[ 8.97628530e-01 -4.40734198e-01 4.04834172e-03 7.60555472e+01] [ 4.40730080e-01 8.97637656e-01 1.90648662e-03 1.14676219e+01] [-4.47419782e-03 7.29091902e-05 9.99989988e-01 -1.18208959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:11.48, Z:-1.18 [[ 8.98893374e-01 -4.38141977e-01 4.72343812e-03 7.60803566e+01] [ 4.38136324e-01 8.98905781e-01 2.22659850e-03 1.14815310e+01] [-5.22149210e-03 6.80351792e-05 9.99986366e-01 -1.18351887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:11.49, Z:-1.18 [[ 8.99462535e-01 -4.36960877e-01 5.68679174e-03 7.61052411e+01] [ 4.36952644e-01 8.99480509e-01 2.68334214e-03 1.14943107e+01] [-6.28767386e-03 7.12929641e-05 9.99980230e-01 -1.18448603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:11.51, Z:-1.19 [[ 9.00066179e-01 -4.35702929e-01 6.62045641e-03 7.61292799e+01] [ 4.35691710e-01 9.00090525e-01 3.12750608e-03 1.15064622e+01] [-7.32167365e-03 6.95155247e-05 9.99973194e-01 -1.18509824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:11.52, Z:-1.18 [[ 9.01209641e-01 -4.33310691e-01 7.93900352e-03 7.61547796e+01] [ 4.33294456e-01 9.01244607e-01 3.75133608e-03 1.15184605e+01] [-8.78047814e-03 5.91859721e-05 9.99961449e-01 -1.18499972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:11.53, Z:-1.19 [[ 9.01751241e-01 -4.32175311e-01 8.31866973e-03 7.61801876e+01] [ 4.32157411e-01 9.01789609e-01 3.93364415e-03 1.15303459e+01] [-9.20171381e-03 4.78062879e-05 9.99957662e-01 -1.18528223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:11.54, Z:-1.19 [[ 9.02869196e-01 -4.29836415e-01 8.23834119e-03 7.62046884e+01] [ 4.29818733e-01 9.02906781e-01 3.89879903e-03 1.15410736e+01] [-9.11429992e-03 2.08878278e-05 9.99958464e-01 -1.18575883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:11.55, Z:-1.19 [[ 9.03289828e-01 -4.28958900e-01 7.85801630e-03 7.62305723e+01] [ 4.28942775e-01 9.03324007e-01 3.71932996e-03 1.15530966e+01] [-8.69377447e-03 1.10064017e-05 9.99962208e-01 -1.18621963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:11.56, Z:-1.19 [[ 9.03787114e-01 -4.27909308e-01 7.90423413e-03 7.62563542e+01] [ 4.27892931e-01 9.03821677e-01 3.74370904e-03 1.15649669e+01] [-8.74598609e-03 -1.35008110e-06 9.99961753e-01 -1.18667523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:11.58, Z:-1.19 [[ 9.04681352e-01 -4.26018630e-01 7.73169284e-03 7.62823912e+01] [ 4.26002869e-01 9.04714390e-01 3.66456505e-03 1.15759443e+01] [-8.55614675e-03 -2.15403334e-05 9.99963395e-01 -1.18736563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:11.59, Z:-1.19 [[ 9.04997473e-01 -4.25356775e-01 7.15455981e-03 7.63071650e+01] [ 4.25343235e-01 9.05025753e-01 3.39401202e-03 1.15868733e+01] [-7.91872688e-03 -2.84286943e-05 9.99968646e-01 -1.18778817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:11.60, Z:-1.19 [[ 9.05611535e-01 -4.24058190e-01 6.51155862e-03 7.63328339e+01] [ 4.24046940e-01 9.05634943e-01 3.08900399e-03 1.15974295e+01] [-7.20701246e-03 -3.62311319e-05 9.99974028e-01 -1.18981967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:11.61, Z:-1.19 [[ 9.06012844e-01 -4.23213438e-01 5.57791056e-03 7.63580273e+01] [ 4.23205155e-01 9.06030013e-01 2.64808287e-03 1.16085880e+01] [-6.17445863e-03 -3.85965859e-05 9.99980937e-01 -1.19027763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:11.62, Z:-1.19 [[ 9.06398254e-01 -4.22391235e-01 5.27730035e-03 7.63836068e+01] [ 4.22383804e-01 9.06413616e-01 2.50587130e-03 1.16196839e+01] [-5.84187497e-03 -4.22711749e-05 9.99982935e-01 -1.19090713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:11.63, Z:-1.19 [[ 9.06890314e-01 -4.21339286e-01 4.81299774e-03 7.64081303e+01] [ 4.21333077e-01 9.06903084e-01 2.28792774e-03 1.16299144e+01] [-5.32891633e-03 -4.70243577e-05 9.99985800e-01 -1.19178388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:11.64, Z:-1.19 [[ 9.06602223e-01 -4.21962044e-01 4.52143138e-03 7.64339282e+01] [ 4.21956575e-01 9.06613496e-01 2.14868063e-03 1.16411485e+01] [-5.00585238e-03 -4.01509298e-05 9.99987470e-01 -1.19170998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:11.65, Z:-1.19 [[ 9.04876501e-01 -4.25641083e-01 5.30909789e-03 7.64599328e+01] [ 4.25633585e-01 9.04892075e-01 2.52658082e-03 1.16496888e+01] [-5.87957720e-03 -2.65132417e-05 9.99982715e-01 -1.19158147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:11.66, Z:-1.19 [[ 9.03298428e-01 -4.28975022e-01 5.69037283e-03 7.64865648e+01] [ 4.28966475e-01 9.03316351e-01 2.70804572e-03 1.16597689e+01] [-6.30189079e-03 -5.19426906e-06 9.99980143e-01 -1.19096676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:11.67, Z:-1.19 [[ 9.01461176e-01 -4.32816148e-01 6.15873306e-03 7.65133797e+01] [ 4.32806208e-01 9.01482214e-01 2.93334205e-03 1.16699666e+01] [-6.82158612e-03 2.12439300e-05 9.99976732e-01 -1.19031464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:11.68, Z:-1.19 [[ 8.98216116e-01 -4.39474352e-01 8.37279194e-03 7.65395514e+01] [ 4.39456231e-01 8.98255134e-01 3.99201536e-03 1.16801925e+01] [-9.27529171e-03 9.37830591e-05 9.99956979e-01 -1.18864239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:11.69, Z:-1.19 [[ 8.96842033e-01 -4.42253229e-01 9.29777432e-03 7.65647442e+01] [ 4.42230994e-01 8.96890218e-01 4.43670943e-03 1.16927490e+01] [-1.03012319e-02 1.32736473e-04 9.99946932e-01 -1.18823651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:11.71, Z:-1.19 [[ 8.95560929e-01 -4.44844041e-01 9.18701263e-03 7.65896158e+01] [ 4.44822436e-01 8.95608036e-01 4.38700827e-03 1.17053529e+01] [-1.01794968e-02 1.57756141e-04 9.99948175e-01 -1.18858459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:11.72, Z:-1.19 [[ 8.95481871e-01 -4.45003193e-01 9.18568016e-03 7.66153586e+01] [ 4.44981569e-01 8.95528968e-01 4.38979631e-03 1.17177409e+01] [-1.01795161e-02 1.56475353e-04 9.99948175e-01 -1.18892367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:11.73, Z:-1.19 [[ 8.92566397e-01 -4.50849852e-01 7.72252818e-03 7.66395598e+01] [ 4.50834778e-01 8.92599785e-01 3.69147239e-03 1.17319531e+01] [-8.55742678e-03 1.86700065e-04 9.99963367e-01 -1.19046858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:11.74, Z:-1.19 [[ 8.91140086e-01 -4.53673023e-01 7.08063882e-03 7.66638469e+01] [ 4.53660417e-01 8.91168194e-01 3.38754246e-03 1.17446189e+01] [-7.84687674e-03 1.93430686e-04 9.99969194e-01 -1.19134318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:11.76, Z:-1.19 [[ 8.88626400e-01 -4.58592302e-01 6.01841792e-03 7.66892658e+01] [ 4.58583308e-01 8.88646758e-01 2.87913917e-03 1.17574603e+01] [-6.66859863e-03 2.01466926e-04 9.99977744e-01 -1.19097677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:11.77, Z:-1.19 [[ 8.87700678e-01 -4.60383638e-01 5.86614666e-03 7.67138757e+01] [ 4.60375120e-01 8.87720036e-01 2.80813478e-03 1.17700535e+01] [-6.50031523e-03 2.07844827e-04 9.99978851e-01 -1.19045030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:11.78, Z:-1.19 [[ 8.87032981e-01 -4.61669109e-01 5.84159154e-03 7.67384160e+01] [ 4.61660678e-01 8.87052190e-01 2.79840949e-03 1.17836318e+01] [-6.47373579e-03 2.14551594e-04 9.99979022e-01 -1.19043525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:11.80, Z:-1.19 [[ 8.87122461e-01 -4.61510454e-01 4.67330035e-03 7.67611500e+01] [ 4.61505044e-01 8.87134755e-01 2.24081484e-03 1.17998616e+01] [-5.18000663e-03 1.68874515e-04 9.99986569e-01 -1.19036401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:11.81, Z:-1.19 [[ 8.87501507e-01 -4.60780508e-01 4.73274216e-03 7.67856992e+01] [ 4.60774952e-01 8.87514110e-01 2.26889699e-03 1.18146218e+01] [-5.24583895e-03 1.67079547e-04 9.99986227e-01 -1.19120014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:11.83, Z:-1.19 [[ 8.89477123e-01 -4.56948166e-01 5.36856545e-03 7.68089368e+01] [ 4.56940934e-01 8.89493309e-01 2.57603065e-03 1.18304224e+01] [-5.95241553e-03 1.61796978e-04 9.99982271e-01 -1.19121516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:11.84, Z:-1.19 [[ 8.90612505e-01 -4.54731605e-01 5.34167418e-03 7.68323262e+01] [ 4.54724391e-01 8.90628512e-01 2.56554289e-03 1.18435701e+01] [-5.92408077e-03 1.44084962e-04 9.99982442e-01 -1.19072797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:11.86, Z:-1.19 [[ 8.91928717e-01 -4.52144156e-01 5.36891260e-03 7.68573595e+01] [ 4.52136817e-01 8.91944867e-01 2.57930804e-03 1.18573343e+01] [-5.95499309e-03 1.26924146e-04 9.99982261e-01 -1.19054470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:11.87, Z:-1.19 [[ 8.94782833e-01 -4.46466642e-01 5.58739854e-03 7.68796537e+01] [ 4.46458563e-01 8.94800274e-01 2.68734092e-03 1.18731164e+01] [-6.19941382e-03 8.99554021e-05 9.99980779e-01 -1.19098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:11.89, Z:-1.19 [[ 8.96380783e-01 -4.43248896e-01 5.64876655e-03 7.69042278e+01] [ 4.43240575e-01 8.96398578e-01 2.71680061e-03 1.18876381e+01] [-6.26776517e-03 6.84746778e-05 9.99980355e-01 -1.19148703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:11.90, Z:-1.19 [[ 8.99828206e-01 -4.36204034e-01 5.93646184e-03 7.69279815e+01] [ 4.36194676e-01 8.99847788e-01 2.85722830e-03 1.19038221e+01] [-6.58824656e-03 1.84384359e-05 9.99978297e-01 -1.19226745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:11.92, Z:-1.19 [[ 9.01437459e-01 -4.32863149e-01 6.32470188e-03 7.69524440e+01] [ 4.32852428e-01 9.01459646e-01 3.04650198e-03 1.19173041e+01] [-7.02018196e-03 -8.56842975e-06 9.99975358e-01 -1.19265533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:11.93, Z:-1.19 [[ 9.04166017e-01 -4.27127515e-01 6.77492828e-03 7.69768015e+01] [ 4.27115032e-01 9.04191397e-01 3.26597158e-03 1.19316263e+01] [-7.52081819e-03 -5.93068098e-05 9.99971716e-01 -1.19214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:11.94, Z:-1.19 [[ 9.05014824e-01 -4.25324293e-01 6.88585690e-03 7.70013150e+01] [ 4.25311328e-01 9.05041016e-01 3.32186988e-03 1.19446225e+01] [-7.64485488e-03 -7.77085405e-05 9.99970775e-01 -1.19229799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:11.96, Z:-1.19 [[ 9.06038023e-01 -4.23139158e-01 6.95375626e-03 7.70257179e+01] [ 4.23125853e-01 9.06064701e-01 3.35704186e-03 1.19577817e+01] [-7.72104896e-03 -9.92935219e-05 9.99970187e-01 -1.19285418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:11.97, Z:-1.19 [[ 9.06072447e-01 -4.23067673e-01 6.81642643e-03 7.70505597e+01] [ 4.23054869e-01 9.06098082e-01 3.29305309e-03 1.19700355e+01] [-7.56953522e-03 -1.00022286e-04 9.99971346e-01 -1.19284763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:11.98, Z:-1.19 [[ 9.05906770e-01 -4.23423419e-01 6.74783361e-03 7.70761156e+01] [ 4.23410863e-01 9.05931895e-01 3.26222756e-03 1.19827967e+01] [-7.49438123e-03 -9.81679829e-05 9.99971912e-01 -1.19309268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:12.00, Z:-1.19 [[ 9.05630587e-01 -4.24014284e-01 6.71766591e-03 7.71014730e+01] [ 4.24001840e-01 9.05655496e-01 3.24995127e-03 1.19956487e+01] [-7.46191682e-03 -9.49525700e-05 9.99972155e-01 -1.19374275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:12.01, Z:-1.20 [[ 9.04611626e-01 -4.26211467e-01 4.64669279e-03 7.71259665e+01] [ 4.26205539e-01 9.04623558e-01 2.24850911e-03 1.20084799e+01] [-5.16184813e-03 -5.35812739e-05 9.99986676e-01 -1.19511313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:12.02, Z:-1.20 [[ 9.03783757e-01 -4.27979716e-01 2.87818265e-03 7.71510624e+01] [ 4.27977452e-01 9.03788339e-01 1.39232740e-03 1.20206452e+01] [-3.19715580e-03 -2.65656154e-05 9.99994889e-01 -1.19615912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:12.03, Z:-1.20 [[ 9.01733521e-01 -4.32292285e-01 1.95829926e-04 7.71760885e+01] [ 4.32292275e-01 9.01733542e-01 9.25337777e-05 1.20310161e+01] [-2.16588051e-04 1.21495478e-06 9.99999977e-01 -1.19766143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:12.04, Z:-1.20 [[ 9.00203887e-01 -4.35467922e-01 -8.06576076e-04 7.72021390e+01] [ 4.35467742e-01 9.00204249e-01 -3.95303951e-04 1.20420441e+01] [ 8.98225400e-04 4.61629076e-06 9.99999597e-01 -1.19814744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:12.05, Z:-1.20 [[ 8.96803096e-01 -4.42427096e-01 -1.57224735e-03 7.72294870e+01] [ 4.42426430e-01 8.96804474e-01 -7.67732299e-04 1.20506251e+01] [ 1.74966403e-03 -7.09908017e-06 9.99998469e-01 -1.19770557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:12.06, Z:-1.20 [[ 8.94815161e-01 -4.46432168e-01 -2.03671715e-03 7.72556602e+01] [ 4.46431061e-01 8.94817478e-01 -9.94240140e-04 1.20613633e+01] [ 2.26635089e-03 -1.95926473e-05 9.99997432e-01 -1.19755610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:12.07, Z:-1.20 [[ 8.90947289e-01 -4.54099954e-01 -2.48175950e-03 7.72814639e+01] [ 4.54098348e-01 8.90950745e-01 -1.20889660e-03 1.20699075e+01] [ 2.76008536e-03 -4.98997396e-05 9.99996190e-01 -1.19699496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:12.08, Z:-1.20 [[ 8.88765159e-01 -4.58352587e-01 -3.06569790e-03 7.73075952e+01] [ 4.58350151e-01 8.88770443e-01 -1.49614160e-03 1.20809122e+01] [ 3.41046206e-03 -7.54445719e-05 9.99994182e-01 -1.19716790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:12.09, Z:-1.20 [[ 8.86593664e-01 -4.62539036e-01 -3.05208960e-03 7.73332577e+01] [ 4.62536642e-01 8.86598913e-01 -1.49061699e-03 1.20916987e+01] [ 3.39544787e-03 -9.01316919e-05 9.99994231e-01 -1.19730185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:12.10, Z:-1.20 [[ 8.82251239e-01 -4.70773978e-01 -2.14768483e-03 7.73603405e+01] [ 4.70772813e-01 8.82253849e-01 -1.05086919e-03 1.21013301e+01] [ 2.38952508e-03 -8.39409793e-05 9.99997142e-01 -1.19734620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:12.11, Z:-1.20 [[ 8.80248477e-01 -4.74510141e-01 -1.65686341e-03 7.73853875e+01] [ 4.74509456e-01 8.80250033e-01 -8.09659857e-04 1.21115255e+01] [ 1.84264588e-03 -7.34954967e-05 9.99998300e-01 -1.19679338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:12.12, Z:-1.20 [[ 8.78221637e-01 -4.78252863e-01 -9.77644959e-04 7.74115998e+01] [ 4.78252623e-01 8.78222180e-01 -4.80845876e-04 1.21229073e+01] [ 1.08855540e-03 -4.52720139e-05 9.99999406e-01 -1.19673508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:12.13, Z:-1.20 [[ 8.74841765e-01 -4.84408765e-01 -1.87268801e-04 7.74373642e+01] [ 4.84408756e-01 8.74841785e-01 -9.52007464e-05 1.21345024e+01] [ 2.09946648e-04 -7.42905789e-06 9.99999978e-01 -1.19634420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:12.15, Z:-1.20 [[ 8.73468353e-01 -4.86880890e-01 1.86005662e-04 7.74620540e+01] [ 4.86880883e-01 8.73468373e-01 8.71711833e-05 1.21469416e+01] [-2.04912046e-04 1.44213311e-05 9.99999979e-01 -1.19620104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:77.49, Y:12.16, Z:-1.20 [[ 8.71886114e-01 -4.89708508e-01 4.26016254e-04 7.74862956e+01] [ 4.89708465e-01 8.71886218e-01 2.06647410e-04 1.21596768e+01] [-4.72634696e-04 2.84507590e-05 9.99999888e-01 -1.19680999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:12.17, Z:-1.20 [[ 8.71736660e-01 -4.89973696e-01 9.86083645e-04 7.75113958e+01] [ 4.89973466e-01 8.71737216e-01 4.78750969e-04 1.21729773e+01] [-1.09418119e-03 6.58100506e-05 9.99999399e-01 -1.19511458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:12.19, Z:-1.19 [[ 8.72515575e-01 -4.88584033e-01 1.48797252e-03 7.75348915e+01] [ 4.88583505e-01 8.72516839e-01 7.24793101e-04 1.21882732e+01] [-1.65240342e-03 9.46055608e-05 9.99998630e-01 -1.19468774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:12.20, Z:-1.19 [[ 8.73439394e-01 -4.86930553e-01 1.50399937e-03 7.75578415e+01] [ 4.86930007e-01 8.73440684e-01 7.34921857e-04 1.22024348e+01] [-1.67151015e-03 9.04327243e-05 9.99998599e-01 -1.19498933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:12.22, Z:-1.20 [[ 8.74667049e-01 -4.84721208e-01 1.70420592e-03 7.75816910e+01] [ 4.84720505e-01 8.74668703e-01 8.31552731e-04 1.22173741e+01] [-1.89368682e-03 9.87317790e-05 9.99998202e-01 -1.19582813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:12.24, Z:-1.20 [[ 8.77809415e-01 -4.79004752e-01 2.25354696e-03 7.76038078e+01] [ 4.79003499e-01 8.77812300e-01 1.10145039e-03 1.22351521e+01] [-2.50579122e-03 1.12593356e-04 9.99996854e-01 -1.19614712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:12.25, Z:-1.20 [[ 8.79511690e-01 -4.75872946e-01 2.03124020e-03 7.76271731e+01] [ 4.75871917e-01 8.79514031e-01 9.94060565e-04 1.22497357e+01] [-2.25955078e-03 9.23222786e-05 9.99997443e-01 -1.19594198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:12.27, Z:-1.20 [[ 8.82921617e-01 -4.69514867e-01 2.28213362e-03 7.76487497e+01] [ 4.69513544e-01 8.82924562e-01 1.11772292e-03 1.22672815e+01] [-2.53973935e-03 8.46309199e-05 9.99996771e-01 -1.19569864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:12.28, Z:-1.20 [[ 8.84501170e-01 -4.66531621e-01 2.43440809e-03 7.76727160e+01] [ 4.66530105e-01 8.84504517e-01 1.19218170e-03 1.22830330e+01] [-2.70943541e-03 8.12385475e-05 9.99996326e-01 -1.19608857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:12.30, Z:-1.19 [[ 8.85053462e-01 -4.65488542e-01 -8.86533466e-04 7.76944377e+01] [ 4.65484822e-01 8.85034746e-01 6.11387730e-03 1.22975908e+01] [-2.06132691e-03 -5.82377614e-03 9.99980917e-01 -1.19250938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05762800000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:77.72, Y:12.32, Z:-1.20 [[ 8.87800489e-01 -4.60194718e-01 5.57796702e-03 7.77173120e+01] [ 4.60217435e-01 8.87798021e-01 -3.81930904e-03 1.23184978e+01] [-3.19448223e-03 5.95786211e-03 9.99977149e-01 -1.20048046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:12.33, Z:-1.20 [[ 8.88798871e-01 -4.58278653e-01 4.15254881e-03 7.77423879e+01] [ 4.58274127e-01 8.88808566e-01 2.03880440e-03 1.23302836e+01] [-4.62516149e-03 9.09186338e-05 9.99989300e-01 -1.19665609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:12.35, Z:-1.20 [[ 8.88690883e-01 -4.58500630e-01 2.38454127e-03 7.77617323e+01] [ 4.58493741e-01 8.88692792e-01 2.93446193e-03 1.23486650e+01] [-3.46457728e-03 -1.51453232e-03 9.99992851e-01 -1.19579805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:12.36, Z:-1.20 [[ 8.90122723e-01 -4.55704704e-01 3.84193719e-03 7.77889152e+01] [ 4.55708100e-01 8.90129276e-01 -9.64613407e-06 1.23637408e+01] [-3.41542498e-03 1.75938814e-03 9.99992620e-01 -1.19807586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:12.38, Z:-1.20 [[ 8.90527484e-01 -4.54921166e-01 2.74455465e-03 7.78135911e+01] [ 4.54919164e-01 8.90531712e-01 1.35046218e-03 1.23777861e+01] [-3.05846678e-03 4.59268216e-05 9.99995322e-01 -1.19795266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:12.39, Z:-1.20 [[ 8.91607081e-01 -4.52805046e-01 2.09830426e-03 7.78367706e+01] [ 4.52803871e-01 8.91609550e-01 1.03202658e-03 1.23933038e+01] [-2.33817496e-03 2.99580848e-05 9.99997266e-01 -1.19771460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:12.41, Z:-1.20 [[ 8.92453196e-01 -4.51136053e-01 1.88526284e-03 7.78604084e+01] [ 4.51135096e-01 8.92455187e-01 9.29253557e-04 1.24071862e+01] [-2.10173238e-03 2.11929252e-05 9.99997791e-01 -1.19785889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:12.42, Z:-1.20 [[ 8.94828014e-01 -4.46407646e-01 1.74354946e-03 7.78837169e+01] [ 4.46406822e-01 8.94829712e-01 8.57731605e-04 1.24233123e+01] [-1.94307781e-03 1.08101052e-05 9.99998112e-01 -1.19881423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:12.44, Z:-1.20 [[ 8.96245770e-01 -4.43555320e-01 1.48246007e-03 7.79076388e+01] [ 4.43554718e-01 8.96246996e-01 7.31092633e-04 1.24369145e+01] [-1.65293041e-03 2.31347591e-06 9.99998634e-01 -1.19925398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:12.45, Z:-1.20 [[ 8.97597793e-01 -4.40811727e-01 1.79522500e-03 7.79325481e+01] [ 4.40810840e-01 8.97599589e-01 8.84161582e-04 1.24506649e+01] [-2.00114202e-03 -2.26684343e-06 9.99997998e-01 -1.19995655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:12.47, Z:-1.21 [[ 8.98560481e-01 -4.38794573e-01 6.95594970e-03 7.79514099e+01] [ 4.38826946e-01 8.98562427e-01 -4.05915983e-03 1.24680343e+01] [-4.46921774e-03 6.69985877e-03 9.99967568e-01 -1.20604503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:12.47, Z:-1.20 [[ 9.00394689e-01 -4.35072478e-01 -1.15924519e-03 7.79835005e+01] [ 4.35069404e-01 9.00369658e-01 7.00668431e-03 1.24735425e+01] [-2.00466630e-03 -6.81313345e-03 9.99974781e-01 -1.19753833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:12.49, Z:-1.20 [[ 9.01012026e-01 -4.33792534e-01 1.16920727e-03 7.80077478e+01] [ 4.33792153e-01 9.01012784e-01 5.75333225e-04 1.24869918e+01] [-1.30304595e-03 -1.11892176e-05 9.99999151e-01 -1.19990639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:12.50, Z:-1.20 [[ 9.01043425e-01 -4.33728753e-01 3.40016263e-04 7.80320469e+01] [ 4.33728721e-01 9.01043489e-01 1.66830607e-04 1.24984237e+01] [-3.78728671e-04 -2.84680250e-06 9.99999928e-01 -1.19989081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:12.51, Z:-1.20 [[ 9.00667807e-01 -4.34506165e-01 -1.37611417e-03 7.80573691e+01] [ 4.34505624e-01 9.00668858e-01 -6.85995947e-04 1.25098065e+01] [ 1.53749264e-03 1.99251196e-05 9.99998818e-01 -1.20049782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:12.52, Z:-1.20 [[ 9.00096608e-01 -4.35680199e-01 -2.97658106e-03 7.80823600e+01] [ 4.35677694e-01 9.00101529e-01 -1.47783815e-03 1.25199528e+01] [ 3.32308998e-03 3.33671352e-05 9.99994478e-01 -1.20130417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:12.53, Z:-1.20 [[ 8.99578881e-01 -4.36741852e-01 -3.79359361e-03 7.81073931e+01] [ 4.36737792e-01 8.99586879e-01 -1.88358909e-03 1.25306095e+01] [ 4.23530922e-03 3.76312686e-05 9.99991030e-01 -1.20165383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:12.54, Z:-1.20 [[ 8.98856340e-01 -4.38225518e-01 -3.95916878e-03 7.81335897e+01] [ 4.38221096e-01 8.98865059e-01 -1.96911161e-03 1.25413657e+01] [ 4.42167343e-03 3.49571763e-05 9.99990224e-01 -1.20172760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:12.55, Z:-1.20 [[ 8.97085574e-01 -4.41840751e-01 -3.77131597e-03 7.81608736e+01] [ 4.41836764e-01 8.97093501e-01 -1.87724416e-03 1.25499466e+01] [ 4.21266602e-03 1.77426134e-05 9.99991127e-01 -1.20116629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:12.56, Z:-1.20 [[ 8.97008195e-01 -4.41997822e-01 -3.77154112e-03 7.81864105e+01] [ 4.41993837e-01 8.97016123e-01 -1.87679039e-03 1.25627252e+01] [ 4.21267046e-03 1.64984307e-05 9.99991127e-01 -1.20150123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:12.57, Z:-1.20 [[ 8.94527485e-01 -4.47007001e-01 -2.30627332e-03 7.82126839e+01] [ 4.47005524e-01 8.94530458e-01 -1.14929506e-03 1.25708614e+01] [ 2.57677466e-03 -2.84089444e-06 9.99996680e-01 -1.20067072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:12.58, Z:-1.20 [[ 8.91284893e-01 -4.53443694e-01 -2.37207203e-04 7.82399164e+01] [ 4.53443678e-01 8.91284924e-01 -1.21851882e-04 1.25792705e+01] [ 2.66672172e-04 1.04463517e-06 9.99999964e-01 -1.20001908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:12.59, Z:-1.20 [[ 8.89442390e-01 -4.57046952e-01 5.64922670e-04 7.82663920e+01] [ 4.57046867e-01 8.89442569e-01 2.77502531e-04 1.25896711e+01] [-6.29297957e-04 1.13736223e-05 9.99999802e-01 -1.19983287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:12.60, Z:-1.20 [[ 8.87672160e-01 -4.60472185e-01 1.87195246e-03 7.82914244e+01] [ 4.60471245e-01 8.87674133e-01 9.30819997e-04 1.25990267e+01] [-2.09030049e-03 3.57172814e-05 9.99997815e-01 -1.19945472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:12.62, Z:-1.21 [[ 8.84236415e-01 -4.66879851e-01 1.22133797e-02 7.83094422e+01] [ 4.66986071e-01 8.84228574e-01 -7.98993075e-03 1.26159953e+01] [-7.06908165e-03 1.27684659e-02 9.99893492e-01 -1.21066857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:12.61, Z:-1.19 [[ 8.84577356e-01 -4.66386444e-01 -2.56652519e-03 7.83457208e+01] [ 4.66378082e-01 8.84489956e-01 1.30000788e-02 1.26141252e+01] [-3.79299476e-03 -1.26965464e-02 9.99912202e-01 -1.19372186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:12.63, Z:-1.20 [[ 8.83515544e-01 -4.68391121e-01 3.16886030e-03 7.83684577e+01] [ 4.68388470e-01 8.83521222e-01 1.57842208e-03 1.26289567e+01] [-3.53907421e-03 8.96971849e-05 9.99993733e-01 -1.19896439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:12.65, Z:-1.21 [[ 8.81027410e-01 -4.72905913e-01 1.22759780e-02 7.83868259e+01] [ 4.73022828e-01 8.80999190e-01 -9.47792480e-03 1.26472531e+01] [-6.33295998e-03 1.41571294e-02 9.99879727e-01 -1.21166786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:12.65, Z:-1.19 [[ 8.82026105e-01 -4.71178677e-01 -4.53926897e-03 7.84230981e+01] [ 4.71194699e-01 8.81926267e-01 1.34764570e-02 1.26459536e+01] [-2.34651865e-03 -1.40254664e-02 9.99898885e-01 -1.19416330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:12.66, Z:-1.20 [[ 8.81906717e-01 -4.71423742e-01 -4.43805223e-04 7.84464943e+01] [ 4.71423689e-01 8.81906829e-01 -2.25174477e-04 1.26620818e+01] [ 4.97547451e-04 -1.06374117e-05 9.99999876e-01 -1.20151781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:12.67, Z:-1.20 [[ 8.82041690e-01 -4.71168916e-01 -1.51964959e-03 7.84722538e+01] [ 4.71168300e-01 8.82042998e-01 -7.62870320e-04 1.26730761e+01] [ 1.69983706e-03 -4.31272870e-05 9.99998554e-01 -1.20148784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:12.68, Z:-1.20 [[ 8.82560821e-01 -4.70191615e-01 -2.49860755e-03 7.84991021e+01] [ 4.70189950e-01 8.82564355e-01 -1.25301938e-03 1.26827469e+01] [ 2.79434117e-03 -6.89543444e-05 9.99996093e-01 -1.20057656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:78.52, Y:12.69, Z:-1.20 [[ 8.82506175e-01 -4.70293448e-01 -2.63126914e-03 7.85233512e+01] [ 4.70291608e-01 8.82510094e-01 -1.31767317e-03 1.26943268e+01] [ 2.94181464e-03 -7.46090913e-05 9.99995670e-01 -1.20223874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:12.71, Z:-1.20 [[ 8.83037011e-01 -4.69300950e-01 -1.50214800e-03 7.85492430e+01] [ 4.69300344e-01 8.83038287e-01 -7.55364937e-04 1.27065128e+01] [ 1.68094768e-03 -3.79433775e-05 9.99998586e-01 -1.20077831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:12.72, Z:-1.20 [[ 8.83813253e-01 -4.67839604e-01 -4.88887618e-04 7.85742119e+01] [ 4.67839538e-01 8.83813388e-01 -2.48520931e-04 1.27184640e+01] [ 5.48353356e-04 -9.07486517e-06 9.99999850e-01 -1.20122751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:12.73, Z:-1.20 [[ 8.84418097e-01 -4.66695434e-01 3.25556831e-05 7.85985900e+01] [ 4.66695434e-01 8.84418098e-01 1.47240956e-05 1.27303936e+01] [-3.56645035e-05 2.17133202e-06 9.99999999e-01 -1.20140332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:12.74, Z:-1.20 [[ 8.85092588e-01 -4.65414843e-01 3.66822155e-04 7.86235909e+01] [ 4.65414808e-01 8.85092664e-01 1.80273534e-04 1.27426560e+01] [-4.08573577e-04 1.11656944e-05 9.99999916e-01 -1.20204884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:12.75, Z:-1.20 [[ 8.86799350e-01 -4.62154253e-01 5.99525619e-04 7.86477532e+01] [ 4.62154156e-01 8.86799552e-01 2.99104931e-04 1.27539866e+01] [-6.69891666e-04 1.18271983e-05 9.99999776e-01 -1.20233783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:12.77, Z:-1.20 [[ 8.87589830e-01 -4.60634016e-01 7.72610415e-04 7.86733346e+01] [ 4.60633856e-01 8.87590166e-01 3.84189082e-04 1.27662372e+01] [-8.62731966e-04 1.48881924e-05 9.99999628e-01 -1.20257091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:12.78, Z:-1.20 [[ 8.89806018e-01 -4.56338213e-01 8.28426050e-04 7.86982457e+01] [ 4.56338027e-01 8.89806403e-01 4.12436974e-04 1.27783858e+01] [-9.25349556e-04 1.10534076e-05 9.99999572e-01 -1.20324009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:12.79, Z:-1.20 [[ 8.90971049e-01 -4.54059645e-01 6.55399145e-04 7.87234894e+01] [ 4.54059528e-01 8.90971290e-01 3.25772995e-04 1.27904356e+01] [-7.31862192e-04 7.33591882e-06 9.99999732e-01 -1.20358395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:12.80, Z:-1.20 [[ 8.92160595e-01 -4.51717818e-01 6.97353218e-04 7.87483774e+01] [ 4.51717683e-01 8.92160867e-01 3.49021946e-04 1.28020710e+01] [-7.79810684e-04 3.62315282e-06 9.99999696e-01 -1.20406310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:12.81, Z:-1.20 [[ 8.94457468e-01 -4.47152169e-01 8.80836923e-04 7.87746153e+01] [ 4.47151953e-01 8.94457902e-01 4.39584856e-04 1.28122999e+01] [-9.84432868e-04 6.77992755e-07 9.99999515e-01 -1.20290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:12.82, Z:-1.20 [[ 8.95064643e-01 -4.45936347e-01 2.44977375e-04 7.88005079e+01] [ 4.45936331e-01 8.95064676e-01 1.19725542e-04 1.28239036e+01] [-2.72660566e-04 2.08221196e-06 9.99999963e-01 -1.20332301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:12.84, Z:-1.20 [[ 8.95337081e-01 -4.45389050e-01 -3.25337763e-04 7.88259030e+01] [ 4.45389018e-01 8.95337140e-01 -1.67553794e-04 1.28354064e+01] [ 3.65913607e-04 5.11525813e-06 9.99999933e-01 -1.20451854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:12.84, Z:-1.21 [[ 8.94918677e-01 -4.46228445e-01 -8.58079561e-04 7.88518649e+01] [ 4.46228233e-01 8.94919088e-01 -4.34982041e-04 1.28449657e+01] [ 9.62013139e-04 6.37422666e-06 9.99999537e-01 -1.20644715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:12.86, Z:-1.21 [[ 8.94100734e-01 -4.47865499e-01 -6.09551777e-04 7.88780205e+01] [ 4.47865391e-01 8.94100942e-01 -3.11038995e-04 1.28552989e+01] [ 6.84304453e-04 5.10304897e-06 9.99999766e-01 -1.20654471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.467628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:78.91, Y:12.86, Z:-1.21 [[ 8.91849162e-01 -4.52332895e-01 1.52777091e-04 7.89061389e+01] [ 4.52332889e-01 8.91849175e-01 7.35474285e-05 1.28626052e+01] [-1.69522044e-04 3.51289069e-06 9.99999986e-01 -1.20765597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:12.87, Z:-1.20 [[ 8.90938876e-01 -4.54122081e-01 1.02678672e-03 7.89323867e+01] [ 4.54121789e-01 8.90939468e-01 5.15060212e-04 1.28725561e+01] [-1.14870503e-03 7.39905589e-06 9.99999340e-01 -1.20485694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:12.88, Z:-1.20 [[ 8.88965881e-01 -4.57964879e-01 2.79842571e-03 7.89590200e+01] [ 4.57962702e-01 8.88970286e-01 1.41232889e-03 1.28806062e+01] [-3.13451433e-03 2.60624017e-05 9.99995087e-01 -1.20463578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:12.89, Z:-1.20 [[ 8.88111621e-01 -4.59616415e-01 3.24036717e-03 7.89852755e+01] [ 4.59613509e-01 8.88117532e-01 1.63475126e-03 1.28915128e+01] [-3.62918540e-03 3.74749311e-05 9.99993414e-01 -1.20460181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:12.90, Z:-1.20 [[ 8.87423398e-01 -4.60940202e-01 3.72053493e-03 7.90115166e+01] [ 4.60936375e-01 8.87431196e-01 1.87881337e-03 1.29024419e+01] [-4.16773937e-03 4.76269352e-05 9.99991314e-01 -1.20460421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:12.91, Z:-1.20 [[ 8.87815735e-01 -4.60178667e-01 4.33759121e-03 7.90369720e+01] [ 4.60173447e-01 8.87826330e-01 2.19242174e-03 1.29147959e+01] [-4.85993340e-03 4.95777802e-05 9.99988189e-01 -1.20391961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:12.93, Z:-1.20 [[ 8.88376958e-01 -4.59097599e-01 3.97192217e-03 7.90623143e+01] [ 4.59093206e-01 8.88385836e-01 2.00867206e-03 1.29280396e+01] [-4.45077591e-03 3.90245068e-05 9.99990094e-01 -1.20422906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:12.94, Z:-1.21 [[ 8.89756803e-01 -4.56432482e-01 1.49017543e-03 7.90859532e+01] [ 4.56431860e-01 8.89758051e-01 7.53626689e-04 1.29411441e+01] [-1.66987529e-03 9.61907196e-06 9.99998606e-01 -1.20503445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:12.95, Z:-1.21 [[ 8.89940847e-01 -4.56075940e-01 -1.58149379e-04 7.91103584e+01] [ 4.56075933e-01 8.89940861e-01 -8.38449515e-05 1.29548548e+01] [ 1.78983260e-04 2.48892160e-06 9.99999984e-01 -1.20612512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:12.97, Z:-1.21 [[ 8.90014372e-01 -4.55930163e-01 -1.45036664e-03 7.91348400e+01] [ 4.55929563e-01 8.90015554e-01 -7.39681749e-04 1.29680559e+01] [ 1.62809209e-03 -2.93763938e-06 9.99998675e-01 -1.20735260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:12.98, Z:-1.21 [[ 8.89463695e-01 -4.56996816e-01 -2.87155103e-03 7.91590721e+01] [ 4.56994486e-01 8.89468330e-01 -1.45929733e-03 1.29809046e+01] [ 3.22104794e-03 -1.42909904e-05 9.99994812e-01 -1.20828611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:12.99, Z:-1.21 [[ 8.88354641e-01 -4.59149719e-01 -2.75085533e-03 7.91836126e+01] [ 4.59147582e-01 8.88358900e-01 -1.40101138e-03 1.29939297e+01] [ 3.08702079e-03 -1.84536080e-05 9.99995235e-01 -1.20840866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:13.01, Z:-1.21 [[ 8.84636517e-01 -4.66280777e-01 -6.85091769e-04 7.92081677e+01] [ 4.66280644e-01 8.84636783e-01 -3.51879182e-04 1.30069843e+01] [ 7.70131876e-04 -8.15985759e-06 9.99999703e-01 -1.20769691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:13.02, Z:-1.21 [[ 8.82226576e-01 -4.70824588e-01 6.89834903e-04 7.92335415e+01] [ 4.70824461e-01 8.82226845e-01 3.47281248e-04 1.30197577e+01] [-7.72099421e-04 1.84103992e-05 9.99999702e-01 -1.20734777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:79.26, Y:13.03, Z:-1.21 [[ 8.79372371e-01 -4.76131034e-01 1.86322165e-03 7.92576123e+01] [ 4.76130098e-01 8.79374343e-01 9.45810596e-04 1.30321109e+01] [-2.08879909e-03 5.54161997e-05 9.99997817e-01 -1.21018190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:13.04, Z:-1.21 [[ 8.77193628e-01 -4.80127164e-01 3.04074612e-03 7.92828383e+01] [ 4.80124689e-01 8.77198892e-01 1.54504181e-03 1.30441474e+01] [-3.40915567e-03 1.04636461e-04 9.99994183e-01 -1.20649265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:13.06, Z:-1.21 [[ 8.72990479e-01 -4.87712382e-01 4.92505816e-03 7.93077068e+01] [ 4.87705988e-01 8.73004345e-01 2.50647563e-03 1.30568394e+01] [-5.52203637e-03 2.13850997e-04 9.99984731e-01 -1.20592522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:13.07, Z:-1.21 [[ 8.71409006e-01 -4.90524938e-01 5.62409695e-03 7.93316807e+01] [ 4.90516637e-01 8.71427115e-01 2.86564278e-03 1.30699866e+01] [-6.30665982e-03 2.61566195e-04 9.99980079e-01 -1.20638144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:13.08, Z:-1.21 [[ 8.69334910e-01 -4.94180852e-01 6.48845740e-03 7.93551319e+01] [ 4.94169898e-01 8.69359061e-01 3.30697698e-03 1.30843234e+01] [-7.27504393e-03 3.31529798e-04 9.99973482e-01 -1.20777526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:13.10, Z:-1.21 [[ 8.68756833e-01 -4.95194352e-01 6.64217708e-03 7.93797127e+01] [ 4.95182893e-01 8.68782155e-01 3.38657223e-03 1.30984811e+01] [-7.44761636e-03 3.46984696e-04 9.99972206e-01 -1.20862074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:13.11, Z:-1.21 [[ 8.68685537e-01 -4.95321320e-01 6.49837145e-03 7.94041327e+01] [ 4.95310340e-01 8.68709776e-01 3.31534788e-03 1.31127212e+01] [-7.28736130e-03 3.38715818e-04 9.99973389e-01 -1.20929011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:13.13, Z:-1.21 [[ 8.70493782e-01 -4.92149206e-01 5.45302673e-03 7.94267403e+01] [ 4.92141401e-01 8.70510822e-01 2.78390542e-03 1.31277785e+01] [-6.11701562e-03 2.60287859e-04 9.99981257e-01 -1.21035356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:13.14, Z:-1.21 [[ 8.73874090e-01 -4.86136448e-01 3.92797523e-03 7.94501709e+01] [ 4.86132340e-01 8.73882903e-01 2.00485114e-03 1.31433447e+01] [-4.40722161e-03 1.57528320e-04 9.99990276e-01 -1.21102831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:79.47, Y:13.16, Z:-1.21 [[ 8.75672529e-01 -4.82896955e-01 2.85545231e-03 7.94734446e+01] [ 4.82894762e-01 8.75677178e-01 1.45893596e-03 1.31578465e+01] [-3.20497016e-03 1.01332826e-04 9.99994859e-01 -1.21405758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:13.17, Z:-1.21 [[ 8.78215021e-01 -4.78256397e-01 3.03230013e-03 7.94963616e+01] [ 4.78253894e-01 8.78220252e-01 1.54986680e-03 1.31714966e+01] [-3.40426109e-03 8.90930369e-05 9.99994202e-01 -1.21193448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:13.19, Z:-1.21 [[ 8.80404109e-01 -4.74216281e-01 2.74300703e-03 7.95205839e+01] [ 4.74214217e-01 8.80408379e-01 1.40078713e-03 1.31859466e+01] [-3.07924244e-03 6.75141876e-05 9.99995257e-01 -1.21243737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:13.20, Z:-1.21 [[ 8.84776838e-01 -4.66008312e-01 2.48987563e-03 7.95441314e+01] [ 4.66006577e-01 8.84780341e-01 1.27207788e-03 1.32012260e+01] [-2.79579188e-03 3.47933747e-05 9.99996091e-01 -1.21361208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:13.22, Z:-1.21 [[ 8.86736453e-01 -4.62268892e-01 2.43611264e-03 7.95685371e+01] [ 4.62267215e-01 8.86739799e-01 1.24535659e-03 1.32154134e+01] [-2.73588765e-03 2.18319181e-05 9.99996257e-01 -1.21434141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:13.23, Z:-1.22 [[ 8.90522157e-01 -4.54927961e-01 3.29201927e-03 7.95917878e+01] [ 4.54924834e-01 8.90528242e-01 1.68671911e-03 1.32300907e+01] [-3.69897182e-03 -4.43941674e-06 9.99993159e-01 -1.21534701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:13.24, Z:-1.22 [[ 8.91976532e-01 -4.52067611e-01 3.56957729e-03 7.96168574e+01] [ 4.52063915e-01 8.91983674e-01 1.82824615e-03 1.32432243e+01] [-4.01049554e-03 -1.70755740e-05 9.99991958e-01 -1.21561264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:13.26, Z:-1.22 [[ 8.94163317e-01 -4.47723896e-01 3.90824997e-03 7.96416458e+01] [ 4.47719410e-01 8.94171858e-01 2.00473898e-03 1.32551015e+01] [-4.39221668e-03 -4.27646849e-05 9.99990353e-01 -1.21585018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:13.27, Z:-1.22 [[ 8.94859163e-01 -4.46330717e-01 3.99604838e-03 7.96661779e+01] [ 4.46326013e-01 8.94868084e-01 2.04991161e-03 1.32669560e+01] [-4.49087468e-03 -5.08418515e-05 9.99989915e-01 -1.21609177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:13.28, Z:-1.22 [[ 8.95482958e-01 -4.45072978e-01 4.50739732e-03 7.96918460e+01] [ 4.45066973e-01 8.95494299e-01 2.31296993e-03 1.32781371e+01] [-5.06578902e-03 -6.51314759e-05 9.99987167e-01 -1.21716428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:13.29, Z:-1.22 [[ 8.95418938e-01 -4.45199017e-01 4.77086738e-03 7.97176382e+01] [ 4.45192280e-01 8.95431645e-01 2.45007317e-03 1.32888603e+01] [-5.36275579e-03 -6.98885878e-05 9.99985618e-01 -1.21820351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:13.30, Z:-1.22 [[ 8.95302592e-01 -4.45432951e-01 4.77013303e-03 7.97430317e+01] [ 4.45426211e-01 8.95315297e-01 2.45150147e-03 1.33020075e+01] [-5.36275261e-03 -7.00933438e-05 9.99985618e-01 -1.21852988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:13.32, Z:-1.22 [[ 8.95186186e-01 -4.45666853e-01 4.76949202e-03 7.97684218e+01] [ 4.45660109e-01 8.95198889e-01 2.45274749e-03 1.33151614e+01] [-5.36275221e-03 -7.00933386e-05 9.99985618e-01 -1.21885633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:13.33, Z:-1.22 [[ 8.94998381e-01 -4.46047912e-01 4.37696251e-03 7.97940734e+01] [ 4.46042232e-01 8.95009082e-01 2.25187370e-03 1.33266603e+01] [-4.92186475e-03 -6.31131908e-05 9.99987886e-01 -1.21948270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:13.34, Z:-1.22 [[ 8.94380264e-01 -4.47293724e-01 3.50271854e-03 7.98206819e+01] [ 4.47290094e-01 8.94387121e-01 1.80262414e-03 1.33358682e+01] [-3.93908882e-03 -4.55001504e-05 9.99992241e-01 -1.21969791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:13.35, Z:-1.22 [[ 8.93837594e-01 -4.48377926e-01 3.40457792e-03 7.98457478e+01] [ 4.48374495e-01 8.93844077e-01 1.75463310e-03 1.33462710e+01] [-3.82990056e-03 -4.18311253e-05 9.99992665e-01 -1.21999887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:13.36, Z:-1.22 [[ 8.93127407e-01 -4.49791321e-01 3.34702732e-03 7.98717783e+01] [ 4.49788018e-01 8.93133678e-01 1.72409322e-03 1.33567532e+01] [-3.76482499e-03 -3.43821190e-05 9.99992912e-01 -1.22022206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:13.37, Z:-1.22 [[ 8.91485186e-01 -4.53035810e-01 3.56637756e-03 7.98989435e+01] [ 4.53032079e-01 8.91492319e-01 1.83860625e-03 1.33650226e+01] [-4.01235267e-03 -2.34067896e-05 9.99991950e-01 -1.22047122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:13.38, Z:-1.22 [[ 8.90459579e-01 -4.55046008e-01 3.85614123e-03 7.99244362e+01] [ 4.55041652e-01 8.90467928e-01 1.99095003e-03 1.33755869e+01] [-4.33974395e-03 -1.81556462e-05 9.99990583e-01 -1.22124414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:13.38, Z:-1.22 [[ 8.88837676e-01 -4.58207340e-01 3.69042789e-03 7.99510742e+01] [ 4.58203381e-01 8.88845337e-01 1.90457001e-03 1.33848867e+01] [-4.15290758e-03 -1.88704381e-06 9.99991377e-01 -1.22144698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:13.40, Z:-1.22 [[ 8.88790014e-01 -4.58295660e-01 4.17127916e-03 7.99753547e+01] [ 4.58290594e-01 8.88799802e-01 2.15470692e-03 1.33980990e+01] [-4.69492492e-03 -3.42398827e-06 9.99988979e-01 -1.22155959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:13.41, Z:-1.22 [[ 8.88834334e-01 -4.58206869e-01 4.47118353e-03 7.99988696e+01] [ 4.58201033e-01 8.88845580e-01 2.31264523e-03 1.34104416e+01] [-5.03386165e-03 -6.85757774e-06 9.99987330e-01 -1.22187856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:13.42, Z:-1.22 [[ 8.87801898e-01 -4.60207477e-01 4.10703667e-03 8.00242610e+01] [ 4.60202578e-01 8.87811398e-01 2.12359720e-03 1.34233592e+01] [-4.62356928e-03 4.73523717e-06 9.99989311e-01 -1.22124539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:13.44, Z:-1.22 [[ 8.86775559e-01 -4.62181053e-01 4.21686093e-03 8.00480231e+01] [ 4.62175897e-01 8.86785585e-01 2.18317059e-03 1.34357262e+01] [-4.74847157e-03 1.29491652e-05 9.99988726e-01 -1.22133895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:13.45, Z:-1.22 [[ 8.85526509e-01 -4.64568778e-01 4.31887148e-03 8.00731995e+01] [ 4.64563400e-01 8.85537041e-01 2.23552012e-03 1.34486977e+01] [-4.86307352e-03 2.67772883e-05 9.99988175e-01 -1.22158865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:13.47, Z:-1.23 [[ 8.82664890e-01 -4.69950994e-01 6.98248879e-03 8.00962816e+01] [ 4.69999479e-01 8.82617505e-01 -9.31823361e-03 1.34661428e+01] [-1.78375368e-03 1.15066437e-02 9.99932205e-01 -1.22737518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.12, Y:13.47, Z:-1.22 [[ 8.81658455e-01 -4.71887699e-01 -6.07546958e-04 8.01241509e+01] [ 4.71856466e-01 8.81583735e-01 1.27119318e-02 1.34702976e+01] [-5.46300071e-03 -1.14942571e-02 9.99919016e-01 -1.21698556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:13.49, Z:-1.22 [[ 8.78635937e-01 -4.77466356e-01 4.97691194e-03 8.01454336e+01] [ 4.77459395e-01 8.78650026e-01 2.58042048e-03 1.34894296e+01] [-5.60502777e-03 1.09023201e-04 9.99984286e-01 -1.22385137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:13.50, Z:-1.22 [[ 8.76890050e-01 -4.80662106e-01 5.27066918e-03 8.01688125e+01] [ 4.80654341e-01 8.76905880e-01 2.73542240e-03 1.35027088e+01] [-5.93669469e-03 1.34705344e-04 9.99982369e-01 -1.22408363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:13.52, Z:-1.22 [[ 8.74962702e-01 -4.84156345e-01 5.73618355e-03 8.01933991e+01] [ 4.84147216e-01 8.74981488e-01 2.97814998e-03 1.35161389e+01] [-6.46094463e-03 1.71387148e-04 9.99979113e-01 -1.22402413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:13.53, Z:-1.23 [[ 8.70653036e-01 -4.91829632e-01 8.17947598e-03 8.02179773e+01] [ 4.91861216e-01 8.70670554e-01 -2.30855961e-03 1.35329283e+01] [-5.98621087e-03 6.03312144e-03 9.99963883e-01 -1.22609922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:13.54, Z:-1.22 [[ 8.68733640e-01 -4.95259502e-01 4.45967113e-03 8.02440379e+01] [ 4.95210419e-01 8.68727589e-01 8.88912218e-03 1.35420690e+01] [-8.27666157e-03 -5.51380385e-03 9.99950546e-01 -1.22066855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:13.56, Z:-1.22 [[ 8.65331798e-01 -5.01139475e-01 7.75287013e-03 8.02656524e+01] [ 5.01123398e-01 8.65366437e-01 4.03346767e-03 1.35579798e+01] [-8.73040347e-03 3.94856794e-04 9.99961811e-01 -1.22390629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:13.57, Z:-1.22 [[ 8.64061193e-01 -5.03317687e-01 8.34027794e-03 8.02904065e+01] [ 5.03299174e-01 8.64101328e-01 4.34007956e-03 1.35720223e+01] [-9.39128406e-03 4.47560675e-04 9.99955801e-01 -1.22406281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:13.59, Z:-1.22 [[ 8.63002174e-01 -5.05123787e-01 8.78681224e-03 8.03146004e+01] [ 5.05103299e-01 8.63046766e-01 4.57574798e-03 1.35864425e+01] [-9.89474903e-03 4.89367393e-04 9.99950926e-01 -1.22444871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:13.60, Z:-1.23 [[ 8.62607280e-01 -5.05796160e-01 8.88397531e-03 8.03361781e+01] [ 5.05775217e-01 8.62652882e-01 4.62981690e-03 1.36027006e+01] [-1.00055305e-02 4.99580776e-04 9.99949819e-01 -1.22544692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:13.62, Z:-1.23 [[ 8.62907252e-01 -5.05297833e-01 8.07311877e-03 8.03600922e+01] [ 5.05280510e-01 8.62944899e-01 4.20790170e-03 1.36181882e+01] [-9.09290027e-03 4.48160678e-04 9.99958558e-01 -1.22607098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:13.64, Z:-1.23 [[ 8.64629629e-01 -5.02356333e-01 7.32937254e-03 8.03825467e+01] [ 5.02341931e-01 8.64660611e-01 3.82250318e-03 1.36360920e+01] [-8.25767842e-03 3.76801654e-04 9.99965834e-01 -1.22664187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.41, Y:13.65, Z:-1.23 [[ 8.65626503e-01 -5.00632827e-01 7.58481722e-03 8.04064083e+01] [ 5.00617314e-01 8.65659653e-01 3.95859573e-03 1.36519599e+01] [-8.54767321e-03 3.70425446e-04 9.99963399e-01 -1.22709399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:13.67, Z:-1.23 [[ 8.66737910e-01 -4.98695789e-01 8.24042730e-03 8.04287759e+01] [ 4.98677355e-01 8.66776999e-01 4.30451693e-03 1.36670625e+01] [-9.28925732e-03 3.78426486e-04 9.99956782e-01 -1.22704969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:13.69, Z:-1.23 [[ 8.68843202e-01 -4.95000387e-01 9.27935729e-03 8.04511554e+01] [ 4.94976786e-01 8.68892670e-01 4.84870466e-03 1.36858393e+01] [-1.04628762e-02 3.80302360e-04 9.99945190e-01 -1.22708968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:13.70, Z:-1.23 [[ 8.69801335e-01 -4.93303593e-01 9.85917631e-03 8.04743060e+01] [ 4.93276799e-01 8.69857127e-01 5.15539498e-03 1.37014139e+01] [-1.11192496e-02 3.79133499e-04 9.99938107e-01 -1.22745119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:13.72, Z:-1.23 [[ 8.72017350e-01 -4.89358285e-01 1.06869344e-02 8.04962235e+01] [ 4.89326457e-01 8.72082763e-01 5.59232070e-03 1.37198168e+01] [-1.20565397e-02 3.52799054e-04 9.99927255e-01 -1.22731252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:13.74, Z:-1.23 [[ 8.73174379e-01 -4.87286248e-01 1.08911718e-02 8.05188248e+01] [ 4.87252984e-01 8.73242238e-01 5.70297312e-03 1.37355739e+01] [-1.22896116e-02 3.27065930e-04 9.99924426e-01 -1.22791146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:13.75, Z:-1.23 [[ 8.74132855e-01 -4.85558219e-01 1.11788558e-02 8.05424527e+01] [ 4.85523009e-01 8.74204278e-01 5.85555736e-03 1.37518770e+01] [-1.26158175e-02 3.09056615e-04 9.99920370e-01 -1.22859893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:13.77, Z:-1.23 [[ 8.76562893e-01 -4.81170092e-01 1.06224999e-02 8.05637306e+01] [ 4.81137934e-01 8.76627224e-01 5.56769480e-03 1.37698496e+01] [-1.19909808e-02 2.30452981e-04 9.99928079e-01 -1.22955064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:13.79, Z:-1.23 [[ 8.78036885e-01 -4.78492909e-01 9.78589324e-03 8.05876730e+01] [ 4.78465427e-01 8.78091399e-01 5.13132177e-03 1.37854677e+01] [-1.10482098e-02 1.76721799e-04 9.99938951e-01 -1.22990921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:13.80, Z:-1.23 [[ 8.79617025e-01 -4.75598332e-01 8.95070209e-03 8.06112292e+01] [ 4.75575162e-01 8.79662555e-01 4.69624267e-03 1.38008088e+01] [-1.01071226e-02 1.25836588e-04 9.99948914e-01 -1.23046024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:13.82, Z:-1.23 [[ 8.83125831e-01 -4.69084200e-01 6.98429640e-03 8.06341800e+01] [ 4.69069874e-01 8.83153448e-01 3.66616603e-03 1.38179054e+01] [-7.88794600e-03 3.84371135e-05 9.99968889e-01 -1.23086005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:13.83, Z:-1.23 [[ 8.84616637e-01 -4.66273063e-01 6.54492933e-03 8.06571757e+01] [ 4.66260388e-01 8.84640848e-01 3.43803754e-03 1.38326257e+01] [-7.39297613e-03 1.02960840e-05 9.99972672e-01 -1.23161301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:13.85, Z:-1.23 [[ 8.85927639e-01 -4.63783426e-01 6.09521034e-03 8.06811859e+01] [ 4.63772368e-01 8.85948607e-01 3.20263851e-03 1.38475581e+01] [-6.88537377e-03 -1.05158377e-05 9.99976295e-01 -1.23206115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:13.86, Z:-1.23 [[ 8.87671289e-01 -4.60435484e-01 6.23274632e-03 8.07048652e+01] [ 4.60423823e-01 8.87693170e-01 3.27712412e-03 1.38628880e+01] [-7.04167057e-03 -3.93041049e-05 9.99975206e-01 -1.23230603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:13.88, Z:-1.23 [[ 8.87940471e-01 -4.59911240e-01 6.58565739e-03 8.07288497e+01] [ 4.59898182e-01 8.87964892e-01 3.46606131e-03 1.38756861e+01] [-7.44191311e-03 -4.89242464e-05 9.99972307e-01 -1.23214718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:13.89, Z:-1.23 [[ 8.87383018e-01 -4.60978750e-01 7.06906199e-03 8.07534464e+01] [ 4.60963728e-01 8.87411173e-01 3.72172717e-03 1.38875068e+01] [-7.98880173e-03 -4.40163223e-05 9.99968088e-01 -1.23110532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:13.90, Z:-1.23 [[ 8.86521490e-01 -4.62627069e-01 7.47278195e-03 8.07786431e+01] [ 4.62610334e-01 8.86552985e-01 3.93502602e-03 1.39003842e+01] [-8.44546669e-03 -3.14989807e-05 9.99964336e-01 -1.23131571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:13.91, Z:-1.23 [[ 8.85472277e-01 -4.64628086e-01 7.71931952e-03 8.08038766e+01] [ 4.64610281e-01 8.85505924e-01 4.06759945e-03 1.39133439e+01] [-8.72542411e-03 -1.52713294e-05 9.99961933e-01 -1.23152889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:13.93, Z:-1.23 [[ 8.83301763e-01 -4.68747848e-01 7.31106092e-03 8.08284213e+01] [ 4.68731992e-01 8.83332018e-01 3.85549670e-03 1.39255277e+01] [-8.26534998e-03 2.13611202e-05 9.99965841e-01 -1.23238437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:13.94, Z:-1.23 [[ 8.82121373e-01 -4.70976694e-01 6.54501020e-03 8.08537018e+01] [ 4.70964048e-01 8.82145652e-01 3.45163754e-03 1.39380827e+01] [-7.39929313e-03 3.77012560e-05 9.99972624e-01 -1.23308643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:13.95, Z:-1.23 [[ 8.79524713e-01 -4.75833151e-01 4.36935644e-03 8.08788942e+01] [ 4.75827567e-01 8.79535565e-01 2.30578912e-03 1.39487861e+01] [-4.94017529e-03 5.10617284e-05 9.99987796e-01 -1.23341719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:13.96, Z:-1.23 [[ 8.78061057e-01 -4.78534283e-01 3.70410175e-03 8.09049480e+01] [ 4.78530298e-01 8.78068868e-01 1.95373225e-03 1.39606428e+01] [-4.18738429e-03 5.70287132e-05 9.99991231e-01 -1.23376461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:13.98, Z:-1.24 [[ 8.75528810e-01 -4.83117435e-01 6.84448858e-03 8.09261236e+01] [ 4.83144805e-01 8.75535130e-01 -3.05505588e-03 1.39754784e+01] [-4.51663944e-03 5.98166854e-03 9.99971909e-01 -1.23853285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:13.98, Z:-1.23 [[ 8.73667101e-01 -4.86522277e-01 -1.36785940e-03 8.09576404e+01] [ 4.86521167e-01 8.73648273e-01 5.98739036e-03 1.39797237e+01] [-1.71797079e-03 -5.89647853e-03 9.99981140e-01 -1.23128214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:13.99, Z:-1.23 [[ 8.72003889e-01 -4.89497016e-01 1.37436904e-03 8.09808390e+01] [ 4.89496480e-01 8.72004971e-01 7.25485721e-04 1.39927735e+01] [-1.55357973e-03 4.01224352e-05 9.99998792e-01 -1.23402977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:14.00, Z:-1.23 [[ 8.70136739e-01 -4.92807768e-01 1.59961730e-03 8.10066944e+01] [ 4.92807050e-01 8.70138208e-01 8.43202513e-04 1.40041076e+01] [-1.80742488e-03 5.46012003e-05 9.99998365e-01 -1.23414623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.03, Y:14.01, Z:-1.24 [[ 8.66180564e-01 -4.99727170e-01 1.99653000e-03 8.10333696e+01] [ 4.99726066e-01 8.66182861e-01 1.05393470e-03 1.40128287e+01] [-2.25603987e-03 8.48203326e-05 9.99997452e-01 -1.23517474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:14.02, Z:-1.23 [[ 8.64471618e-01 -5.02668234e-01 3.67000252e-03 8.10581508e+01] [ 5.02664505e-01 8.64479392e-01 1.94312300e-03 1.40230798e+01] [-4.14938775e-03 1.65005316e-04 9.99991378e-01 -1.23315308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:14.03, Z:-1.23 [[ 8.61541402e-01 -5.07663186e-01 4.95005050e-03 8.10848996e+01] [ 5.07656483e-01 8.61555584e-01 2.62116984e-03 1.40332053e+01] [-5.59541508e-03 2.54678893e-04 9.99984313e-01 -1.23308800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:14.05, Z:-1.23 [[ 8.60366568e-01 -5.09646687e-01 5.44277926e-03 8.11105047e+01] [ 5.09638608e-01 8.60383734e-01 2.88434644e-03 1.40457397e+01] [-6.15287635e-03 2.92255198e-04 9.99981028e-01 -1.23330951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:14.06, Z:-1.23 [[ 8.59762628e-01 -5.10664408e-01 5.48503413e-03 8.11358259e+01] [ 5.10656212e-01 8.59780072e-01 2.90875423e-03 1.40581957e+01] [-6.20132030e-03 3.00128571e-04 9.99980727e-01 -1.23370426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:14.07, Z:-1.23 [[ 8.60025374e-01 -5.10224646e-01 5.21221255e-03 8.11605145e+01] [ 5.10217227e-01 8.60041122e-01 2.76573920e-03 1.40709299e+01] [-5.89386544e-03 2.80754746e-04 9.99982592e-01 -1.23400996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:14.08, Z:-1.23 [[ 8.60987164e-01 -5.08601674e-01 5.04378266e-03 8.11846957e+01] [ 5.08594683e-01 8.61001899e-01 2.67916638e-03 1.40841057e+01] [-5.70533495e-03 2.58513184e-04 9.99983691e-01 -1.23414471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:81.21, Y:14.10, Z:-1.24 [[ 8.63674826e-01 -5.04039968e-01 3.08291086e-03 8.12078332e+01] [ 5.04037328e-01 8.63680317e-01 1.63746027e-03 1.40976232e+01] [-3.48799485e-03 1.39668932e-04 9.99993907e-01 -1.23573215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:14.11, Z:-1.23 [[ 8.65398906e-01 -5.01072398e-01 3.34436992e-03 8.12324000e+01] [ 5.01069271e-01 8.65405357e-01 1.77562251e-03 1.41108889e+01] [-3.78395108e-03 1.39139224e-04 9.99992831e-01 -1.23447933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:14.13, Z:-1.23 [[ 8.68442081e-01 -4.95779893e-01 3.26343048e-03 8.12565798e+01] [ 4.95776874e-01 8.68448205e-01 1.73374819e-03 1.41252092e+01] [-3.69367783e-03 1.12273479e-04 9.99993172e-01 -1.23488435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:14.14, Z:-1.24 [[ 8.70033944e-01 -4.92980687e-01 3.31330718e-03 8.12807057e+01] [ 4.92977551e-01 8.70040247e-01 1.76139012e-03 1.41392143e+01] [-3.75104191e-03 1.00916869e-04 9.99992960e-01 -1.23547150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:14.15, Z:-1.24 [[ 8.69945364e-01 -4.93136991e-01 3.31240397e-03 8.13058792e+01] [ 4.93133849e-01 8.69951664e-01 1.76308578e-03 1.41527073e+01] [-3.75107416e-03 9.96702174e-05 9.99992960e-01 -1.23579902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:14.17, Z:-1.24 [[ 8.73273430e-01 -4.87213105e-01 4.11187963e-03 8.13288189e+01] [ 4.87208192e-01 8.73283105e-01 2.19000988e-03 1.41671530e+01] [-4.65783653e-03 9.08639987e-05 9.99989148e-01 -1.23717360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:14.18, Z:-1.24 [[ 8.74907157e-01 -4.84266779e-01 4.81188335e-03 8.13520704e+01] [ 4.84259996e-01 8.74920385e-01 2.56449489e-03 1.41802029e+01] [-5.45191451e-03 8.65076817e-05 9.99985134e-01 -1.23767969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:14.19, Z:-1.24 [[ 8.77569864e-01 -4.79412138e-01 5.92759364e-03 8.13771862e+01] [ 4.79401724e-01 8.77589880e-01 3.16069885e-03 1.41937884e+01] [-6.71727358e-03 6.79645441e-05 9.99977437e-01 -1.23818790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:14.21, Z:-1.24 [[ 8.77443403e-01 -4.79643565e-01 5.92666705e-03 8.14023730e+01] [ 4.79633145e-01 8.77463416e-01 3.16243493e-03 1.42073148e+01] [-6.71727508e-03 6.77682911e-05 9.99977437e-01 -1.23851578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:14.22, Z:-1.24 [[ 8.79391569e-01 -4.76048740e-01 6.93296703e-03 8.14260121e+01] [ 4.76034340e-01 8.79418896e-01 3.70291294e-03 1.42194095e+01] [-7.85974925e-03 4.40199726e-05 9.99969111e-01 -1.23911920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:14.23, Z:-1.24 [[ 8.79897579e-01 -4.75108943e-01 7.19327783e-03 8.14494445e+01] [ 4.75093401e-01 8.79926980e-01 3.84313565e-03 1.42319432e+01] [-8.15546736e-03 3.59130774e-05 9.99966743e-01 -1.23969656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:14.24, Z:-1.24 [[ 8.80188769e-01 -4.74555615e-01 8.04354866e-03 8.14753997e+01] [ 4.74536149e-01 8.80225521e-01 4.29840371e-03 1.42439882e+01] [-9.11996843e-03 3.35479292e-05 9.99958412e-01 -1.24076914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:14.26, Z:-1.24 [[ 8.79999115e-01 -4.74906551e-01 8.08245547e-03 8.15006438e+01] [ 4.74886884e-01 8.80036230e-01 4.32214356e-03 1.42559254e+01] [-9.16546794e-03 3.47695884e-05 9.99957996e-01 -1.24056978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:14.27, Z:-1.24 [[ 8.79869555e-01 -4.75142101e-01 8.33968151e-03 8.15249616e+01] [ 4.75121139e-01 8.79909076e-01 4.46329411e-03 1.42671522e+01] [-9.45886040e-03 3.52423755e-05 9.99955263e-01 -1.24069856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:14.28, Z:-1.24 [[ 8.79390028e-01 -4.76017536e-01 8.97128248e-03 8.15509403e+01] [ 4.75993310e-01 8.79435787e-01 4.80265215e-03 1.42775088e+01] [-1.01758135e-02 4.68660419e-05 9.99948224e-01 -1.24160393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:14.29, Z:-1.24 [[ 8.79236803e-01 -4.76308852e-01 8.51592544e-03 8.15752399e+01] [ 4.76287008e-01 8.79278042e-01 4.56193680e-03 1.42888093e+01] [-9.66075713e-03 4.50019172e-05 9.99953333e-01 -1.24183872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:14.30, Z:-1.24 [[ 8.79221573e-01 -4.76343456e-01 8.14476105e-03 8.16014078e+01] [ 4.76323460e-01 8.79259296e-01 4.36475482e-03 1.42998041e+01] [-9.24047926e-03 4.19541708e-05 9.99957305e-01 -1.24297284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:14.31, Z:-1.24 [[ 8.79338910e-01 -4.76131093e-01 7.89067524e-03 8.16257677e+01] [ 4.76112289e-01 8.79374312e-01 4.23173856e-03 1.43112239e+01] [-8.95371942e-03 3.57150768e-05 9.99959914e-01 -1.24402585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:14.32, Z:-1.24 [[ 8.79363660e-01 -4.76095251e-01 7.27084624e-03 8.16510754e+01] [ 4.76079280e-01 8.79393718e-01 3.89975160e-03 1.43229730e+01] [-8.25058972e-03 3.21994030e-05 9.99965963e-01 -1.24473145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:14.33, Z:-1.24 [[ 8.79429955e-01 -4.75980040e-01 6.77909960e-03 8.16776103e+01] [ 4.75966137e-01 8.79456082e-01 3.63814420e-03 1.43323408e+01] [-7.69360440e-03 2.71288626e-05 9.99970403e-01 -1.24470458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:14.34, Z:-1.24 [[ 8.79538638e-01 -4.75780761e-01 6.66721996e-03 8.17024642e+01] [ 4.75767284e-01 8.79563908e-01 3.58111503e-03 1.43433175e+01] [-7.56807167e-03 2.23160981e-05 9.99971361e-01 -1.24463367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:14.35, Z:-1.24 [[ 8.79833599e-01 -4.75237370e-01 6.50232333e-03 8.17286150e+01] [ 4.75224535e-01 8.79857626e-01 3.49274472e-03 1.43536455e+01] [-7.38100158e-03 1.70294267e-05 9.99972760e-01 -1.24491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:14.37, Z:-1.25 [[ 8.80106296e-01 -4.74735331e-01 6.26680303e-03 8.17540357e+01] [ 4.74723382e-01 8.80128607e-01 3.36837907e-03 1.43654781e+01] [-7.11468118e-03 1.04663001e-05 9.99974690e-01 -1.24573661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:14.38, Z:-1.25 [[ 8.80440912e-01 -4.74119472e-01 5.87591159e-03 8.17800236e+01] [ 4.74108940e-01 8.80460519e-01 3.16020130e-03 1.43774465e+01] [-6.67182114e-03 3.45170058e-06 9.99977743e-01 -1.24597821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:14.39, Z:-1.25 [[ 8.80978131e-01 -4.73128608e-01 5.18209517e-03 8.18055055e+01] [ 4.73120387e-01 8.80993371e-01 2.78907767e-03 1.43863586e+01] [-5.88498393e-03 -5.36156417e-06 9.99982683e-01 -1.24681079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:14.40, Z:-1.25 [[ 8.81080582e-01 -4.72943480e-01 4.63394707e-03 8.18314071e+01] [ 4.72936902e-01 8.81092768e-01 2.49433259e-03 1.43975820e+01] [-5.26261558e-03 -6.14343961e-06 9.99986152e-01 -1.24745736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:14.41, Z:-1.25 [[ 8.81079026e-01 -4.72950600e-01 4.18090048e-03 8.18572591e+01] [ 4.72945240e-01 8.81088946e-01 2.25156656e-03 1.44085299e+01] [-4.74862496e-03 -6.47109181e-06 9.99988725e-01 -1.24742071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:14.42, Z:-1.25 [[ 8.80994576e-01 -4.73118313e-01 2.76007053e-03 8.18827091e+01] [ 4.73115975e-01 8.80998900e-01 1.48767915e-03 1.44175220e+01] [-3.13546735e-03 -4.80380631e-06 9.99995084e-01 -1.24764462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:14.43, Z:-1.25 [[ 8.81790015e-01 -4.71629756e-01 3.42668398e-03 8.19068006e+01] [ 4.71626141e-01 8.81796673e-01 1.84656595e-03 1.44318843e+01] [-3.89253399e-03 -1.21696772e-05 9.99992424e-01 -1.24821472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:14.45, Z:-1.25 [[ 8.82376039e-01 -4.70532630e-01 3.40145679e-03 8.19319412e+01] [ 4.70529056e-01 8.82382595e-01 1.83416448e-03 1.44450812e+01] [-3.86442050e-03 -1.79385316e-05 9.99992533e-01 -1.24772816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:14.46, Z:-1.25 [[ 8.82100253e-01 -4.71050314e-01 3.27798833e-03 8.19570225e+01] [ 4.71046994e-01 8.82106344e-01 1.76862210e-03 1.44583785e+01] [-3.72464429e-03 -1.60154515e-05 9.99993063e-01 -1.24771883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:14.47, Z:-1.25 [[ 8.81516057e-01 -4.72141156e-01 3.48866772e-03 8.19812449e+01] [ 4.72137398e-01 8.81522960e-01 1.88380801e-03 1.44718097e+01] [-3.96476398e-03 -1.34765043e-05 9.99992140e-01 -1.24794303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:14.48, Z:-1.25 [[ 8.79569925e-01 -4.75747389e-01 4.60102485e-03 8.20050198e+01] [ 4.75740881e-01 8.79581959e-01 2.48840012e-03 1.44846988e+01] [-5.23082831e-03 1.73707318e-07 9.99986319e-01 -1.24832999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:14.50, Z:-1.25 [[ 8.78328798e-01 -4.78026470e-01 5.40518344e-03 8.20294260e+01] [ 4.78017531e-01 8.78345430e-01 2.92344558e-03 1.44978309e+01] [-6.14510254e-03 1.60259983e-05 9.99981119e-01 -1.24861878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:14.51, Z:-1.25 [[ 8.77003644e-01 -4.80441563e-01 6.36494453e-03 8.20527303e+01] [ 4.80429204e-01 8.77026740e-01 3.44631985e-03 1.45116770e+01] [-7.23798185e-03 3.54701680e-05 9.99973805e-01 -1.24858608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:14.52, Z:-1.25 [[ 8.76571029e-01 -4.81224960e-01 6.76529897e-03 8.20759304e+01] [ 4.81211011e-01 8.76597134e-01 3.66427821e-03 1.45245898e+01] [-7.69378382e-03 4.35362369e-05 9.99970401e-01 -1.24869996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:14.54, Z:-1.25 [[ 8.75885582e-01 -4.82466894e-01 7.08121796e-03 8.21010049e+01] [ 4.82451648e-01 8.75914204e-01 3.83595537e-03 1.45383341e+01] [-8.05326087e-03 5.64872796e-05 9.99967570e-01 -1.24838571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:14.55, Z:-1.25 [[ 8.74715981e-01 -4.84572985e-01 7.80863577e-03 8.21258133e+01] [ 4.84554501e-01 8.74750830e-01 4.23317226e-03 1.45525103e+01] [-8.88189155e-03 8.08861904e-05 9.99960552e-01 -1.24815337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:14.57, Z:-1.25 [[ 8.74412668e-01 -4.85126369e-01 7.40893995e-03 8.21500808e+01] [ 4.85109728e-01 8.74444052e-01 4.01900172e-03 1.45662969e+01] [-8.42842718e-03 7.98828318e-05 9.99964477e-01 -1.24862276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:14.58, Z:-1.25 [[ 8.74912603e-01 -4.84247700e-01 5.66579916e-03 8.21737608e+01] [ 4.84237942e-01 8.74930947e-01 3.07463339e-03 1.45807250e+01] [-6.44606718e-03 5.35594239e-05 9.99979222e-01 -1.24991805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:14.59, Z:-1.25 [[ 8.75498306e-01 -4.83194807e-01 5.04914853e-03 8.21972112e+01] [ 4.83187026e-01 8.75512865e-01 2.74245829e-03 1.45946919e+01] [-5.74573610e-03 3.86654750e-05 9.99983492e-01 -1.25112254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:14.61, Z:-1.25 [[ 8.77290191e-01 -4.79941589e-01 4.24182235e-03 8.22207046e+01] [ 4.79936057e-01 8.77300445e-01 2.30438748e-03 1.46090970e+01] [-4.82732403e-03 1.41869673e-05 9.99988348e-01 -1.25184925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:14.63, Z:-1.25 [[ 8.78195563e-01 -4.78273540e-01 5.19366217e-03 8.22452466e+01] [ 4.78292832e-01 8.78193703e-01 -3.43338773e-03 1.46255345e+01] [-2.91894291e-03 5.49927725e-03 9.99980619e-01 -1.25449211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:14.64, Z:-1.25 [[ 8.79290364e-01 -4.76284974e-01 1.03921923e-03 8.22717382e+01] [ 4.76269092e-01 8.79275300e-01 6.53446680e-03 1.46358017e+01] [-4.02602815e-03 -5.25074569e-03 9.99978110e-01 -1.25005724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:14.65, Z:-1.25 [[ 8.81351597e-01 -4.72447959e-01 3.50558517e-03 8.22946317e+01] [ 4.72444119e-01 8.81358568e-01 1.90491059e-03 1.46519261e+01] [-3.98964864e-03 -2.27028954e-05 9.99992041e-01 -1.25339380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:14.67, Z:-1.25 [[ 8.82098000e-01 -4.71053976e-01 3.35707052e-03 8.23198244e+01] [ 4.71050440e-01 8.82104388e-01 1.82526913e-03 1.46652792e+01] [-3.82108691e-03 -2.87167039e-05 9.99992699e-01 -1.25354249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:14.68, Z:-1.25 [[ 8.82904609e-01 -4.69541409e-01 3.21206440e-03 8.23448351e+01] [ 4.69538158e-01 8.82910451e-01 1.74736708e-03 1.46772785e+01] [-3.65642643e-03 -3.45716464e-05 9.99993315e-01 -1.25373607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:14.69, Z:-1.25 [[ 8.82753279e-01 -4.69825142e-01 3.31431437e-03 8.23691197e+01] [ 4.69821676e-01 8.82759500e-01 1.80509635e-03 1.46897194e+01] [-3.77382214e-03 -3.63179907e-05 9.99992878e-01 -1.25438330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:14.70, Z:-1.25 [[ 8.82290435e-01 -4.70692013e-01 3.55199114e-03 8.23940477e+01] [ 4.70688037e-01 8.82297585e-01 1.93488418e-03 1.47023731e+01] [-4.04464774e-03 -3.52500666e-05 9.99991820e-01 -1.25491940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:14.72, Z:-1.26 [[ 8.81472573e-01 -4.72221256e-01 3.63154984e-03 8.24189967e+01] [ 4.72217108e-01 8.81480053e-01 1.97958335e-03 1.47151263e+01] [-4.13594008e-03 -3.00684623e-05 9.99991447e-01 -1.25512343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:14.73, Z:-1.26 [[ 8.80655941e-01 -4.73741315e-01 3.77888464e-03 8.24431773e+01] [ 4.73736825e-01 8.80664048e-01 2.06271153e-03 1.47272300e+01] [-4.30511952e-03 -2.63423566e-05 9.99990733e-01 -1.25527719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:14.74, Z:-1.26 [[ 8.78438977e-01 -4.77835842e-01 4.22756091e-03 8.24680751e+01] [ 4.77830272e-01 8.78449149e-01 2.30729316e-03 1.47394736e+01] [-4.81620465e-03 -6.75966850e-06 9.99988402e-01 -1.25548957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:14.75, Z:-1.25 [[ 8.76417586e-01 -4.81525263e-01 5.06307572e-03 8.24928101e+01] [ 4.81517320e-01 8.76432211e-01 2.76588510e-03 1.47528865e+01] [-5.76928620e-03 1.38883016e-05 9.99983357e-01 -1.25492087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:14.77, Z:-1.25 [[ 8.75279792e-01 -4.83590408e-01 5.05998904e-03 8.25174539e+01] [ 4.83582498e-01 8.75294417e-01 2.76606346e-03 1.47662739e+01] [-5.76662192e-03 2.58426898e-05 9.99983373e-01 -1.25462524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:14.78, Z:-1.25 [[ 8.74062953e-01 -4.85787606e-01 4.93511923e-03 8.25421788e+01] [ 4.85780107e-01 8.74076885e-01 2.69949689e-03 1.47796904e+01] [-5.62505577e-03 3.78525271e-05 9.99984179e-01 -1.25447919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:14.79, Z:-1.25 [[ 8.72920567e-01 -4.87836049e-01 5.06687136e-03 8.25654530e+01] [ 4.87828161e-01 8.72935271e-01 2.77451888e-03 1.47927546e+01] [-5.77656105e-03 4.98279443e-05 9.99983314e-01 -1.25425391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:14.81, Z:-1.25 [[ 8.70500807e-01 -4.92139092e-01 5.24015558e-03 8.25884084e+01] [ 4.92130728e-01 8.70516575e-01 2.87031024e-03 1.48064087e+01] [-5.97423416e-03 8.02341999e-05 9.99982151e-01 -1.25469968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:14.82, Z:-1.26 [[ 8.69287468e-01 -4.94275837e-01 5.54027431e-03 8.26128714e+01] [ 4.94266531e-01 8.69305117e-01 3.03471481e-03 1.48208600e+01] [-6.31617502e-03 1.00332611e-04 9.99980048e-01 -1.25525237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:14.84, Z:-1.26 [[ 8.67219328e-01 -4.97902849e-01 4.83627985e-03 8.26356092e+01] [ 4.97895801e-01 8.67232807e-01 2.65146689e-03 1.48355310e+01] [-5.51435347e-03 1.08560099e-04 9.99984790e-01 -1.25626078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:14.85, Z:-1.26 [[ 8.66114167e-01 -4.99831662e-01 3.81577829e-03 8.26594849e+01] [ 4.99827297e-01 8.66122567e-01 2.09098278e-03 1.48495024e+01] [-4.35007109e-03 9.62003408e-05 9.99990534e-01 -1.25644292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:14.86, Z:-1.26 [[ 8.64494127e-01 -5.02639883e-01 1.74681388e-03 8.26821602e+01] [ 5.02638974e-01 8.64495891e-01 9.57593822e-04 1.48638789e+01] [-1.99143827e-03 5.01824984e-05 9.99998016e-01 -1.25709043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:14.88, Z:-1.26 [[ 8.63835702e-01 -5.03772883e-01 8.73091715e-04 8.27066583e+01] [ 5.03772658e-01 8.63836143e-01 4.76280489e-04 1.48783943e+01] [-9.94145375e-04 2.84116432e-05 9.99999505e-01 -1.25769008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:14.89, Z:-1.26 [[ 8.63508988e-01 -5.04333325e-01 3.53043792e-04 8.27306081e+01] [ 5.04333289e-01 8.63509060e-01 1.90488849e-04 1.48924244e+01] [-4.00926388e-04 1.35629036e-05 9.99999920e-01 -1.25795725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:14.91, Z:-1.26 [[ 8.63563860e-01 -5.04239371e-01 3.40078788e-04 8.27530022e+01] [ 5.04239337e-01 8.63563927e-01 1.85463782e-04 1.49073819e+01] [-3.87197915e-04 1.13212827e-05 9.99999925e-01 -1.25764986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:14.92, Z:-1.26 [[ 8.63735131e-01 -5.03945737e-01 5.64025761e-04 8.27770688e+01] [ 5.03945644e-01 8.63735315e-01 3.06769897e-04 1.49223164e+01] [-6.41764350e-04 1.92703884e-05 9.99999794e-01 -1.25813650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:14.94, Z:-1.26 [[ 8.64149477e-01 -5.03234878e-01 5.81666261e-04 8.27999162e+01] [ 5.03234778e-01 8.64149673e-01 3.17790060e-04 1.49373327e+01] [-6.62569751e-04 1.80965778e-05 9.99999780e-01 -1.25904620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:14.95, Z:-1.26 [[ 8.64280978e-01 -5.03009147e-01 4.35060664e-04 8.28238974e+01] [ 5.03009092e-01 8.64281087e-01 2.36090861e-04 1.49512509e+01] [-4.94770566e-04 1.47906293e-05 9.99999877e-01 -1.25913950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:14.97, Z:-1.26 [[ 8.64149177e-01 -5.03235543e-01 4.34902764e-04 8.28489094e+01] [ 5.03235487e-01 8.64149286e-01 2.36378226e-04 1.49651119e+01] [-4.94774837e-04 1.45924550e-05 9.99999877e-01 -1.25946126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:14.98, Z:-1.26 [[ 8.64335387e-01 -5.02915112e-01 8.53950875e-04 8.28734701e+01] [ 5.02914896e-01 8.64335808e-01 4.67465098e-04 1.49791592e+01] [-9.73195582e-04 2.54179887e-05 9.99999526e-01 -1.25968793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:14.99, Z:-1.26 [[ 8.65201028e-01 -5.01417702e-01 2.73283503e-03 8.28966931e+01] [ 5.01415444e-01 8.65205342e-01 1.50645012e-03 1.49928817e+01] [-3.11982423e-03 6.69034948e-05 9.99995131e-01 -1.25897064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:15.01, Z:-1.26 [[ 8.65858959e-01 -5.00272673e-01 3.93914413e-03 8.29214149e+01] [ 5.00267968e-01 8.65867914e-01 2.17150201e-03 1.50070141e+01] [-4.49712162e-03 9.04131646e-05 9.99989884e-01 -1.25856191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:15.02, Z:-1.26 [[ 8.67600951e-01 -4.97219226e-01 6.45226651e-03 8.29440152e+01] [ 4.97206479e-01 8.67624935e-01 3.56227983e-03 1.50217804e+01] [-7.36938133e-03 1.17471347e-04 9.99972839e-01 -1.25808730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:15.04, Z:-1.26 [[ 8.68542010e-01 -4.95558533e-01 7.51778059e-03 8.29674008e+01] [ 4.95541153e-01 8.68574537e-01 4.15201169e-03 1.50352394e+01] [-8.58731761e-03 1.19173076e-04 9.99963121e-01 -1.25831124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:15.05, Z:-1.26 [[ 8.69200850e-01 -4.94401018e-01 7.58389069e-03 8.29922923e+01] [ 4.94383281e-01 8.69233928e-01 4.18922204e-03 1.50491605e+01] [-8.66333073e-03 1.08073400e-04 9.99962467e-01 -1.25838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:15.06, Z:-1.26 [[ 8.70964254e-01 -4.91293976e-01 7.17611948e-03 8.30160576e+01] [ 4.91277965e-01 8.70993814e-01 3.96696763e-03 1.50630192e+01] [-8.19930297e-03 7.03823681e-05 9.99966383e-01 -1.25910150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:15.08, Z:-1.26 [[ 8.71715965e-01 -4.89965928e-01 6.68326791e-03 8.30405453e+01] [ 4.89951999e-01 8.71741583e-01 3.69485716e-03 1.50775019e+01] [-7.63643666e-03 5.36144982e-05 9.99970841e-01 -1.25948510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:15.09, Z:-1.26 [[ 8.72535620e-01 -4.88509417e-01 6.33566980e-03 8.30639409e+01] [ 4.88496841e-01 8.72558622e-01 3.50543759e-03 1.50915353e+01] [-7.24068258e-03 3.63355252e-05 9.99973785e-01 -1.26052938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:15.11, Z:-1.26 [[ 8.73259266e-01 -4.87222919e-01 5.66404754e-03 8.30882562e+01] [ 4.87212842e-01 8.73277634e-01 3.13371728e-03 1.51059284e+01] [-6.47310492e-03 2.30490527e-05 9.99979049e-01 -1.26133928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:15.12, Z:-1.26 [[ 8.74238567e-01 -4.85477506e-01 4.30337251e-03 8.31122522e+01] [ 4.85471665e-01 8.74249159e-01 2.38148437e-03 1.51205036e+01] [-4.91837689e-03 7.17992935e-06 9.99987905e-01 -1.26275377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:15.13, Z:-1.26 [[ 8.74277914e-01 -4.85413935e-01 3.38253464e-03 8.31371652e+01] [ 4.85410324e-01 8.74284457e-01 1.87234175e-03 1.51341965e+01] [-3.86615824e-03 4.97019063e-06 9.99992526e-01 -1.26291767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:15.15, Z:-1.26 [[ 8.74030748e-01 -4.85865133e-01 2.30737435e-03 8.31617560e+01] [ 4.85863451e-01 8.74033794e-01 1.27846714e-03 1.51464252e+01] [-2.63788577e-03 3.64927079e-06 9.99996521e-01 -1.26336126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:15.16, Z:-1.26 [[ 8.73640680e-01 -4.86568102e-01 1.85605257e-03 8.31855654e+01] [ 4.86567015e-01 8.73642651e-01 1.02840252e-03 1.51595744e+01] [-2.12191455e-03 4.63968507e-06 9.99997749e-01 -1.26420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:15.17, Z:-1.27 [[ 8.73399395e-01 -4.87000767e-01 1.93638238e-03 8.32088663e+01] [ 4.86999585e-01 8.73401541e-01 1.07329136e-03 1.51723333e+01] [-2.21393307e-03 5.60538804e-06 9.99997549e-01 -1.26524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:15.18, Z:-1.27 [[ 8.72704278e-01 -4.88243007e-01 2.45135263e-03 8.32345513e+01] [ 4.88241119e-01 8.72707721e-01 1.35803883e-03 1.51845392e+01] [-2.80236733e-03 1.16848527e-05 9.99996073e-01 -1.26554341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:15.20, Z:-1.27 [[ 8.72445086e-01 -4.88701100e-01 3.28743304e-03 8.32598088e+01] [ 4.88697698e-01 8.72451279e-01 1.82358102e-03 1.51965244e+01] [-3.75931121e-03 1.55866644e-05 9.99992934e-01 -1.26526231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:83.29, Y:15.21, Z:-1.27 [[ 8.72051955e-01 -4.89402843e-01 3.20079924e-03 8.32863295e+01] [ 4.89399619e-01 8.72057829e-01 1.77648817e-03 1.52066745e+01] [-3.66070040e-03 1.72799457e-05 9.99993299e-01 -1.26629783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:15.22, Z:-1.26 [[ 8.72205998e-01 -4.89116917e-01 4.61929424e-03 8.33117814e+01] [ 4.89110182e-01 8.72218230e-01 2.56699637e-03 1.52186399e+01] [-5.28459400e-03 2.03942142e-05 9.99986036e-01 -1.26422513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:15.23, Z:-1.26 [[ 8.72269677e-01 -4.88998540e-01 5.10276891e-03 8.33361259e+01] [ 4.88990302e-01 8.72284602e-01 2.83849921e-03 1.52303519e+01] [-5.83908872e-03 1.92677240e-05 9.99982952e-01 -1.26453953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:15.24, Z:-1.26 [[ 8.72434072e-01 -4.88704385e-01 5.17832830e-03 8.33613583e+01] [ 4.88695891e-01 8.72449439e-01 2.88131860e-03 1.52429463e+01] [-5.92594265e-03 1.68672452e-05 9.99982441e-01 -1.26468384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:83.39, Y:15.25, Z:-1.27 [[ 8.73043725e-01 -4.87620998e-01 4.51848298e-03 8.33876531e+01] [ 4.87614511e-01 8.73055418e-01 2.51534440e-03 1.52543245e+01] [-5.17142079e-03 7.27222157e-06 9.99986628e-01 -1.26779524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:15.27, Z:-1.27 [[ 8.73806385e-01 -4.86247296e-01 5.09589580e-03 8.34123666e+01] [ 4.86239002e-01 8.73821244e-01 2.84014587e-03 1.52664326e+01] [-5.83391525e-03 -3.91430798e-06 9.99982983e-01 -1.26600572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:15.28, Z:-1.27 [[ 8.74785704e-01 -4.84492842e-01 4.08147785e-03 8.34382616e+01] [ 4.84487506e-01 8.74795225e-01 2.27388555e-03 1.52778927e+01] [-4.67213861e-03 -1.17375498e-05 9.99989085e-01 -1.26720292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:15.29, Z:-1.27 [[ 8.75130901e-01 -4.83875757e-01 3.18698869e-03 8.34630543e+01] [ 4.83872498e-01 8.75136704e-01 1.77593318e-03 1.52904054e+01] [-3.64838179e-03 -1.20778217e-05 9.99993345e-01 -1.26736466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:15.30, Z:-1.27 [[ 8.75433387e-01 -4.83330953e-01 2.75229197e-03 8.34868540e+01] [ 4.83328515e-01 8.75437713e-01 1.53507122e-03 1.53025466e+01] [-3.15140763e-03 -1.35914070e-05 9.99995034e-01 -1.26718586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:15.32, Z:-1.27 [[ 8.75779271e-01 -4.82704382e-01 2.67361799e-03 8.35116279e+01] [ 4.82702080e-01 8.75783352e-01 1.49091939e-03 1.53157717e+01] [-3.06118345e-03 -1.51553262e-05 9.99995314e-01 -1.26718666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:15.33, Z:-1.27 [[ 8.76266825e-01 -4.81813016e-01 3.55942554e-03 8.35345332e+01] [ 4.81808912e-01 8.76274054e-01 1.98879003e-03 1.53293582e+01] [-4.07725717e-03 -2.77477777e-05 9.99991688e-01 -1.26712358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:15.34, Z:-1.27 [[ 8.76169192e-01 -4.81992848e-01 3.23135572e-03 8.35590792e+01] [ 4.81989471e-01 8.76175150e-01 1.80446463e-03 1.53438739e+01] [-3.70097263e-03 -2.35368813e-05 9.99993151e-01 -1.26765506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:15.36, Z:-1.27 [[ 8.75653009e-01 -4.82929802e-01 3.25794274e-03 8.35820966e+01] [ 4.82926368e-01 8.75659069e-01 1.82135009e-03 1.53576541e+01] [-3.73243135e-03 -2.15242346e-05 9.99993034e-01 -1.26815396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:15.37, Z:-1.27 [[ 8.74090520e-01 -4.85750691e-01 3.46831259e-03 8.36060166e+01] [ 4.85746820e-01 8.74097401e-01 1.93925005e-03 1.53720995e+01] [-3.97363507e-03 -1.03582749e-05 9.99992105e-01 -1.26935618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:15.39, Z:-1.27 [[ 8.72870965e-01 -4.87937827e-01 3.59925825e-03 8.36306635e+01] [ 4.87933671e-01 8.72878386e-01 2.01391352e-03 1.53856967e+01] [-4.12437932e-03 -1.68735007e-06 9.99991495e-01 -1.26963345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:15.40, Z:-1.27 [[ 8.71320231e-01 -4.90701712e-01 3.58967624e-03 8.36547002e+01] [ 4.90697590e-01 8.71327625e-01 2.01121040e-03 1.53984329e+01] [-4.11468845e-03 9.03716971e-06 9.99991535e-01 -1.27003581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:15.41, Z:-1.27 [[ 8.67653496e-01 -4.97152361e-01 4.11588578e-03 8.36804876e+01] [ 4.97147016e-01 8.67663257e-01 2.30577620e-03 1.54105395e+01] [-4.71752494e-03 4.55855545e-05 9.99988871e-01 -1.27021031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34762800000001 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:83.70, Y:15.42, Z:-1.27 [[ 8.65779151e-01 -5.00412617e-01 3.69786651e-03 8.37041336e+01] [ 5.00408323e-01 8.65787046e-01 2.07383624e-03 1.54233812e+01] [-4.23933874e-03 5.49589978e-05 9.99991012e-01 -1.27066517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37762800000002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:83.73, Y:15.44, Z:-1.27 [[ 8.62284870e-01 -5.06403726e-01 4.47984536e-03 8.37283811e+01] [ 5.06397504e-01 8.62296501e-01 2.51234561e-03 1.54380818e+01] [-5.13521616e-03 1.02224905e-04 9.99986809e-01 -1.27134423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.407628 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:83.75, Y:15.45, Z:-1.27 [[ 8.60395678e-01 -5.09605576e-01 4.62956960e-03 8.37522490e+01] [ 5.09598969e-01 8.60408125e-01 2.59808016e-03 1.54527400e+01] [-5.30731544e-03 1.23846952e-04 9.99985908e-01 -1.27123138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:83.78, Y:15.47, Z:-1.27 [[ 8.58497766e-01 -5.12793366e-01 4.95481602e-03 8.37752736e+01] [ 5.12785833e-01 8.58512051e-01 2.78360798e-03 1.54672257e+01] [-5.68118497e-03 1.51038229e-04 9.99983851e-01 -1.27163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.467628 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:83.80, Y:15.48, Z:-1.27 [[ 8.54803322e-01 -5.18920392e-01 5.73655774e-03 8.37981322e+01] [ 5.18910429e-01 8.54822542e-01 3.22309209e-03 1.54831430e+01] [-6.57626708e-03 2.21649818e-04 9.99978352e-01 -1.27208368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497628 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:83.82, Y:15.50, Z:-1.27 [[ 8.53213954e-01 -5.21526532e-01 6.00212287e-03 8.38214302e+01] [ 5.21515670e-01 8.53235028e-01 3.37536245e-03 1.54975941e+01] [-6.88156255e-03 2.50294785e-04 9.99976290e-01 -1.27248196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527628 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:83.85, Y:15.51, Z:-1.27 [[ 8.51901039e-01 -5.23668151e-01 6.02390185e-03 8.38450783e+01] [ 5.23657262e-01 8.51922295e-01 3.38771144e-03 1.55126111e+01] [-6.90593287e-03 2.68465046e-04 9.99976118e-01 -1.27278543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55762800000001 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:83.87, Y:15.53, Z:-1.27 [[ 8.51052492e-01 -5.25037613e-01 6.72014576e-03 8.38673918e+01] [ 5.25024079e-01 8.51078968e-01 3.78254523e-03 1.55274389e+01] [-7.70535324e-03 3.09093791e-04 9.99970266e-01 -1.27364404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58762800000001 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:83.89, Y:15.55, Z:-1.27 [[ 8.50786297e-01 -5.25465841e-01 6.95172333e-03 8.38890058e+01] [ 5.25451360e-01 8.50814637e-01 3.91439532e-03 1.55457389e+01] [-7.97150898e-03 3.22478573e-04 9.99968175e-01 -1.27439500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61762800000001 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:83.91, Y:15.56, Z:-1.27 [[ 8.51349813e-01 -5.24552001e-01 6.97811353e-03 8.39110999e+01] [ 5.24537354e-01 8.51378353e-01 3.93241056e-03 1.55618644e+01] [-8.00376863e-03 3.12424214e-04 9.99967921e-01 -1.27480828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64762800000001 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:83.93, Y:15.58, Z:-1.27 [[ 8.53292399e-01 -5.21381629e-01 7.29923732e-03 8.39329322e+01] [ 5.21365481e-01 8.53323567e-01 4.11409036e-03 1.55810892e+01] [-8.37362235e-03 2.95048345e-04 9.99964897e-01 -1.27498769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67762800000001 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:83.96, Y:15.60, Z:-1.28 [[ 8.54721625e-01 -5.19028395e-01 7.77611797e-03 8.39559347e+01] [ 5.19009943e-01 8.54756949e-01 4.38590582e-03 1.55970301e+01] [-8.92310054e-03 2.87154002e-04 9.99960147e-01 -1.27556188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70762800000001 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:83.98, Y:15.61, Z:-1.28 [[ 8.56429107e-01 -5.16202572e-01 8.00555558e-03 8.39787869e+01] [ 5.16182864e-01 8.56466483e-01 4.51830104e-03 1.56128466e+01] [-9.18884865e-03 2.62726079e-04 9.99957747e-01 -1.27554006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73762800000002 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:84.00, Y:15.63, Z:-1.28 [[ 8.60842851e-01 -5.08796553e-01 8.69793547e-03 8.39993837e+01] [ 5.08772872e-01 8.60886769e-01 4.91277089e-03 1.56306208e+01] [-9.98753846e-03 1.96149914e-04 9.99950104e-01 -1.27598235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76762800000002 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:84.02, Y:15.65, Z:-1.28 [[ 8.63161020e-01 -5.04846541e-01 9.11171799e-03 8.40223145e+01] [ 5.04820319e-01 8.63209097e-01 5.14784874e-03 1.56468275e+01] [-1.04641915e-02 1.56358013e-04 9.99945237e-01 -1.27660913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:84.05, Y:15.66, Z:-1.28 [[ 8.65308685e-01 -5.01156448e-01 9.11560998e-03 8.40451397e+01] [ 5.01129964e-01 8.65356691e-01 5.15323272e-03 1.56631796e+01] [-1.04708299e-02 1.08968278e-04 9.99945173e-01 -1.27690909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.827628 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:84.07, Y:15.68, Z:-1.28 [[ 8.69013982e-01 -4.94694119e-01 9.61392444e-03 8.40672716e+01] [ 4.94664224e-01 8.69067160e-01 5.43849365e-03 1.56813101e+01] [-1.10455368e-02 2.95374537e-05 9.99938996e-01 -1.27765646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:84.09, Y:15.70, Z:-1.28 [[ 8.70445222e-01 -4.92167035e-01 9.83494443e-03 8.40899647e+01] [ 4.92135546e-01 8.70500781e-01 5.56729320e-03 1.56962829e+01] [-1.13013650e-02 -5.89801626e-06 9.99936138e-01 -1.27816481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887628 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:84.11, Y:15.71, Z:-1.28 [[ 8.71520169e-01 -4.90260219e-01 9.87489657e-03 8.41137279e+01] [ 4.90228332e-01 8.71576111e-01 5.59153072e-03 1.57114671e+01] [-1.13480290e-02 -3.21777201e-05 9.99935609e-01 -1.27887961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91762800000001 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:84.14, Y:15.73, Z:-1.28 [[ 8.73563986e-01 -4.86603804e-01 1.01341004e-02 8.41394961e+01] [ 4.86572779e-01 8.73622757e-01 5.49637267e-03 1.57264111e+01] [-1.15279366e-02 1.29544185e-04 9.99933543e-01 -1.28091245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94762800000001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:84.16, Y:15.74, Z:-1.28 [[ 8.73288256e-01 -4.87106139e-01 9.75863930e-03 8.41611412e+01] [ 4.87072729e-01 8.73342748e-01 5.70981909e-03 1.57411032e+01] [-1.13039248e-02 -2.33150881e-04 9.99936081e-01 -1.28090038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97762800000001 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:84.18, Y:15.76, Z:-1.28 [[ 8.72604915e-01 -4.88293348e-01 1.14135211e-02 8.41834085e+01] [ 4.88274083e-01 8.72678174e-01 4.60701722e-03 1.57563907e+01] [-1.22099066e-02 1.55282069e-03 9.99924251e-01 -1.28383134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00762800000001 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:84.21, Y:15.77, Z:-1.28 [[ 8.73061135e-01 -4.87536583e-01 8.50498377e-03 8.42101664e+01] [ 4.87492890e-01 8.73100797e-01 6.75876941e-03 1.57678285e+01] [-1.07208555e-02 -1.75469978e-03 9.99940990e-01 -1.28164876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03762800000001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:84.23, Y:15.78, Z:-1.28 [[ 8.72765756e-01 -4.88054746e-01 9.08297060e-03 8.42344640e+01] [ 4.88027522e-01 8.72813016e-01 5.15532096e-03 1.57817360e+01] [-1.04438138e-02 -6.66479561e-05 9.99945460e-01 -1.28254011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06762800000001 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:84.26, Y:15.79, Z:-1.28 [[ 8.72547947e-01 -4.88445788e-01 8.98842372e-03 8.42588078e+01] [ 4.88419113e-01 8.72594240e-01 5.10510323e-03 1.57946242e+01] [-1.03368129e-02 -6.43294070e-05 9.99946572e-01 -1.28266015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09762800000001 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:84.28, Y:15.81, Z:-1.28 [[ 8.72214991e-01 -4.89038098e-01 9.09662068e-03 8.42840452e+01] [ 4.89010795e-01 8.72262423e-01 5.16788157e-03 1.58061728e+01] [-1.04619314e-02 -5.91580677e-05 9.99945271e-01 -1.28262205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12762800000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:84.31, Y:15.82, Z:-1.28 [[ 8.72242744e-01 -4.88991965e-01 8.91373385e-03 8.43076467e+01] [ 4.88965712e-01 8.72288286e-01 5.06733940e-03 1.58183834e+01] [-1.02532339e-02 -6.14397990e-05 9.99947432e-01 -1.28232162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:84.33, Y:15.83, Z:-1.28 [[ 8.72871058e-01 -4.87837434e-01 1.05239783e-02 8.43314839e+01] [ 4.87868088e-01 8.72917275e-01 -4.00020218e-04 1.58333702e+01] [-8.99141764e-03 5.48347925e-03 9.99944541e-01 -1.28484143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.187628 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:84.36, Y:15.84, Z:-1.28 [[ 8.72773238e-01 -4.88092440e-01 5.71357557e-03 8.43589450e+01] [ 4.88030802e-01 8.72774476e-01 9.52105766e-03 1.58428732e+01] [-9.63381918e-03 -5.52132345e-03 9.99938350e-01 -1.28152527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:84.38, Y:15.86, Z:-1.28 [[ 8.73000015e-01 -4.87660704e-01 7.61656916e-03 8.43811621e+01] [ 4.87641451e-01 8.73033237e-01 4.33384752e-03 1.58576314e+01] [-8.76296516e-03 -6.92941156e-05 9.99961602e-01 -1.28439142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247628 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:84.41, Y:15.87, Z:-1.28 [[ 8.72877263e-01 -4.87880393e-01 7.61619712e-03 8.44059604e+01] [ 4.87861143e-01 8.72910487e-01 4.33450129e-03 1.58718503e+01] [-8.76297653e-03 -6.78409924e-05 9.99961602e-01 -1.28471125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277628 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:84.43, Y:15.88, Z:-1.29 [[ 8.72843298e-01 -4.87953523e-01 6.77768399e-03 8.44304561e+01] [ 4.87938267e-01 8.72869610e-01 3.85905806e-03 1.58849759e+01] [-7.79907536e-03 -6.12615796e-05 9.99969585e-01 -1.28510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30762800000001 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:84.45, Y:15.90, Z:-1.29 [[ 8.72801500e-01 -4.88035352e-01 6.24790277e-03 8.44547606e+01] [ 4.88022372e-01 8.72823861e-01 3.55991273e-03 1.58971666e+01] [-7.19068188e-03 -5.79808480e-05 9.99974145e-01 -1.28575530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33762800000001 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:84.48, Y:15.91, Z:-1.29 [[ 8.71946975e-01 -4.89574807e-01 4.99805812e-03 8.44804584e+01] [ 4.89566521e-01 8.71961299e-01 2.84857293e-03 1.59074495e+01] [-5.75270279e-03 -3.69226218e-05 9.99983452e-01 -1.28568826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36762800000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:84.51, Y:15.92, Z:-1.29 [[ 8.70420087e-01 -4.92287437e-01 4.68517528e-03 8.45053047e+01] [ 4.92280194e-01 8.70432696e-01 2.67064697e-03 1.59200673e+01] [-5.39285571e-03 -1.81657744e-05 9.99985458e-01 -1.28580904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39762800000001 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:84.53, Y:15.93, Z:-1.28 [[ 8.69705380e-01 -4.93554613e-01 4.04920094e-03 8.45299076e+01] [ 4.93549206e-01 8.69714806e-01 2.31033479e-03 1.59310149e+01] [-4.66192640e-03 -1.08306929e-05 9.99989133e-01 -1.28493752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42762800000001 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:84.55, Y:15.94, Z:-1.28 [[ 8.68367961e-01 -4.95902419e-01 4.22780270e-03 8.45539178e+01] [ 4.95896550e-01 8.68378253e-01 2.41264368e-03 1.59427163e+01] [-4.86776776e-03 1.49030117e-06 9.99988152e-01 -1.28496057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45762800000001 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:84.58, Y:15.95, Z:-1.28 [[ 8.65536783e-01 -5.00827181e-01 4.26751160e-03 8.45804920e+01] [ 5.00821259e-01 8.65547303e-01 2.43578613e-03 1.59529557e+01] [-4.91364106e-03 2.89980363e-05 9.99987928e-01 -1.28436014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48762800000002 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:84.61, Y:15.96, Z:-1.28 [[ 8.63847434e-01 -5.03734841e-01 4.33824506e-03 8.46054523e+01] [ 5.03728743e-01 8.63858327e-01 2.47896806e-03 1.59647073e+01] [-4.99637170e-03 4.38485300e-05 9.99987517e-01 -1.28463753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51762800000002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:84.63, Y:15.97, Z:-1.28 [[ 8.60228442e-01 -5.09890216e-01 4.35840896e-03 8.46316737e+01] [ 5.09884142e-01 8.60239479e-01 2.49006712e-03 1.59744748e+01] [-5.01893632e-03 8.02570528e-05 9.99987402e-01 -1.28429569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.547628 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:84.66, Y:15.99, Z:-1.28 [[ 8.58181128e-01 -5.13330823e-01 4.07655618e-03 8.46557608e+01] [ 5.13325536e-01 8.58190805e-01 2.33151267e-03 1.59862100e+01] [-4.69530035e-03 9.17402135e-05 9.99988973e-01 -1.28443469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:84.68, Y:16.00, Z:-1.28 [[ 8.55766817e-01 -5.17347189e-01 3.87839124e-03 8.46809964e+01] [ 5.17342447e-01 8.55775598e-01 2.21755533e-03 1.59985258e+01] [-4.46627860e-03 1.08746146e-04 9.99990020e-01 -1.28468991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607628 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:84.71, Y:16.01, Z:-1.28 [[ 8.50829712e-01 -5.25433559e-01 2.89416549e-03 8.47073970e+01] [ 5.25430965e-01 8.50834627e-01 1.65487345e-03 1.60087339e+01] [-3.33198226e-03 1.12668665e-04 9.99994443e-01 -1.28456830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.73, Y:16.02, Z:-1.28 [[ 8.48446827e-01 -5.29273545e-01 2.73775389e-03 8.47319392e+01] [ 5.29271237e-01 8.48451236e-01 1.56773902e-03 1.60208098e+01] [-3.15261346e-03 1.18871189e-04 9.99995023e-01 -1.28487759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.76, Y:16.03, Z:-1.28 [[ 8.44813008e-01 -5.35051336e-01 3.32391796e-03 8.47577895e+01] [ 5.35047979e-01 8.44819530e-01 1.90296666e-03 1.60327623e+01] [-3.82629566e-03 1.70804597e-04 9.99992665e-01 -1.28432071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.78, Y:16.05, Z:-1.28 [[ 8.44168365e-01 -5.36061131e-01 4.27024378e-03 8.47823486e+01] [ 5.36055591e-01 8.44179136e-01 2.44726953e-03 1.60472602e+01] [-4.91673678e-03 2.23180539e-04 9.99987888e-01 -1.28381328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.81, Y:16.06, Z:-1.28 [[ 8.44364670e-01 -5.35748431e-01 4.68220138e-03 8.48053925e+01] [ 5.35741749e-01 8.44377618e-01 2.68651637e-03 1.60608609e+01] [-5.39284298e-03 2.40051245e-04 9.99985430e-01 -1.28330812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75762800000001 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:84.83, Y:16.08, Z:-1.28 [[ 8.44806526e-01 -5.35047201e-01 5.14059150e-03 8.48296769e+01] [ 5.35039134e-01 8.44822127e-01 2.94951834e-03 1.60756477e+01] [-5.92101698e-03 2.58645279e-04 9.99982437e-01 -1.28368976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:84.85, Y:16.09, Z:-1.28 [[ 8.46467125e-01 -5.32426341e-01 3.94925740e-03 8.48522879e+01] [ 5.32421545e-01 8.46476318e-01 2.26730438e-03 1.60911466e+01] [-4.55012544e-03 1.83471108e-04 9.99989631e-01 -1.28413187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:84.88, Y:16.11, Z:-1.28 [[ 8.47182374e-01 -5.31293590e-01 3.02442629e-03 8.48754321e+01] [ 5.31290772e-01 8.47187761e-01 1.73576553e-03 1.61063022e+01] [-3.48445804e-03 1.36339814e-04 9.99993920e-01 -1.28416526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:84.90, Y:16.12, Z:-1.28 [[ 8.48044379e-01 -5.29918403e-01 2.68644236e-03 8.48991291e+01] [ 5.29916171e-01 8.48048626e-01 1.54237049e-03 1.61218314e+01] [-3.09556426e-03 1.15590623e-04 9.99995202e-01 -1.28466959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87762800000002 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:84.92, Y:16.14, Z:-1.29 [[ 8.48958846e-01 -5.28451975e-01 2.71821462e-03 8.49226498e+01] [ 5.28449679e-01 8.48963190e-01 1.56168512e-03 1.61376509e+01] [-3.13293974e-03 1.10633247e-04 9.99995086e-01 -1.28513737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.907628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:84.94, Y:16.16, Z:-1.29 [[ 8.51071763e-01 -5.25037714e-01 3.50026737e-03 8.49442541e+01] [ 5.25033869e-01 8.51078952e-01 2.01335374e-03 1.61557035e+01] [-4.03609053e-03 1.24250403e-04 9.99991847e-01 -1.28592537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:84.97, Y:16.17, Z:-1.29 [[ 8.52441029e-01 -5.22807062e-01 4.13123263e-03 8.49668046e+01] [ 5.22801663e-01 8.52451030e-01 2.37967099e-03 1.61712310e+01] [-4.76578231e-03 1.31286102e-04 9.99988635e-01 -1.28641908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.967628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:84.99, Y:16.19, Z:-1.29 [[ 8.55066500e-01 -5.18499638e-01 4.40524156e-03 8.49895437e+01] [ 5.18493443e-01 8.55077840e-01 2.53722240e-03 1.61885908e+01] [-5.08237333e-03 1.14594983e-04 9.99987078e-01 -1.28552037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:85.01, Y:16.20, Z:-1.29 [[ 8.56185197e-01 -5.16649584e-01 4.48495929e-03 8.50119808e+01] [ 5.16643125e-01 8.56196938e-01 2.58548193e-03 1.62036594e+01] [-5.17579658e-03 1.03472028e-04 9.99986600e-01 -1.28536460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:85.04, Y:16.22, Z:-1.29 [[ 8.57280039e-01 -5.14829727e-01 4.61372345e-03 8.50352113e+01] [ 5.14822862e-01 8.57292449e-01 2.66036186e-03 1.62191155e+01] [-5.32494364e-03 9.45751968e-05 9.99985818e-01 -1.28581021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.06, Y:16.24, Z:-1.29 [[ 8.58662048e-01 -5.12521486e-01 4.60596007e-03 8.50572596e+01] [ 5.12514601e-01 8.58674397e-01 2.65757638e-03 1.62364490e+01] [-5.31708498e-03 7.86618119e-05 9.99985861e-01 -1.28632650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.08, Y:16.25, Z:-1.29 [[ 8.59238390e-01 -5.11552464e-01 4.84414113e-03 8.50795804e+01] [ 5.11544818e-01 8.59252042e-01 2.79795338e-03 1.62514274e+01] [-5.59363810e-03 7.38863346e-05 9.99984353e-01 -1.28673149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.10, Y:16.27, Z:-1.29 [[ 8.59433058e-01 -5.11225534e-01 4.82407167e-03 8.51031436e+01] [ 5.11217947e-01 8.59446594e-01 2.78606052e-03 1.62670626e+01] [-5.57033724e-03 7.17194997e-05 9.99984483e-01 -1.28724928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.13, Y:16.28, Z:-1.29 [[ 8.60024531e-01 -5.10232259e-01 4.56595604e-03 8.51255190e+01] [ 5.10225434e-01 8.60036650e-01 2.63959987e-03 1.62831082e+01] [-5.27369853e-03 5.95462641e-05 9.99986092e-01 -1.28789609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.15, Y:16.30, Z:-1.29 [[ 8.60227464e-01 -5.09894118e-01 4.08643119e-03 8.51489240e+01] [ 5.09888651e-01 8.60237168e-01 2.36168077e-03 1.62981724e+01] [-4.71950713e-03 5.20422302e-05 9.99988862e-01 -1.28815877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.17, Y:16.31, Z:-1.29 [[ 8.60566983e-01 -5.09323691e-01 3.72100175e-03 8.51724292e+01] [ 5.09319149e-01 8.60575026e-01 2.15157728e-03 1.63129880e+01] [-4.29805046e-03 4.36010750e-05 9.99990762e-01 -1.28866601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23762800000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:85.19, Y:16.33, Z:-1.29 [[ 8.61568323e-01 -5.07630317e-01 3.38923358e-03 8.51945715e+01] [ 5.07626526e-01 8.61574988e-01 1.96201822e-03 1.63282075e+01] [-3.91605882e-03 3.00521201e-05 9.99992332e-01 -1.28969459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26762800000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.22, Y:16.34, Z:-1.29 [[ 8.62098012e-01 -5.06729644e-01 3.47657755e-03 8.52187418e+01] [ 5.06725650e-01 8.62105021e-01 2.01195963e-03 1.63431822e+01] [-4.01669455e-03 2.71646235e-05 9.99991933e-01 -1.29060013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:85.24, Y:16.36, Z:-1.29 [[ 8.62903959e-01 -5.05357928e-01 3.18164044e-03 8.52418281e+01] [ 5.05354566e-01 8.62909824e-01 1.84344627e-03 1.63568657e+01] [-3.67706898e-03 1.71394428e-05 9.99993239e-01 -1.29106321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.327628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.27, Y:16.37, Z:-1.29 [[ 8.64832991e-01 -5.02055152e-01 2.12641345e-03 8.52662966e+01] [ 5.02053645e-01 8.64835605e-01 1.23033357e-03 1.63708512e+01] [-2.45669337e-03 3.54056063e-06 9.99996982e-01 -1.29189570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.29, Y:16.39, Z:-1.29 [[ 8.65706420e-01 -5.00546939e-01 2.27082785e-03 8.52903164e+01] [ 5.00551343e-01 8.65704056e-01 -2.19994687e-03 1.63860270e+01] [-8.64688209e-04 3.04117406e-03 9.99995002e-01 -1.29354434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.32, Y:16.40, Z:-1.29 [[ 8.66472854e-01 -4.99224103e-01 -2.97538308e-04 8.53159757e+01] [ 4.99222481e-01 8.66468170e-01 3.13442389e-03 1.63978767e+01] [-1.30697248e-03 -2.86443102e-03 9.99995043e-01 -1.29176549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.34, Y:16.41, Z:-1.29 [[ 8.68177493e-01 -4.96253110e-01 8.32054735e-04 8.53394722e+01] [ 4.96252876e-01 8.68177891e-01 4.81165878e-04 1.64120883e+01] [-9.61151588e-04 -4.82783026e-06 9.99999538e-01 -1.29377074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.36, Y:16.43, Z:-1.29 [[ 8.68755368e-01 -4.95241132e-01 5.76283180e-04 8.53639812e+01] [ 4.95241021e-01 8.68755559e-01 3.31598324e-04 1.64253720e+01] [-6.64870346e-04 -2.67875386e-06 9.99999779e-01 -1.29391107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47762800000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.39, Y:16.44, Z:-1.29 [[ 8.69176235e-01 -4.94502022e-01 6.50676225e-04 8.53884812e+01] [ 4.94501880e-01 8.69176478e-01 3.75051377e-04 1.64382107e+01] [-7.51016134e-04 -4.22512703e-06 9.99999718e-01 -1.29417885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50762800000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.41, Y:16.45, Z:-1.29 [[ 8.69470036e-01 -4.93985172e-01 7.11408714e-04 8.54131020e+01] [ 4.93985001e-01 8.69470327e-01 4.11746409e-04 1.64490574e+01] [-8.21945388e-04 -6.57593052e-06 9.99999662e-01 -1.29383445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.44, Y:16.46, Z:-1.29 [[ 8.69222137e-01 -4.94420364e-01 1.17431265e-03 8.54380408e+01] [ 4.94419896e-01 8.69222931e-01 6.80570528e-04 1.64615403e+01] [-1.35722741e-03 -1.09634302e-05 9.99999079e-01 -1.29410511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.46, Y:16.47, Z:-1.29 [[ 8.68611560e-01 -4.95490688e-01 1.71347237e-03 8.54630244e+01] [ 4.95489689e-01 8.68613250e-01 9.95362971e-04 1.64746045e+01] [-1.98153789e-03 -1.55758905e-05 9.99998037e-01 -1.29417472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.49, Y:16.49, Z:-1.29 [[ 8.67984494e-01 -4.96586846e-01 2.10279797e-03 8.54875345e+01] [ 4.96585340e-01 8.67987041e-01 1.22313938e-03 1.64873997e+01] [-2.43259632e-03 -1.74473678e-05 9.99997041e-01 -1.29399839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.51, Y:16.50, Z:-1.29 [[ 8.66034646e-01 -4.99970411e-01 3.68513836e-03 8.55133919e+01] [ 4.99965799e-01 8.66042486e-01 2.14760398e-03 1.64993617e+01] [-4.26522483e-03 -1.74563061e-05 9.99990904e-01 -1.29420087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.54, Y:16.51, Z:-1.29 [[ 8.64889048e-01 -5.01949191e-01 3.73421236e-03 8.55373004e+01] [ 5.01944462e-01 8.64897109e-01 2.17893025e-03 1.65110999e+01] [-4.32342175e-03 -1.01656948e-05 9.99990654e-01 -1.29403379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:16.52, Z:-1.29 [[ 8.63673816e-01 -5.04035338e-01 3.98967278e-03 8.55627126e+01] [ 5.04029963e-01 8.63683031e-01 2.32755661e-03 1.65235315e+01] [-4.61898346e-03 6.64926126e-07 9.99989332e-01 -1.29409592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:85.59, Y:16.53, Z:-1.29 [[ 8.61482554e-01 -5.07777051e-01 3.20573875e-03 8.55894313e+01] [ 5.07773605e-01 8.61488518e-01 1.87069970e-03 1.65343556e+01] [-3.71160550e-03 1.62143692e-05 9.99993112e-01 -1.29397693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.61, Y:16.55, Z:-1.29 [[ 8.60418677e-01 -5.09578899e-01 3.00759737e-03 8.56136585e+01] [ 5.09575868e-01 8.60423934e-01 1.75744327e-03 1.65463278e+01] [-3.48336477e-03 2.04620294e-05 9.99993933e-01 -1.29450126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.64, Y:16.56, Z:-1.30 [[ 8.59545781e-01 -5.11051433e-01 2.73546633e-03 8.56388862e+01] [ 5.11048938e-01 8.59550133e-01 1.59731748e-03 1.65585147e+01] [-3.16758184e-03 2.49896644e-05 9.99994983e-01 -1.29506880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.66, Y:16.57, Z:-1.30 [[ 8.58747436e-01 -5.12392730e-01 2.55582582e-03 8.56632228e+01] [ 5.12390550e-01 8.58751239e-01 1.49464212e-03 1.65704457e+01] [-2.96066234e-03 2.60609138e-05 9.99995617e-01 -1.29542714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.69, Y:16.58, Z:-1.30 [[ 8.57622483e-01 -5.14272011e-01 2.82403440e-03 8.56895349e+01] [ 5.14269363e-01 8.57627132e-01 1.65067053e-03 1.65813816e+01] [-3.27086218e-03 3.66622143e-05 9.99994650e-01 -1.29578783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:85.71, Y:16.59, Z:-1.30 [[ 8.57267080e-01 -5.14866630e-01 2.34674001e-03 8.57140830e+01] [ 5.14864799e-01 8.57270291e-01 1.37351631e-03 1.65933565e+01] [-2.71896821e-03 3.07835031e-05 9.99996303e-01 -1.29736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:16.60, Z:-1.30 [[ 8.57338838e-01 -5.14742289e-01 3.23933997e-03 8.57393777e+01] [ 5.14738794e-01 8.57344957e-01 1.89708238e-03 1.66043984e+01] [-3.75374031e-03 4.09715509e-05 9.99992954e-01 -1.29541281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.76, Y:16.62, Z:-1.30 [[ 8.57893794e-01 -5.13811770e-01 3.96268188e-03 8.57640428e+01] [ 5.13806532e-01 8.57902945e-01 2.32052585e-03 1.66186346e+01] [-4.59190995e-03 4.52871127e-05 9.99989456e-01 -1.29572350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.79, Y:16.63, Z:-1.30 [[ 8.58831644e-01 -5.12240191e-01 4.26542730e-03 8.57881861e+01] [ 5.12234093e-01 8.58842235e-01 2.49967190e-03 1.66329062e+01] [-4.94376153e-03 3.80999588e-05 9.99987779e-01 -1.29587855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.81, Y:16.65, Z:-1.30 [[ 8.60983259e-01 -5.08617115e-01 4.05690112e-03 8.58113218e+01] [ 5.08611549e-01 8.60992817e-01 2.37947770e-03 1.66467114e+01] [-4.70320581e-03 1.46962991e-05 9.99988940e-01 -1.29659007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:16.66, Z:-1.30 [[ 8.61761372e-01 -5.07299149e-01 3.86161101e-03 8.58355238e+01] [ 5.07294092e-01 8.61770024e-01 2.26516114e-03 1.66613240e+01] [-4.47693493e-03 6.94407492e-06 9.99989978e-01 -1.29718848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.047628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:85.86, Y:16.67, Z:-1.30 [[ 8.62537815e-01 -5.05976431e-01 4.04577714e-03 8.58585417e+01] [ 5.05970853e-01 8.62547304e-01 2.37600007e-03 1.66748378e+01] [-4.69187420e-03 -2.34459925e-06 9.99988993e-01 -1.29783779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.88, Y:16.69, Z:-1.30 [[ 8.62902940e-01 -5.05354472e-01 3.92090982e-03 8.58826184e+01] [ 5.05349228e-01 8.62911848e-01 2.30210538e-03 1.66888042e+01] [-4.54677879e-03 -5.06474964e-06 9.99989663e-01 -1.29777577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:16.70, Z:-1.30 [[ 8.63354901e-01 -5.04577585e-01 4.44706819e-03 8.59063760e+01] [ 5.04570816e-01 8.63366354e-01 2.61372083e-03 1.67027688e+01] [-5.15827399e-03 -1.27078685e-05 9.99986696e-01 -1.29834039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:16.72, Z:-1.30 [[ 8.63227754e-01 -5.04795077e-01 4.44678449e-03 8.59309770e+01] [ 5.04788308e-01 8.63239208e-01 2.61420346e-03 1.67173449e+01] [-5.15827576e-03 -1.19681572e-05 9.99986696e-01 -1.29865448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:16.73, Z:-1.30 [[ 8.63133396e-01 -5.04952946e-01 4.82313331e-03 8.59552453e+01] [ 5.04944975e-01 8.63146872e-01 2.83726254e-03 1.67322597e+01] [-5.59575651e-03 -1.35191249e-05 9.99984344e-01 -1.29914728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:16.75, Z:-1.30 [[ 8.62860850e-01 -5.05408999e-01 5.73557980e-03 8.59782086e+01] [ 5.05397714e-01 8.62879913e-01 3.37750303e-03 1.67469242e+01] [-6.65613702e-03 -1.55662173e-05 9.99977848e-01 -1.29966507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:16.76, Z:-1.30 [[ 8.62682719e-01 -5.05710205e-01 5.97617606e-03 8.60022181e+01] [ 5.05697958e-01 8.62703419e-01 3.51948358e-03 1.67612644e+01] [-6.93550628e-03 -1.40576337e-05 9.99975949e-01 -1.29992643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:16.78, Z:-1.30 [[ 8.62552951e-01 -5.05930620e-01 6.05093713e-03 8.60261509e+01] [ 5.05918055e-01 8.62574175e-01 3.56570644e-03 1.67756846e+01] [-7.02338217e-03 -1.43322714e-05 9.99975336e-01 -1.30034259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:16.79, Z:-1.30 [[ 8.62356427e-01 -5.06261801e-01 6.35466336e-03 8.60503734e+01] [ 5.06247934e-01 8.62379840e-01 3.74709773e-03 1.67905625e+01] [-7.37714602e-03 -1.42986136e-05 9.99972788e-01 -1.30096235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:16.80, Z:-1.30 [[ 8.62651922e-01 -5.05756265e-01 6.50090878e-03 8.60731218e+01] [ 5.05741716e-01 8.62676417e-01 3.83627935e-03 1.68049054e+01] [-7.54840301e-03 -2.15929977e-05 9.99971510e-01 -1.30159424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:16.82, Z:-1.30 [[ 8.62686539e-01 -5.05693961e-01 6.74934879e-03 8.60969173e+01] [ 5.05678272e-01 8.62712940e-01 3.98343104e-03 1.68199049e+01] [-7.83714756e-03 -2.34532938e-05 9.99969289e-01 -1.30184462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:16.84, Z:-1.30 [[ 8.62650210e-01 -5.05754732e-01 6.83855542e-03 8.61207814e+01] [ 5.05738609e-01 8.62677315e-01 4.03850346e-03 1.68353177e+01] [-7.94195887e-03 -2.52943552e-05 9.99968462e-01 -1.30265233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:16.85, Z:-1.30 [[ 8.62331962e-01 -5.06303679e-01 6.33815752e-03 8.61436880e+01] [ 5.06289824e-01 8.62355254e-01 3.74557168e-03 1.68506149e+01] [-7.36214016e-03 -2.09815144e-05 9.99972899e-01 -1.30411744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:16.86, Z:-1.31 [[ 8.61566322e-01 -5.07607434e-01 6.17780396e-03 8.61667827e+01] [ 5.07594299e-01 8.61588471e-01 3.65171163e-03 1.68643640e+01] [-7.17636063e-03 -1.03736891e-05 9.99974250e-01 -1.30508235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:16.88, Z:-1.31 [[ 8.58959918e-01 -5.12003834e-01 6.31935442e-03 8.61903611e+01] [ 5.11990201e-01 8.58983163e-01 3.73635169e-03 1.68767721e+01] [-7.34124543e-03 2.60711990e-05 9.99973052e-01 -1.30500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:16.89, Z:-1.30 [[ 8.57010513e-01 -5.15260029e-01 6.33108945e-03 8.62139703e+01] [ 5.15246428e-01 8.57033896e-01 3.74422821e-03 1.68895307e+01] [-7.35520939e-03 5.32282810e-05 9.99972949e-01 -1.30489254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:16.90, Z:-1.31 [[ 8.54995345e-01 -5.18592865e-01 6.66333730e-03 8.62388757e+01] [ 5.18577895e-01 8.55021306e-01 3.94123268e-03 1.69030516e+01] [-7.74119051e-03 8.57238345e-05 9.99970033e-01 -1.30520649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:16.92, Z:-1.31 [[ 8.53373666e-01 -5.21252924e-01 6.98391721e-03 8.62621261e+01] [ 5.21236546e-01 8.53402236e-01 4.13358315e-03 1.69168249e+01] [-8.11473287e-03 1.12781878e-04 9.99967069e-01 -1.30544711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:16.93, Z:-1.31 [[ 8.51171466e-01 -5.24829576e-01 7.81358989e-03 8.62842026e+01] [ 5.24809206e-01 8.51207313e-01 4.62679536e-03 1.69324513e+01] [-9.07926390e-03 1.62447717e-04 9.99958769e-01 -1.30676000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:16.95, Z:-1.31 [[ 8.49799125e-01 -5.27051566e-01 7.62188697e-03 8.63074872e+01] [ 5.27032266e-01 8.49833286e-01 4.51399790e-03 1.69473647e+01] [-8.85644291e-03 1.80988901e-04 9.99960765e-01 -1.30771087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:16.96, Z:-1.31 [[ 8.47448288e-01 -5.30832943e-01 6.91278638e-03 8.63300388e+01] [ 5.30817173e-01 8.47476458e-01 4.09646273e-03 1.69615583e+01] [-8.03296108e-03 1.97885401e-04 9.99967716e-01 -1.30829727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:16.98, Z:-1.31 [[ 8.46357430e-01 -5.32571767e-01 6.81274961e-03 8.63539123e+01] [ 5.32556503e-01 8.46384823e-01 4.03764572e-03 1.69759018e+01] [-7.91654399e-03 2.10882656e-04 9.99968641e-01 -1.30829411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:16.99, Z:-1.31 [[ 8.45589919e-01 -5.33793884e-01 6.46362609e-03 8.63780284e+01] [ 5.33780166e-01 8.45614596e-01 3.83263759e-03 1.69904801e+01] [-7.51157507e-03 2.09315696e-04 9.99971766e-01 -1.30842573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:17.01, Z:-1.31 [[ 8.45122381e-01 -5.34532365e-01 6.58123164e-03 8.64007070e+01] [ 5.34518144e-01 8.45147978e-01 3.90504308e-03 1.70051840e+01] [-7.64948652e-03 2.17548422e-04 9.99970719e-01 -1.30885052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:17.02, Z:-1.31 [[ 8.45670863e-01 -5.33667890e-01 6.27487053e-03 8.64215915e+01] [ 5.33654934e-01 8.45694119e-01 3.72395603e-03 1.70221386e+01] [-7.29397687e-03 1.99374508e-04 9.99973379e-01 -1.30988477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:17.04, Z:-1.30 [[ 8.46286531e-01 -5.32727951e-01 1.93961791e-04 8.64488168e+01] [ 5.32704518e-01 8.46252610e-01 9.07834877e-03 1.70357175e+01] [-5.00043081e-03 -7.57955996e-03 9.99958772e-01 -1.30310590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:17.06, Z:-1.31 [[ 8.46973552e-01 -5.31537946e-01 1.01594301e-02 8.64673335e+01] [ 5.31588018e-01 8.46998132e-01 -2.88843587e-03 1.70578156e+01] [-7.06970506e-03 7.84706011e-03 9.99944220e-01 -1.31427464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:17.07, Z:-1.31 [[ 8.47692627e-01 -5.30451550e-01 6.19379530e-03 8.64925952e+01] [ 5.30438809e-01 8.47715239e-01 3.68020466e-03 1.70708947e+01] [-7.20274493e-03 1.65747052e-04 9.99974046e-01 -1.31152187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:17.09, Z:-1.31 [[ 8.49302528e-01 -5.27874683e-01 5.79093872e-03 8.65154665e+01] [ 5.27863477e-01 8.49322260e-01 3.44222013e-03 1.70874412e+01] [-6.73543402e-03 1.33338785e-04 9.99977308e-01 -1.31172451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:17.10, Z:-1.31 [[ 8.49955085e-01 -5.26823478e-01 5.77730786e-03 8.65394925e+01] [ 5.26812286e-01 8.49974710e-01 3.43620233e-03 1.71027866e+01] [-6.72083764e-03 1.22939118e-04 9.99977407e-01 -1.31267381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:17.12, Z:-1.31 [[ 8.50698123e-01 -5.25631029e-01 4.97231289e-03 8.65623418e+01] [ 5.25622707e-01 8.50712649e-01 2.95934778e-03 1.71181562e+01] [-5.78553449e-03 9.60489632e-05 9.99983259e-01 -1.31332104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:17.13, Z:-1.31 [[ 8.50577883e-01 -5.25827566e-01 4.75765627e-03 8.65865260e+01] [ 5.25819947e-01 8.50591184e-01 2.83216112e-03 1.71329629e+01] [-5.53604886e-03 9.26969564e-05 9.99984672e-01 -1.31430395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:17.15, Z:-1.31 [[ 8.50126944e-01 -5.26559000e-01 4.44946536e-03 8.66104054e+01] [ 5.26552339e-01 8.50138584e-01 2.65014799e-03 1.71472796e+01] [-5.17812146e-03 8.99141780e-05 9.99986589e-01 -1.31472387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:17.16, Z:-1.32 [[ 8.48802054e-01 -5.28687110e-01 5.00123035e-03 8.66345966e+01] [ 5.28678712e-01 8.48816780e-01 2.98203542e-03 1.71604613e+01] [-5.82169193e-03 1.12886234e-04 9.99983047e-01 -1.31518862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:17.17, Z:-1.32 [[ 8.47708749e-01 -5.30435316e-01 5.31534710e-03 8.66578753e+01] [ 5.30425858e-01 8.47725402e-01 3.17029702e-03 1.71735384e+01] [-6.18759226e-03 1.31909024e-04 9.99980848e-01 -1.31508567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:17.19, Z:-1.32 [[ 8.46402777e-01 -5.32509908e-01 5.96132351e-03 8.66821716e+01] [ 5.32498061e-01 8.46423754e-01 3.55595132e-03 1.71869319e+01] [-6.93938514e-03 1.64626135e-04 9.99975909e-01 -1.31527454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:17.20, Z:-1.32 [[ 8.45014485e-01 -5.34704382e-01 6.46097105e-03 8.67069242e+01] [ 5.34690509e-01 8.45039162e-01 3.85672499e-03 1.72005873e+01] [-7.52198132e-03 1.95631421e-04 9.99971690e-01 -1.31523796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:17.22, Z:-1.32 [[ 8.42829001e-01 -5.38072845e-01 1.08114893e-02 8.67301874e+01] [ 5.38131110e-01 8.42854858e-01 -3.25528609e-03 1.72167535e+01] [-7.36093522e-03 8.56164825e-03 9.99936255e-01 -1.31791704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:17.23, Z:-1.31 [[ 8.41969113e-01 -5.39501745e-01 5.08717438e-03 8.67585284e+01] [ 5.39409342e-01 8.41945902e-01 1.28319717e-02 1.72250136e+01] [-1.12059967e-02 -8.06005445e-03 9.99904726e-01 -1.31027467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:17.24, Z:-1.31 [[ 8.41656934e-01 -5.39914689e-01 1.02827023e-02 8.67812094e+01] [ 5.39879804e-01 8.41719661e-01 6.14900266e-03 1.72422475e+01] [-1.19750895e-02 3.76072566e-04 9.99928225e-01 -1.31353258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:17.26, Z:-1.31 [[ 8.42128282e-01 -5.39126385e-01 1.27553470e-02 8.68050997e+01] [ 5.39072542e-01 8.42224756e-01 7.63244537e-03 1.72553278e+01] [-1.48577217e-02 4.48559212e-04 9.99889517e-01 -1.31266668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:17.27, Z:-1.31 [[ 8.42761313e-01 -5.38113942e-01 1.36658183e-02 8.68296416e+01] [ 5.38051956e-01 8.42871980e-01 8.18036067e-03 1.72698716e+01] [-1.59205014e-02 4.58828735e-04 9.99873156e-01 -1.31247539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:17.28, Z:-1.31 [[ 8.43738273e-01 -5.36577092e-01 1.38112875e-02 8.68537190e+01] [ 5.36513491e-01 8.43851195e-01 8.27250321e-03 1.72848417e+01] [-1.60935071e-02 4.30114491e-04 9.99870399e-01 -1.31308490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:17.30, Z:-1.31 [[ 8.47104175e-01 -5.31262233e-01 1.32271015e-02 8.68759235e+01] [ 5.31203188e-01 8.47207379e-01 7.92660863e-03 1.73000766e+01] [-1.54172058e-02 3.11615201e-04 9.99881099e-01 -1.31484038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:17.32, Z:-1.32 [[ 8.48995320e-01 -5.28249751e-01 1.26153252e-02 8.68998946e+01] [ 5.28195669e-01 8.49089007e-01 7.56264992e-03 1.73154280e+01] [-1.47065019e-02 2.42705724e-04 9.99891824e-01 -1.31600452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:17.33, Z:-1.32 [[ 8.51232408e-01 -5.24659661e-01 1.16459241e-02 8.69223709e+01] [ 5.24613185e-01 8.51312054e-01 6.98517597e-03 1.73296703e+01] [-1.35791557e-02 1.63597199e-04 9.99907786e-01 -1.31701393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:17.34, Z:-1.32 [[ 8.53423746e-01 -5.21113795e-01 1.04077784e-02 8.69459666e+01] [ 5.21076391e-01 8.53487202e-01 6.24428473e-03 1.73446190e+01] [-1.21368886e-02 9.42267452e-05 9.99926341e-01 -1.31789420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:17.36, Z:-1.32 [[ 8.55501064e-01 -5.17717777e-01 9.28616657e-03 8.69690668e+01] [ 5.17687766e-01 8.55551461e-01 5.57447651e-03 1.73593034e+01] [-1.08307990e-02 3.83642433e-05 9.99941344e-01 -1.31874971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:17.37, Z:-1.32 [[ 8.59326408e-01 -5.11383312e-01 6.72561422e-03 8.69930923e+01] [ 5.11367369e-01 8.59352726e-01 4.03806831e-03 1.73745167e+01] [-7.84467566e-03 -3.07590841e-05 9.99969230e-01 -1.31993898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:17.39, Z:-1.32 [[ 8.60971912e-01 -5.08620931e-01 5.66706467e-03 8.70164663e+01] [ 5.08609539e-01 8.60990561e-01 3.40459814e-03 1.73887515e+01] [-6.61093906e-03 -4.89402222e-05 9.99978146e-01 -1.32078823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:17.40, Z:-1.32 [[ 8.63387640e-01 -5.04526594e-01 3.83395490e-03 8.70405745e+01] [ 5.04521341e-01 8.63396151e-01 2.30282964e-03 1.74025534e+01] [-4.47206070e-03 -5.39225823e-05 9.99989999e-01 -1.32228788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:17.42, Z:-1.32 [[ 8.64021464e-01 -5.03443876e-01 3.34283903e-03 8.70648250e+01] [ 5.03439866e-01 8.64027928e-01 2.01000690e-03 1.74154809e+01] [-3.90023195e-03 -5.37706716e-05 9.99992393e-01 -1.32207396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:17.43, Z:-1.32 [[ 8.64074071e-01 -5.03353078e-01 3.41756140e-03 8.70901199e+01] [ 5.03348889e-01 8.64080827e-01 2.05423460e-03 1.74285060e+01] [-3.98705460e-03 -5.47851211e-05 9.99992050e-01 -1.32202052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:17.44, Z:-1.32 [[ 8.63798845e-01 -5.03822355e-01 3.81980112e-03 8.71144325e+01] [ 5.03817113e-01 8.63807288e-01 2.29914777e-03 1.74411633e+01] [-4.45793409e-03 -6.15200164e-05 9.99990061e-01 -1.32170421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:17.45, Z:-1.32 [[ 8.61591357e-01 -5.07579591e-01 4.82625111e-03 8.71382877e+01] [ 5.07571274e-01 8.61604872e-01 2.90616215e-03 1.74530407e+01] [-5.63343007e-03 -5.42577617e-05 9.99984131e-01 -1.32190900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:17.47, Z:-1.32 [[ 8.60118152e-01 -5.10061393e-01 5.84298555e-03 8.71628351e+01] [ 5.10049256e-01 8.60137997e-01 3.51893265e-03 1.74673017e+01] [-6.82064557e-03 -4.64874189e-05 9.99976738e-01 -1.32185556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:17.48, Z:-1.32 [[ 8.58876762e-01 -5.12137796e-01 6.75172774e-03 8.71867791e+01] [ 5.12121631e-01 8.58903299e-01 4.06930498e-03 1.74818088e+01] [-7.88312611e-03 -3.73256634e-05 9.99968927e-01 -1.32154208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:17.50, Z:-1.32 [[ 8.57359681e-01 -5.14652529e-01 8.19463172e-03 8.72092970e+01] [ 5.14628793e-01 8.57398842e-01 4.94281056e-03 1.74979813e+01] [-9.56989770e-03 -2.05730558e-05 9.99954207e-01 -1.32132349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:17.51, Z:-1.32 [[ 8.57013223e-01 -5.15218324e-01 8.85516061e-03 8.72327059e+01] [ 5.15190600e-01 8.57058970e-01 5.34490392e-03 1.75138001e+01] [-1.03431873e-02 -1.85578306e-05 9.99946508e-01 -1.32117878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:17.53, Z:-1.32 [[ 8.57102760e-01 -5.15050122e-01 9.91109633e-03 8.72557953e+01] [ 5.15015331e-01 8.57160061e-01 5.98651867e-03 1.75307007e+01] [-1.15787531e-02 -2.66951258e-05 9.99932964e-01 -1.32093911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:17.55, Z:-1.32 [[ 8.57242061e-01 -5.14813037e-01 1.01777242e-02 8.72785547e+01] [ 5.14776286e-01 8.57302476e-01 6.15143215e-03 1.75456598e+01] [-1.18922256e-02 -3.40153098e-05 9.99929284e-01 -1.32118333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:17.56, Z:-1.32 [[ 8.57267256e-01 -5.14777096e-01 9.86878170e-03 8.73021173e+01] [ 5.14742520e-01 8.57324058e-01 5.96640124e-03 1.75605286e+01] [-1.15321107e-02 -3.49188559e-05 9.99933502e-01 -1.32139023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:17.58, Z:-1.32 [[ 8.57110360e-01 -5.15040296e-01 9.76340388e-03 8.73257527e+01] [ 5.15006429e-01 8.57165965e-01 5.90638670e-03 1.75755852e+01] [-1.14108847e-02 -3.42094564e-05 9.99934893e-01 -1.32239656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:17.59, Z:-1.32 [[ 8.56289691e-01 -5.16424930e-01 8.55896526e-03 8.73491882e+01] [ 5.16398945e-01 8.56332465e-01 5.18058990e-03 1.75908980e+01] [-1.00047056e-02 -1.62450958e-05 9.99949952e-01 -1.32414885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:17.61, Z:-1.33 [[ 8.55447937e-01 -5.17831878e-01 7.67941532e-03 8.73730130e+01] [ 5.17810993e-01 8.55482406e-01 4.65075389e-03 1.76054231e+01] [-8.97791331e-03 -1.99214949e-06 9.99959698e-01 -1.32522212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:17.62, Z:-1.33 [[ 8.54005815e-01 -5.20205437e-01 7.76984886e-03 8.73968643e+01] [ 5.20225933e-01 8.54028352e-01 -7.43863746e-04 1.76221875e+01] [-6.24870925e-03 4.67734084e-03 9.99969538e-01 -1.32839513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:17.63, Z:-1.33 [[ 8.50233986e-01 -5.26402086e-01 1.73557884e-03 8.74226359e+01] [ 5.26382832e-01 8.50223867e-01 6.36313992e-03 1.76327649e+01] [-4.82520069e-03 -4.49657891e-03 9.99978249e-01 -1.32538507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:17.65, Z:-1.33 [[ 8.50108661e-01 -5.26591421e-01 4.09131042e-03 8.74460056e+01] [ 5.26585584e-01 8.50118505e-01 2.47996601e-03 1.76493358e+01] [-4.78402752e-03 4.61844953e-05 9.99988555e-01 -1.32763971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:17.66, Z:-1.33 [[ 8.47375493e-01 -5.30982077e-01 3.57872822e-03 8.74704181e+01] [ 5.30977646e-01 8.47383048e-01 2.17001479e-03 1.76634230e+01] [-4.18479259e-03 6.14073403e-05 9.99991242e-01 -1.32815005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:17.68, Z:-1.33 [[ 8.44465660e-01 -5.35603491e-01 2.57882205e-03 8.74942085e+01] [ 5.35601207e-01 8.44469595e-01 1.56516963e-03 1.76765913e+01] [-3.01604713e-03 5.94882007e-05 9.99995450e-01 -1.32775549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:17.69, Z:-1.33 [[ 8.41106065e-01 -5.40863927e-01 2.60775749e-03 8.75186716e+01] [ 5.40861620e-01 8.41110103e-01 1.58174975e-03 1.76902945e+01] [-3.04892255e-03 8.00166317e-05 9.99995349e-01 -1.32803832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:17.71, Z:-1.33 [[ 8.35938827e-01 -5.48808208e-01 3.97848381e-03 8.75424217e+01] [ 5.48802912e-01 8.35948278e-01 2.41653144e-03 1.77052924e+01] [-4.65201898e-03 1.63331046e-04 9.99989166e-01 -1.32781260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:17.72, Z:-1.33 [[ 8.33837244e-01 -5.51990681e-01 4.66244986e-03 8.75649213e+01] [ 5.51983438e-01 8.33850253e-01 2.83540578e-03 1.77199238e+01] [-5.45290256e-03 2.09328160e-04 9.99985111e-01 -1.32813353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:17.74, Z:-1.33 [[ 8.30071670e-01 -5.57624913e-01 5.95636894e-03 8.75876179e+01] [ 5.57613229e-01 8.30092981e-01 3.62341109e-03 1.77354437e+01] [-6.96484434e-03 3.13659223e-04 9.99975696e-01 -1.32844185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:17.75, Z:-1.33 [[ 8.28645046e-01 -5.59739235e-01 6.27514565e-03 8.76100311e+01] [ 5.59726312e-01 8.28668733e-01 3.81936216e-03 1.77501436e+01] [-7.33786385e-03 3.47468602e-04 9.99973017e-01 -1.32810476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:17.77, Z:-1.33 [[ 8.27643174e-01 -5.61213397e-01 6.80436008e-03 8.76332831e+01] [ 5.61198246e-01 8.27671052e-01 4.14215599e-03 1.77658404e+01] [-7.95640530e-03 3.90367811e-04 9.99968271e-01 -1.32802401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:17.78, Z:-1.33 [[ 8.27028976e-01 -5.62101946e-01 8.02960244e-03 8.76548837e+01] [ 5.62080855e-01 8.27067823e-01 4.89170079e-03 1.77839521e+01] [-9.39066034e-03 4.67707509e-04 9.99955797e-01 -1.32797012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:17.80, Z:-1.33 [[ 8.27376690e-01 -5.61575512e-01 8.98652180e-03 8.76775645e+01] [ 5.61549022e-01 8.27425333e-01 5.47857756e-03 1.78012940e+01] [-1.05123108e-02 5.13525163e-04 9.99944612e-01 -1.32810045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:17.82, Z:-1.33 [[ 8.27979226e-01 -5.60673328e-01 9.78879027e-03 8.76999022e+01] [ 5.60641787e-01 8.28036910e-01 5.97181784e-03 1.78189211e+01] [-1.14537186e-02 5.43463758e-04 9.99934256e-01 -1.32833443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:17.84, Z:-1.33 [[ 8.28886720e-01 -5.59323098e-01 1.02214703e-02 8.77221656e+01] [ 5.59288555e-01 8.28949562e-01 6.23991715e-03 1.78369956e+01] [-1.19632131e-02 5.44566869e-04 9.99928290e-01 -1.32874468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:17.86, Z:-1.33 [[ 8.31768899e-01 -5.55010012e-01 1.11528610e-02 8.77414202e+01] [ 5.54968443e-01 8.31843503e-01 6.81276316e-03 1.78566335e+01] [-1.30585867e-02 5.22841367e-04 9.99914596e-01 -1.32956467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:17.87, Z:-1.33 [[ 8.33203816e-01 -5.52845895e-01 1.15246326e-02 8.77642251e+01] [ 5.52801269e-01 8.33283363e-01 7.04235235e-03 1.78736642e+01] [-1.34966202e-02 5.03116689e-04 9.99908790e-01 -1.33006200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:17.89, Z:-1.33 [[ 8.35904206e-01 -5.48759143e-01 1.12942906e-02 8.77836470e+01] [ 5.48715858e-01 8.35980396e-01 6.90547473e-03 1.78931687e+01] [-1.32312480e-02 4.25041004e-04 9.99912373e-01 -1.33078373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:17.91, Z:-1.33 [[ 8.37078590e-01 -5.46978077e-01 1.06966480e-02 8.78051713e+01] [ 5.46939080e-01 8.37146847e-01 6.54210425e-03 1.79109803e+01] [-1.25330527e-02 3.74159412e-04 9.99921388e-01 -1.33219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:17.93, Z:-1.33 [[ 8.38339280e-01 -5.45056660e-01 1.00243705e-02 8.78258103e+01] [ 5.45022233e-01 8.38399150e-01 6.13445258e-03 1.79281967e+01] [-1.17480479e-02 3.20752213e-04 9.99930938e-01 -1.33383271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:17.95, Z:-1.34 [[ 8.39449722e-01 -5.43360965e-01 9.11183856e-03 8.78474619e+01] [ 5.43332406e-01 8.39499130e-01 5.57742332e-03 1.79455336e+01] [-1.06799347e-02 2.68790711e-04 9.99942932e-01 -1.33512246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:17.96, Z:-1.33 [[ 8.41385957e-01 -5.40423249e-01 -3.51894650e-03 8.78733272e+01] [ 5.40404081e-01 8.41251127e-01 1.61236228e-02 1.79589319e+01] [-5.75326290e-03 -1.54678428e-02 9.99863814e-01 -1.32517562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:17.98, Z:-1.33 [[ 8.41966441e-01 -5.39493500e-01 6.26704524e-03 8.78913137e+01] [ 5.39527044e-01 8.41942973e-01 -6.52680685e-03 1.79838888e+01] [-1.75532483e-03 8.87659273e-03 9.99959062e-01 -1.33386209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:18.00, Z:-1.34 [[ 8.42198580e-01 -5.39032363e-01 1.20691393e-02 8.79148262e+01] [ 5.39081700e-01 8.42252862e-01 -1.01842212e-03 1.79995632e+01] [-9.61630460e-03 7.36396578e-03 9.99926647e-01 -1.34031802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:18.01, Z:-1.34 [[ 8.42131689e-01 -5.39205925e-01 8.43739116e-03 8.79399620e+01] [ 5.39181172e-01 8.42173933e-01 5.17019766e-03 1.80128494e+01] [-9.89355211e-03 1.95295167e-04 9.99951039e-01 -1.33795556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:18.03, Z:-1.34 [[ 8.42688789e-01 -5.38337152e-01 8.28941433e-03 8.79608336e+01] [ 5.38313187e-01 8.42729540e-01 5.08277550e-03 1.80296629e+01] [-9.72198122e-03 1.79103116e-04 9.99952724e-01 -1.33899255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:18.05, Z:-1.34 [[ 8.43155213e-01 -5.37608155e-01 8.17062764e-03 8.79836554e+01] [ 5.37584826e-01 8.43194784e-01 5.01111595e-03 1.80457983e+01] [-9.58344740e-03 1.67256899e-04 9.99954064e-01 -1.33960621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:18.06, Z:-1.33 [[ 8.43436811e-01 -5.37217759e-01 3.37994313e-03 8.80071973e+01] [ 5.37164861e-01 8.43417132e-01 1.00724203e-02 1.80594103e+01] [-8.26178502e-03 -6.67986340e-03 9.99943560e-01 -1.33472076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:18.08, Z:-1.34 [[ 8.46554890e-01 -5.32164393e-01 1.20779332e-02 8.80274590e+01] [ 5.32209225e-01 8.46612653e-01 -5.97242471e-04 1.80809288e+01] [-9.90749987e-03 6.93358598e-03 9.99926881e-01 -1.34327698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:18.09, Z:-1.34 [[ 8.48077879e-01 -5.29812310e-01 7.92640857e-03 8.80522127e+01] [ 5.29789948e-01 8.48114916e-01 4.86828006e-03 1.80940028e+01] [-9.30178005e-03 7.06509589e-05 9.99956735e-01 -1.34119366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:18.11, Z:-1.34 [[ 8.49638207e-01 -5.27313463e-01 7.44509614e-03 8.80756153e+01] [ 5.27293614e-01 8.49670825e-01 4.57537816e-03 1.81102601e+01] [-8.73853948e-03 3.83355570e-05 9.99961817e-01 -1.34219457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:18.13, Z:-1.34 [[ 8.52935957e-01 -5.21977676e-01 6.28961263e-03 8.80975111e+01] [ 5.21963348e-01 8.52959147e-01 3.86756542e-03 1.81271140e+01] [-7.38356543e-03 -1.58383514e-05 9.99972741e-01 -1.34426840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:18.14, Z:-1.35 [[ 8.54382953e-01 -5.19612181e-01 5.74027050e-03 8.81209247e+01] [ 5.19600187e-01 8.54402235e-01 3.53071285e-03 1.81426994e+01] [-6.73910135e-03 -3.39352462e-05 9.99977291e-01 -1.34522924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:18.16, Z:-1.35 [[ 8.55693564e-01 -5.17455868e-01 5.28668844e-03 8.81442880e+01] [ 5.17445642e-01 8.55709894e-01 3.25351848e-03 1.81578738e+01] [-6.20742384e-03 -4.84409359e-05 9.99980733e-01 -1.34593946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:18.17, Z:-1.35 [[ 8.57573410e-01 -5.14343287e-01 4.33939141e-03 8.81687487e+01] [ 5.14336352e-01 8.57584386e-01 2.67160431e-03 1.81719897e+01] [-5.09551606e-03 -5.91900752e-05 9.99987016e-01 -1.34619977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:18.18, Z:-1.35 [[ 8.58036490e-01 -5.13576439e-01 3.55290376e-03 8.81921511e+01] [ 5.13571776e-01 8.58043844e-01 2.18936585e-03 1.81849868e+01] [-4.17295392e-03 -5.38846980e-05 9.99991292e-01 -1.34602456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:18.20, Z:-1.35 [[ 8.58084421e-01 -5.13499962e-01 2.98590074e-03 8.82167080e+01] [ 5.13496671e-01 8.58089615e-01 1.83893642e-03 1.81986382e+01] [-3.50646420e-03 -4.47126060e-05 9.99993851e-01 -1.34586875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:18.21, Z:-1.35 [[ 8.57538097e-01 -5.14415881e-01 2.17103113e-03 8.82420629e+01] [ 5.14414144e-01 8.57540845e-01 1.33697754e-03 1.82115268e+01] [-2.54951035e-03 -2.97000552e-05 9.99996750e-01 -1.34624563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:18.22, Z:-1.35 [[ 8.57003505e-01 -5.15308481e-01 1.47064214e-03 8.82660161e+01] [ 5.15307683e-01 8.57004766e-01 9.06756843e-04 1.82248749e+01] [-1.72760682e-03 -1.92605967e-05 9.99998508e-01 -1.34673952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:18.24, Z:-1.35 [[ 8.56437438e-01 -5.16250230e-01 7.83416531e-04 8.82910682e+01] [ 5.16250007e-01 8.56437797e-01 4.80699215e-04 1.82384392e+01] [-9.19108608e-04 -7.25001484e-06 9.99999578e-01 -1.34688791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:18.25, Z:-1.35 [[ 8.55592952e-01 -5.17649086e-01 3.51459904e-04 8.83164685e+01] [ 5.17649041e-01 8.55593025e-01 2.15765626e-04 1.82485556e+01] [-4.12397521e-04 -2.67466711e-06 9.99999915e-01 -1.34645628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:18.26, Z:-1.35 [[ 8.54801355e-01 -5.18955334e-01 7.28327270e-05 8.83419754e+01] [ 5.18955332e-01 8.54801358e-01 4.16267731e-05 1.82613522e+01] [-8.38599500e-05 2.21430993e-06 9.99999996e-01 -1.34607437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:18.27, Z:-1.35 [[ 8.53870303e-01 -5.20485803e-01 1.88383765e-04 8.83673076e+01] [ 5.20485790e-01 8.53870323e-01 1.13172541e-04 1.82741690e+01] [-2.19760007e-04 1.41640110e-06 9.99999976e-01 -1.34610359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:18.29, Z:-1.35 [[ 8.52813944e-01 -5.22214778e-01 3.20756206e-04 8.83915351e+01] [ 5.22214741e-01 8.52814004e-01 1.96277248e-04 1.82864516e+01] [-3.76044264e-04 1.15644860e-07 9.99999929e-01 -1.34601377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:18.30, Z:-1.35 [[ 8.50673457e-01 -5.25693264e-01 1.12302024e-03 8.84171150e+01] [ 5.25692806e-01 8.50674198e-01 6.94056210e-04 1.82959832e+01] [-1.32018501e-03 -5.15366009e-08 9.99999129e-01 -1.34581053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:18.31, Z:-1.35 [[ 8.49326427e-01 -5.27865269e-01 1.69650108e-03 8.84424904e+01] [ 5.27864228e-01 8.49328122e-01 1.04803599e-03 1.83084373e+01] [-1.99410787e-03 5.39756569e-06 9.99998012e-01 -1.34553667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:18.32, Z:-1.34 [[ 8.47974401e-01 -5.30033682e-01 1.92649725e-03 8.84679834e+01] [ 5.30032343e-01 8.47976589e-01 1.19121279e-03 1.83206394e+01] [-2.26500746e-03 1.09878968e-05 9.99997435e-01 -1.34491851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:18.33, Z:-1.34 [[ 8.45292763e-01 -5.34296158e-01 2.78573025e-03 8.84942852e+01] [ 5.34293370e-01 8.45297353e-01 1.72636337e-03 1.83293847e+01] [-3.27715973e-03 2.91147410e-05 9.99994630e-01 -1.34347402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:18.34, Z:-1.34 [[ 8.44021766e-01 -5.36301093e-01 2.89744702e-03 8.85195870e+01] [ 5.36298091e-01 8.44026739e-01 1.79489360e-03 1.83417333e+01] [-3.40812617e-03 3.89660382e-05 9.99994192e-01 -1.34285786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:18.35, Z:-1.34 [[ 8.42644547e-01 -5.38461965e-01 2.97999696e-03 8.85443279e+01] [ 5.38458799e-01 8.42649815e-01 1.84708876e-03 1.83544616e+01] [-3.50568092e-03 4.81663119e-05 9.99993854e-01 -1.34313096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:18.37, Z:-1.34 [[ 8.41477681e-01 -5.40283714e-01 2.96986579e-03 8.85682602e+01] [ 5.40280574e-01 8.41482920e-01 1.84269891e-03 1.83671289e+01] [-3.49467154e-03 5.39707895e-05 9.99993892e-01 -1.34331012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:18.38, Z:-1.34 [[ 8.39625693e-01 -5.43158616e-01 2.72267618e-03 8.85939931e+01] [ 5.43155993e-01 8.39630105e-01 1.68906586e-03 1.83786587e+01] [-3.20347156e-03 6.06547937e-05 9.99994867e-01 -1.34405620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:18.39, Z:-1.35 [[ 8.38698894e-01 -5.44573968e-01 4.83300911e-03 8.86164766e+01] [ 5.44594874e-01 8.38677525e-01 -6.03590048e-03 1.83942839e+01] [-7.66341849e-04 7.69433505e-03 9.99970105e-01 -1.34738400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:18.40, Z:-1.34 [[ 8.37001414e-01 -5.47194813e-01 -2.54348281e-03 8.86467878e+01] [ 5.47197244e-01 8.36970468e-01 7.45733176e-03 1.84000595e+01] [-1.95179326e-03 -7.63358401e-03 9.99968959e-01 -1.34074447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:18.42, Z:-1.34 [[ 8.35871544e-01 -5.48924052e-01 1.07089737e-03 8.86697380e+01] [ 5.48923652e-01 8.35872230e-01 6.63204250e-04 1.84163843e+01] [-1.25918214e-03 3.34873360e-05 9.99999207e-01 -1.34431456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:18.43, Z:-1.34 [[ 8.34659323e-01 -5.50765596e-01 1.03602269e-03 8.86935239e+01] [ 5.50765222e-01 8.34659965e-01 6.42887461e-04 1.84293983e+01] [-1.21880696e-03 3.40132533e-05 9.99999257e-01 -1.34455169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:18.44, Z:-1.34 [[ 8.32251471e-01 -5.54397158e-01 1.13152491e-03 8.87196035e+01] [ 5.54396716e-01 8.32252239e-01 7.01704682e-04 1.84415823e+01] [-1.33073722e-03 4.33189386e-05 9.99999114e-01 -1.34473321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:18.46, Z:-1.34 [[ 8.31100534e-01 -5.56121297e-01 1.00260551e-03 8.87442728e+01] [ 5.56120951e-01 8.31101138e-01 6.21715267e-04 1.84550372e+01] [-1.17901568e-03 4.08620379e-05 9.99999304e-01 -1.34431086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:18.47, Z:-1.34 [[ 8.30304930e-01 -5.57308655e-01 8.87079301e-04 8.87679365e+01] [ 5.57308383e-01 8.30305403e-01 5.51813973e-04 1.84678808e+01] [-1.04407744e-03 3.62028687e-05 9.99999454e-01 -1.34412438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:18.48, Z:-1.34 [[ 8.29594307e-01 -5.58366294e-01 6.07222118e-04 8.87928616e+01] [ 5.58366168e-01 8.29594528e-01 3.75558779e-04 1.84810797e+01] [-7.13447510e-04 2.74908623e-05 9.99999745e-01 -1.34396627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:18.50, Z:-1.34 [[ 8.29785669e-01 -5.58081677e-01 7.64997408e-04 8.88156257e+01] [ 5.58081475e-01 8.29786021e-01 4.76114013e-04 1.84952071e+01] [-9.00494662e-04 3.18582963e-05 9.99999594e-01 -1.34442221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:18.51, Z:-1.34 [[ 8.30328549e-01 -5.57273185e-01 1.04792341e-03 8.88391979e+01] [ 5.57272806e-01 8.30329209e-01 6.51144951e-04 1.85101230e+01] [-1.23298703e-03 4.33149748e-05 9.99999239e-01 -1.34490104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:18.52, Z:-1.34 [[ 8.32684213e-01 -5.53745299e-01 1.77319288e-03 8.88613791e+01] [ 5.53744198e-01 8.32686099e-01 1.10583311e-03 1.85248943e+01] [-2.08886295e-03 6.10854935e-05 9.99997816e-01 -1.34495771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:18.54, Z:-1.34 [[ 8.34107260e-01 -5.51597966e-01 2.18219640e-03 8.88852931e+01] [ 5.51596291e-01 8.34110112e-01 1.36124231e-03 1.85403051e+01] [-2.57105058e-03 6.82693521e-05 9.99996693e-01 -1.34494939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:18.56, Z:-1.35 [[ 8.35672999e-01 -5.49222467e-01 2.30677578e-03 8.89083574e+01] [ 5.49220579e-01 8.35676180e-01 1.44148737e-03 1.85553382e+01] [-2.71941482e-03 6.23166492e-05 9.99996300e-01 -1.34505232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:18.57, Z:-1.35 [[ 8.35534074e-01 -5.49433788e-01 2.30715252e-03 8.89325523e+01] [ 5.49431903e-01 8.35537257e-01 1.44088557e-03 1.85705717e+01] [-2.71938311e-03 6.37142058e-05 9.99996300e-01 -1.34535272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:18.59, Z:-1.35 [[ 8.37063071e-01 -5.47101232e-01 2.37837470e-03 8.89556089e+01] [ 5.47099217e-01 8.37066448e-01 1.48603496e-03 1.85858975e+01] [-2.80386922e-03 5.73019459e-05 9.99996068e-01 -1.34562119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:18.60, Z:-1.35 [[ 8.39565988e-01 -5.43252034e-01 2.48571914e-03 8.89783724e+01] [ 5.43249813e-01 8.39569667e-01 1.55425190e-03 1.86026546e+01] [-2.93128490e-03 4.54694230e-05 9.99995703e-01 -1.34655197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:18.62, Z:-1.35 [[ 8.40438804e-01 -5.41902896e-01 1.96682677e-03 8.90018169e+01] [ 5.41901501e-01 8.40441105e-01 1.22983609e-03 1.86181988e+01] [-2.31945380e-03 3.22244072e-05 9.99997310e-01 -1.34694588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:18.63, Z:-1.35 [[ 8.41048434e-01 -5.40957942e-01 1.42707063e-03 8.90254581e+01] [ 5.40957207e-01 8.41049645e-01 8.91936115e-04 1.86337268e+01] [-1.68273717e-03 2.18226683e-05 9.99998584e-01 -1.34765889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:18.65, Z:-1.35 [[ 8.41797928e-01 -5.39792490e-01 5.61865617e-04 8.90487468e+01] [ 5.39792377e-01 8.41798116e-01 3.49230924e-04 1.86486044e+01] [-6.61489648e-04 9.30890892e-06 9.99999781e-01 -1.34874909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:18.66, Z:-1.35 [[ 8.41510320e-01 -5.40241039e-01 1.30341025e-05 8.90723745e+01] [ 5.40241039e-01 8.41510320e-01 4.61192165e-06 1.86639825e+01] [-1.34598812e-05 3.16057741e-06 1.00000000e+00 -1.34931944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:18.68, Z:-1.35 [[ 8.41032105e-01 -5.40984996e-01 -4.81549497e-04 8.90950628e+01] [ 5.40984911e-01 8.41032243e-01 -3.04167792e-04 1.86782277e+01] [ 5.69548866e-04 -4.69613325e-06 9.99999838e-01 -1.35019716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:18.69, Z:-1.35 [[ 8.40062963e-01 -5.42488475e-01 -6.88258982e-04 8.91188152e+01] [ 5.42488299e-01 8.40063244e-01 -4.36281950e-04 1.86928844e+01] [ 8.14859003e-04 -6.86813703e-06 9.99999668e-01 -1.35068311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:18.71, Z:-1.35 [[ 8.37519081e-01 -5.46408078e-01 -2.64084957e-05 8.91428206e+01] [ 5.46407915e-01 8.37518866e-01 -7.33978423e-04 1.87063784e+01] [ 4.23169353e-04 6.00291123e-04 9.99999730e-01 -1.35155655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:18.72, Z:-1.35 [[ 8.35675393e-01 -5.49223582e-01 3.06937016e-04 8.91679237e+01] [ 5.49223153e-01 8.35675245e-01 9.01890233e-04 1.87200827e+01] [-7.51839050e-04 -5.85110560e-04 9.99999546e-01 -1.35116163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:18.73, Z:-1.35 [[ 8.33623062e-01 -5.52332182e-01 1.32314800e-03 8.91925391e+01] [ 5.52331560e-01 8.33624111e-01 8.29834614e-04 1.87343455e+01] [-1.56135244e-03 3.90471252e-05 9.99998780e-01 -1.35137632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:18.75, Z:-1.35 [[ 8.31579367e-01 -5.55402876e-01 1.84461041e-03 8.92172815e+01] [ 5.55401670e-01 8.31581410e-01 1.15893692e-03 1.87483926e+01] [-2.17762062e-03 6.07516742e-05 9.99997627e-01 -1.35137027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:18.76, Z:-1.35 [[ 8.27975864e-01 -5.60759600e-01 2.15369424e-03 8.92414409e+01] [ 5.60757967e-01 8.27978661e-01 1.35602779e-03 1.87609135e+01] [-2.54361847e-03 8.49429217e-05 9.99996761e-01 -1.35125737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:18.78, Z:-1.35 [[ 8.26324589e-01 -5.63191023e-01 1.88292580e-03 8.92651133e+01] [ 5.63189784e-01 8.26326730e-01 1.18409298e-03 1.87752845e+01] [-2.22278245e-03 8.19994304e-05 9.99997526e-01 -1.35125230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:18.79, Z:-1.35 [[ 8.24900262e-01 -5.65274732e-01 2.00862006e-03 8.92880556e+01] [ 5.65273324e-01 8.24902702e-01 1.26502939e-03 1.87895530e+01] [-2.37200526e-03 9.18962659e-05 9.99997183e-01 -1.35165086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:18.80, Z:-1.35 [[ 8.23260910e-01 -5.67660907e-01 1.60277584e-03 8.93121726e+01] [ 5.67660017e-01 8.23262466e-01 1.00855445e-03 1.88047439e+01] [-1.89202212e-03 7.95283061e-05 9.99998207e-01 -1.35159599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:18.82, Z:-1.35 [[ 8.22952291e-01 -5.68109304e-01 1.16035799e-03 8.93355744e+01] [ 5.68108838e-01 8.22953107e-01 7.29562469e-04 1.88204693e+01] [-1.36939144e-03 5.88145231e-05 9.99999061e-01 -1.35182835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:18.84, Z:-1.35 [[ 8.23072178e-01 -5.67936018e-01 9.32642164e-04 8.93575191e+01] [ 5.67935715e-01 8.23072705e-01 5.87843846e-04 1.88358911e+01] [-1.10149000e-03 4.58428800e-05 9.99999392e-01 -1.35265661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:89.38, Y:18.85, Z:-1.36 [[ 8.23196822e-01 -5.67756033e-01 -2.80382695e-04 8.93804476e+01] [ 5.67756005e-01 8.23196870e-01 -1.80704929e-04 1.88522388e+01] [ 3.33406470e-04 -1.04332355e-05 9.99999944e-01 -1.35524323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:18.87, Z:-1.35 [[ 8.25543617e-01 -5.64337567e-01 -9.19768984e-04 8.94022367e+01] [ 5.64337265e-01 8.25544129e-01 -5.85427726e-04 1.88696959e+01] [ 1.08968874e-03 -3.57637898e-05 9.99999406e-01 -1.35328985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:18.89, Z:-1.35 [[ 8.26986778e-01 -5.62220020e-01 -1.23212024e-03 8.94244536e+01] [ 5.62219479e-01 8.26987694e-01 -7.81286943e-04 1.88859952e+01] [ 1.45820344e-03 -4.66080294e-05 9.99998936e-01 -1.35339385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:18.90, Z:-1.35 [[ 8.28435896e-01 -5.60082337e-01 -1.31945652e-03 8.94468759e+01] [ 5.60081711e-01 8.28436946e-01 -8.39047745e-04 1.89023405e+01] [ 1.56302236e-03 -4.39061969e-05 9.99998778e-01 -1.35318601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:18.92, Z:-1.35 [[ 8.30145508e-01 -5.57545567e-01 -1.17329862e-03 8.94702759e+01] [ 5.57545068e-01 8.30146336e-01 -7.46913975e-04 1.89187988e+01] [ 1.39044813e-03 -3.41195763e-05 9.99999033e-01 -1.35320534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:18.94, Z:-1.35 [[ 8.34063747e-01 -5.51668069e-01 -8.57494997e-05 8.94917147e+01] [ 5.51668066e-01 8.34063752e-01 -5.78738210e-05 1.89367299e+01] [ 1.03447688e-04 9.65195322e-07 9.99999995e-01 -1.35269472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:18.95, Z:-1.35 [[ 8.36045236e-01 -5.48660497e-01 1.50392725e-04 8.95136185e+01] [ 5.48660489e-01 8.36045249e-01 9.38619076e-05 1.89530977e+01] [-1.77233444e-04 4.04174517e-06 9.99999984e-01 -1.35251210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:18.97, Z:-1.35 [[ 8.40014493e-01 -5.42563357e-01 8.09748324e-04 8.95355596e+01] [ 5.42563117e-01 8.40014883e-01 5.10335965e-04 1.89709522e+01] [-9.57090238e-04 1.06499680e-05 9.99999542e-01 -1.35210709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:18.99, Z:-1.35 [[ 8.41931562e-01 -5.39581577e-01 1.72229650e-03 8.95576632e+01] [ 5.39580472e-01 8.41933324e-01 1.09176094e-03 1.89868484e+01] [-2.03915291e-03 1.01295619e-05 9.99997921e-01 -1.35257848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:19.00, Z:-1.35 [[ 8.43803025e-01 -5.36647644e-01 2.40025891e-03 8.95799971e+01] [ 5.36645484e-01 8.43806439e-01 1.52256514e-03 1.90027721e+01] [-2.84243492e-03 3.34302810e-06 9.99995960e-01 -1.35254565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:19.02, Z:-1.35 [[ 8.45395159e-01 -5.34129497e-01 3.56451297e-03 8.96029097e+01] [ 5.34124711e-01 8.45402673e-01 2.26121055e-03 1.90186477e+01] [-4.22122805e-03 -7.72199471e-06 9.99991091e-01 -1.35299285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:19.03, Z:-1.35 [[ 8.46876636e-01 -5.31771564e-01 4.35510968e-03 8.96258719e+01] [ 5.31764375e-01 8.46887834e-01 2.76523741e-03 1.90342348e+01] [-5.15876402e-03 -2.59227764e-05 9.99986693e-01 -1.35298453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:19.05, Z:-1.35 [[ 8.49545550e-01 -5.27483699e-01 5.77118671e-03 8.96484083e+01] [ 5.27470947e-01 8.49565149e-01 3.66850682e-03 1.90499001e+01] [-6.83807665e-03 -7.24303238e-05 9.99976617e-01 -1.35293921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:19.07, Z:-1.35 [[ 8.50206372e-01 -5.26412416e-01 6.25250073e-03 8.96715676e+01] [ 5.26397415e-01 8.50229358e-01 3.97504734e-03 1.90652628e+01] [-7.40857396e-03 -8.83103599e-05 9.99972552e-01 -1.35331883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:19.08, Z:-1.35 [[ 8.50787001e-01 -5.25467920e-01 6.70402782e-03 8.96945176e+01] [ 5.25450617e-01 8.50813407e-01 4.26559968e-03 1.90801323e+01] [-7.94531254e-03 -1.06481204e-04 9.99968430e-01 -1.35366561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:19.10, Z:-1.35 [[ 8.50698898e-01 -5.25608507e-01 6.86169588e-03 8.97183470e+01] [ 5.25590378e-01 8.50726563e-01 4.36673508e-03 1.90952471e+01] [-8.13262006e-03 -1.08335382e-04 9.99966924e-01 -1.35404122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:19.11, Z:-1.35 [[ 8.50285717e-01 -5.26277532e-01 6.79399232e-03 8.97426802e+01] [ 5.26259760e-01 8.50312853e-01 4.32624446e-03 1.91098752e+01] [-8.05382425e-03 -1.03139101e-04 9.99967562e-01 -1.35421379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:19.12, Z:-1.35 [[ 8.49736086e-01 -5.27165946e-01 6.68205745e-03 8.97671628e+01] [ 5.27148761e-01 8.49762353e-01 4.25761269e-03 1.91245376e+01] [-7.92262929e-03 -9.54088387e-05 9.99968611e-01 -1.35473703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:19.14, Z:-1.36 [[ 8.48784679e-01 -5.28699609e-01 6.42587185e-03 8.97908442e+01] [ 5.28683738e-01 8.48808999e-01 4.09737755e-03 1.91369666e+01] [-7.62061976e-03 -8.05373325e-05 9.99970959e-01 -1.35501603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:19.15, Z:-1.36 [[ 8.48227120e-01 -5.29592458e-01 6.52545394e-03 8.98143712e+01] [ 5.29576108e-01 8.48252216e-01 4.16203773e-03 1.91507486e+01] [-7.73941456e-03 -7.46287727e-05 9.99970047e-01 -1.35505074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:19.17, Z:-1.36 [[ 8.47471139e-01 -5.30802724e-01 6.41378262e-03 8.98386077e+01] [ 5.30786960e-01 8.47495407e-01 4.09134814e-03 1.91652589e+01] [-7.60735005e-03 -6.29472862e-05 9.99971062e-01 -1.35545202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:19.18, Z:-1.36 [[ 8.46481300e-01 -5.32383442e-01 6.10558017e-03 8.98629101e+01] [ 5.32369182e-01 8.46503318e-01 3.89696217e-03 1.91800790e+01] [-7.24307201e-03 -4.82828860e-05 9.99973767e-01 -1.35603900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:19.19, Z:-1.36 [[ 8.44572892e-01 -5.35416814e-01 5.04634887e-03 8.98873507e+01] [ 5.35407118e-01 8.44587967e-01 3.22229313e-03 1.91933805e+01] [-5.98735546e-03 -1.96103163e-05 9.99982075e-01 -1.35709842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:19.21, Z:-1.36 [[ 8.43365622e-01 -5.37322128e-01 4.39976714e-03 8.99109031e+01] [ 5.37314774e-01 8.43377099e-01 2.81129044e-03 1.92066003e+01] [-5.22123141e-03 -6.88581982e-06 9.99986369e-01 -1.35768865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:19.22, Z:-1.36 [[ 8.41923526e-01 -5.39584121e-01 3.70836474e-03 8.99359374e+01] [ 5.39578919e-01 8.41931693e-01 2.36946021e-03 1.92203434e+01] [-4.40071291e-03 6.05114169e-06 9.99990317e-01 -1.35812086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:19.23, Z:-1.36 [[ 8.40297666e-01 -5.42115329e-01 3.28683104e-03 8.99605276e+01] [ 5.42111257e-01 8.40304094e-01 2.10103338e-03 1.92336031e+01] [-3.90093998e-03 1.63346677e-05 9.99992391e-01 -1.35830911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:19.24, Z:-1.36 [[ 8.36745437e-01 -5.47582943e-01 3.16135787e-03 8.99857624e+01] [ 5.47579207e-01 8.36751408e-01 2.02325492e-03 1.92445647e+01] [-3.75317054e-03 3.81445114e-05 9.99992956e-01 -1.35818573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:19.26, Z:-1.36 [[ 8.34831472e-01 -5.50496584e-01 3.15039491e-03 9.00104862e+01] [ 5.50492897e-01 8.34837414e-01 2.01553581e-03 1.92580440e+01] [-3.73961312e-03 5.16372966e-05 9.99993006e-01 -1.35789145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:19.27, Z:-1.36 [[ 8.33058803e-01 -5.53173578e-01 3.46748785e-03 9.00339564e+01] [ 5.53169122e-01 8.33066016e-01 2.22130712e-03 1.92712014e+01] [-4.11741470e-03 6.76277578e-05 9.99991521e-01 -1.35799156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:19.28, Z:-1.36 [[ 8.30165397e-01 -5.57501565e-01 4.17364006e-03 9.00580992e+01] [ 5.57495158e-01 8.30175881e-01 2.67472693e-03 1.92835877e+01] [-4.95601977e-03 1.06318383e-04 9.99987713e-01 -1.35802606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:19.30, Z:-1.36 [[ 8.28606018e-01 -5.59814519e-01 4.44649261e-03 9.00823381e+01] [ 5.59807282e-01 8.28617938e-01 2.84938391e-03 1.92981570e+01] [-5.27957002e-03 1.28162288e-04 9.99986055e-01 -1.35845866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:19.31, Z:-1.36 [[ 8.27231082e-01 -5.61843147e-01 4.58431062e-03 9.01053650e+01] [ 5.61835470e-01 8.27243772e-01 2.94055372e-03 1.93118368e+01] [-5.44447237e-03 1.43110875e-04 9.99985169e-01 -1.35832885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:19.33, Z:-1.36 [[ 8.25607077e-01 -5.64222438e-01 5.09840161e-03 9.01293135e+01] [ 5.64212987e-01 8.25622801e-01 3.27054669e-03 1.93265689e+01] [-6.05467245e-03 1.76397911e-04 9.99981655e-01 -1.35868124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:19.34, Z:-1.36 [[ 8.22380882e-01 -5.68905410e-01 6.02654488e-03 9.01530758e+01] [ 5.68892308e-01 8.22402927e-01 3.86884758e-03 1.93411098e+01] [-7.15725646e-03 2.46788744e-04 9.99974356e-01 -1.35868609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:19.36, Z:-1.36 [[ 8.20889561e-01 -5.71052054e-01 6.31508377e-03 9.01763915e+01] [ 5.71037712e-01 8.20913805e-01 4.05667604e-03 1.93561749e+01] [-7.50071263e-03 2.76067970e-04 9.99971831e-01 -1.35871711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:19.37, Z:-1.36 [[ 8.19595067e-01 -5.72903183e-01 6.77274560e-03 9.01998299e+01] [ 5.72886725e-01 8.19622990e-01 4.35362802e-03 1.93714874e+01] [-8.04530535e-03 3.11804000e-04 9.99967587e-01 -1.35867092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:19.39, Z:-1.36 [[ 8.18075356e-01 -5.75066697e-01 7.14190125e-03 9.02231992e+01] [ 5.75048453e-01 8.18106455e-01 4.59393582e-03 1.93880474e+01] [-8.48465501e-03 3.48753590e-04 9.99963944e-01 -1.35803626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:19.40, Z:-1.36 [[ 8.17831507e-01 -5.75409543e-01 7.44877269e-03 9.02452230e+01] [ 5.75389681e-01 8.17865347e-01 4.79476037e-03 1.94034815e+01] [-8.85104392e-03 3.64640845e-04 9.99960762e-01 -1.35831831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:19.42, Z:-1.36 [[ 8.17998269e-01 -5.75166545e-01 7.89157433e-03 9.02682844e+01] [ 5.75144229e-01 8.18036246e-01 5.08102616e-03 1.94200510e+01] [-9.37803010e-03 3.82522829e-04 9.99955952e-01 -1.35855336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:19.44, Z:-1.36 [[ 8.20264470e-01 -5.71925559e-01 8.20701270e-03 9.02888136e+01] [ 5.71901226e-01 8.20305448e-01 5.28768621e-03 1.94383146e+01] [-9.75642012e-03 3.56299494e-04 9.99952342e-01 -1.35872313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:19.46, Z:-1.36 [[ 8.21963849e-01 -5.69479485e-01 8.27927824e-03 9.03106133e+01] [ 5.69454585e-01 8.22005479e-01 5.33556297e-03 1.94560033e+01] [-9.84410573e-03 3.29033066e-04 9.99951491e-01 -1.35959455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:19.47, Z:-1.36 [[ 8.24099436e-01 -5.66390751e-01 7.85091305e-03 9.03315923e+01] [ 5.66368191e-01 8.24136786e-01 5.06260319e-03 1.94731445e+01] [-9.33763787e-03 2.74418994e-04 9.99956366e-01 -1.36028774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:19.49, Z:-1.36 [[ 8.29073335e-01 -5.59101112e-01 6.58412028e-03 9.03521543e+01] [ 5.59085006e-01 8.29099464e-01 4.24685169e-03 1.94930595e+01] [-7.83331010e-03 1.60131432e-04 9.99969306e-01 -1.36078921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:19.51, Z:-1.36 [[ 8.31502583e-01 -5.55493282e-01 5.53796726e-03 9.03741540e+01] [ 5.55481796e-01 8.31521018e-01 3.57370066e-03 1.95104099e+01] [-6.59010288e-03 1.04698675e-04 9.99978280e-01 -1.36126718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:19.53, Z:-1.36 [[ 8.33789878e-01 -5.52059956e-01 4.92378214e-03 9.03955892e+01] [ 5.52050803e-01 8.33804414e-01 3.17981852e-03 1.95276077e+01] [-5.86092176e-03 6.68773854e-05 9.99982822e-01 -1.36131577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:19.54, Z:-1.36 [[ 8.33645521e-01 -5.52277921e-01 4.92374578e-03 9.04195626e+01] [ 5.52268771e-01 8.33660059e-01 3.17987510e-03 1.95431861e+01] [-5.86090500e-03 6.83423975e-05 9.99982822e-01 -1.36161601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:19.56, Z:-1.36 [[ 8.35911138e-01 -5.48846618e-01 4.46755489e-03 9.04415708e+01] [ 5.48839029e-01 8.35923076e-01 2.88649425e-03 1.95605163e+01] [-5.31877483e-03 3.91157913e-05 9.99985854e-01 -1.36230785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:19.58, Z:-1.36 [[ 8.39916292e-01 -5.42703371e-01 3.69785700e-03 9.04622513e+01] [ 5.42698108e-01 8.39924432e-01 2.39004935e-03 1.95804623e+01] [-4.40300828e-03 -6.21392053e-07 9.99990307e-01 -1.36356016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:19.60, Z:-1.36 [[ 8.41547476e-01 -5.40172696e-01 3.36211390e-03 9.04843609e+01] [ 5.40168321e-01 8.41554192e-01 2.17403632e-03 1.95977780e+01] [-4.00375611e-03 -1.34473562e-05 9.99991985e-01 -1.36402344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:19.62, Z:-1.36 [[ 8.42801805e-01 -5.38213576e-01 3.35624290e-03 9.05067842e+01] [ 5.38209196e-01 8.42808487e-01 2.17160481e-03 1.96150680e+01] [-3.99745719e-03 -2.38716586e-05 9.99992010e-01 -1.36491978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:19.63, Z:-1.36 [[ 8.44492746e-01 -5.35556546e-01 3.34472997e-03 9.05291433e+01] [ 5.35552170e-01 8.44499369e-01 2.16549927e-03 1.96324545e+01] [-3.98436966e-03 -3.74710323e-05 9.99992062e-01 -1.36487651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:19.65, Z:-1.36 [[ 8.44966186e-01 -5.34806499e-01 3.76196492e-03 9.05529099e+01] [ 5.34800946e-01 8.44974559e-01 2.43754538e-03 1.96482379e+01] [-4.48237976e-03 -4.77410213e-05 9.99989953e-01 -1.36446502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:19.66, Z:-1.36 [[ 8.45113291e-01 -5.34568288e-01 4.50223420e-03 9.05755241e+01] [ 5.34560313e-01 8.45125281e-01 2.92070439e-03 1.96636412e+01] [-5.36626789e-03 -6.16103823e-05 9.99985600e-01 -1.36448910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:19.68, Z:-1.36 [[ 8.44814687e-01 -5.35058021e-01 1.02894479e-03 9.05995842e+01] [ 5.35030417e-01 8.44787860e-01 8.71346144e-03 1.96782197e+01] [-5.53144750e-03 -6.81074344e-03 9.99961508e-01 -1.35963708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:19.70, Z:-1.37 [[ 8.44745884e-01 -5.35071430e-01 1.01467085e-02 9.06200086e+01] [ 5.35110402e-01 8.44780987e-01 -1.39342051e-03 1.96989393e+01] [-7.82616690e-03 6.60669550e-03 9.99947550e-01 -1.36795265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:19.71, Z:-1.37 [[ 8.44509973e-01 -5.35499829e-01 6.54515695e-03 9.06452281e+01] [ 5.35482963e-01 8.44535332e-01 4.25092956e-03 1.97117914e+01] [-7.80398835e-03 -8.51323779e-05 9.99969545e-01 -1.36574737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:19.73, Z:-1.37 [[ 8.44154924e-01 -5.36062324e-01 6.29683818e-03 9.06688111e+01] [ 5.36046711e-01 8.44178405e-01 4.09203894e-03 1.97269289e+01] [-7.50924271e-03 -7.89154221e-05 9.99971802e-01 -1.36612497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:19.74, Z:-1.36 [[ 8.43586480e-01 -5.36993331e-01 1.11497493e-04 9.06941103e+01] [ 5.36978965e-01 8.43565395e-01 7.14251565e-03 1.97393016e+01] [-3.92953870e-03 -5.96545783e-03 9.99974486e-01 -1.36180637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:19.76, Z:-1.37 [[ 8.43643714e-01 -5.36856052e-01 7.13186650e-03 9.07150792e+01] [ 5.36882814e-01 8.43653284e-01 -2.44532335e-03 1.97580229e+01] [-4.70403595e-03 5.89195823e-03 9.99971578e-01 -1.36912351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:19.77, Z:-1.37 [[ 8.43263859e-01 -5.37491776e-01 2.94190199e-03 9.07396542e+01] [ 5.37488370e-01 8.43268990e-01 1.91401627e-03 1.97705754e+01] [-3.50958272e-03 -3.27826387e-05 9.99993841e-01 -1.36722393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:19.79, Z:-1.37 [[ 8.42018611e-01 -5.39445230e-01 1.87151889e-03 9.07622359e+01] [ 5.39443857e-01 8.42020690e-01 1.21739268e-03 1.97850441e+01] [-2.23257430e-03 -1.54879207e-05 9.99997508e-01 -1.36833559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:19.80, Z:-1.37 [[ 8.40849807e-01 -5.41266688e-01 1.40497721e-03 9.07851556e+01] [ 5.41265917e-01 8.40850981e-01 9.13800750e-04 1.97998457e+01] [-1.67598638e-03 -7.90290436e-06 9.99998596e-01 -1.36897439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:19.81, Z:-1.37 [[ 8.39023930e-01 -5.44092309e-01 1.55056805e-03 9.08088708e+01] [ 5.44091377e-01 8.39025363e-01 1.00730381e-03 1.98145429e+01] [-1.84903217e-03 -1.50130052e-06 9.99998291e-01 -1.36955888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.83, Y:19.83, Z:-1.37 [[ 8.37011177e-01 -5.47183936e-01 1.42491585e-03 9.08329977e+01] [ 5.47183152e-01 8.37012390e-01 9.25901976e-04 1.98285501e+01] [-1.69931091e-03 4.69964395e-06 9.99998556e-01 -1.36977895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:19.84, Z:-1.37 [[ 8.31710169e-01 -5.55209216e-01 9.60140720e-04 9.08581416e+01] [ 5.55208866e-01 8.31710723e-01 6.23103587e-04 1.98405358e+01] [-1.14451219e-03 1.48370515e-05 9.99999345e-01 -1.36967649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:19.85, Z:-1.37 [[ 8.28595333e-01 -5.59847502e-01 7.40364634e-04 9.08827724e+01] [ 5.59847297e-01 8.28595664e-01 4.79977997e-04 1.98544834e+01] [-8.82177408e-04 1.67836108e-05 9.99999611e-01 -1.36976276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:19.87, Z:-1.37 [[ 8.25467096e-01 -5.64450216e-01 1.66985015e-04 9.09073823e+01] [ 5.64450206e-01 8.25467113e-01 1.05602696e-04 1.98687071e+01] [-1.97448103e-04 7.08317500e-06 9.99999980e-01 -1.36936182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:19.88, Z:-1.37 [[ 8.19014970e-01 -5.73762862e-01 -3.26442160e-03 9.09317780e+01] [ 5.73771712e-01 8.19008113e-01 3.42551008e-03 1.98813250e+01] [ 7.08157304e-04 -4.67857681e-03 9.99988805e-01 -1.36566804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:19.90, Z:-1.37 [[ 8.17616016e-01 -5.75755874e-01 3.03718839e-03 9.09550564e+01] [ 5.75763747e-01 8.17608097e-01 -3.62052836e-03 1.98987108e+01] [-3.98689342e-04 4.70890494e-03 9.99988834e-01 -1.37120167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:19.91, Z:-1.37 [[ 8.15766425e-01 -5.78380907e-01 8.16038113e-04 9.09794024e+01] [ 5.78380664e-01 8.15766832e-01 5.32266396e-04 1.99117118e+01] [-9.73549548e-04 3.77756107e-05 9.99999525e-01 -1.36911230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:19.93, Z:-1.37 [[ 8.13673114e-01 -5.81318279e-01 2.26331789e-03 9.10026291e+01] [ 5.81316412e-01 8.13676253e-01 1.47786421e-03 1.99270071e+01] [-2.70071751e-03 1.13205461e-04 9.99996347e-01 -1.36901970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:19.94, Z:-1.36 [[ 8.12877369e-01 -5.82407493e-01 -5.64757167e-03 9.10277556e+01] [ 5.82434606e-01 8.12829452e-01 8.84376040e-03 1.99389513e+01] [-5.60159743e-04 -1.04782339e-02 9.99944945e-01 -1.36039527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:19.96, Z:-1.37 [[ 8.13609330e-01 -5.81354353e-01 8.18383569e-03 9.10461912e+01] [ 5.81406781e-01 8.13580861e-01 -7.23451619e-03 1.99619144e+01] [-2.45239461e-03 1.06442074e-02 9.99940342e-01 -1.37332107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:19.97, Z:-1.37 [[ 8.13952487e-01 -5.80926733e-01 2.34094215e-03 9.10715151e+01] [ 5.80924727e-01 8.13955845e-01 1.53086341e-03 1.99740743e+01] [-2.79474302e-03 1.13861096e-04 9.99996088e-01 -1.36906881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:19.98, Z:-1.35 [[ 8.15565379e-01 -5.78521442e-01 -1.28862040e-02 9.10980119e+01] [ 5.78663545e-01 8.15410065e-01 1.59664460e-02 1.99838171e+01] [ 1.27060908e-03 -2.04784571e-02 9.99789487e-01 -1.35273654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:20.01, Z:-1.36 [[ 8.17015818e-01 -5.76599617e-01 -4.24669960e-03 9.11177312e+01] [ 5.76610997e-01 8.17015931e-01 2.17418996e-03 2.00067822e+01] [ 2.21598413e-03 -4.22504127e-03 9.99988619e-01 -1.35868118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:20.04, Z:-1.38 [[ 8.18469721e-01 -5.74304956e-01 1.67670396e-02 9.11332309e+01] [ 5.74540281e-01 8.18274540e-01 -1.81725554e-02 2.00351560e+01] [-3.28345302e-03 2.45070260e-02 9.99694266e-01 -1.37999787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:20.04, Z:-1.37 [[ 8.21450542e-01 -5.70273905e-01 2.58459837e-03 9.11600993e+01] [ 5.70271397e-01 8.21454604e-01 1.69353689e-03 2.00447305e+01] [-3.08891012e-03 8.27657208e-05 9.99995226e-01 -1.37110437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:20.06, Z:-1.37 [[ 8.22875669e-01 -5.68216077e-01 2.47472533e-03 9.11820321e+01] [ 5.68213760e-01 8.22879387e-01 1.62397541e-03 2.00613209e+01] [-2.95916940e-03 6.98431334e-05 9.99995619e-01 -1.37163878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:20.08, Z:-1.37 [[ 8.24165984e-01 -5.66344560e-01 2.06620251e-03 9.12037096e+01] [ 5.66342941e-01 8.24168573e-01 1.35526508e-03 2.00773109e+01] [-2.47044618e-03 5.32158316e-05 9.99996947e-01 -1.37188318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:20.10, Z:-1.37 [[ 8.26146324e-01 -5.63452147e-01 1.98229612e-03 9.12256996e+01] [ 5.63450649e-01 8.26148701e-01 1.29971799e-03 2.00954966e+01] [-2.37000025e-03 4.31687970e-05 9.99997191e-01 -1.37229129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:20.11, Z:-1.37 [[ 8.26584274e-01 -5.62808704e-01 2.19133101e-03 9.12478089e+01] [ 5.62806868e-01 8.26587177e-01 1.43804389e-03 2.01122723e+01] [-2.62066973e-03 4.46316740e-05 9.99996565e-01 -1.37273108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:20.13, Z:-1.37 [[ 8.26872845e-01 -5.62384862e-01 2.13677091e-03 9.12696843e+01] [ 5.62383109e-01 8.26875605e-01 1.40465889e-03 2.01289342e+01] [-2.55680263e-03 4.02095749e-05 9.99996731e-01 -1.37285667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:20.15, Z:-1.37 [[ 8.27254834e-01 -5.61820198e-01 2.73933668e-03 9.12914106e+01] [ 5.61817316e-01 8.27259368e-01 1.80026608e-03 2.01462000e+01] [-3.27756777e-03 4.97279668e-05 9.99994628e-01 -1.37284428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03762800000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.31, Y:20.16, Z:-1.37 [[ 8.27291827e-01 -5.61765679e-01 2.74861926e-03 9.13143498e+01] [ 5.61762774e-01 8.27296392e-01 1.80734461e-03 2.01628008e+01] [-3.28922697e-03 4.88705539e-05 9.99994589e-01 -1.37319522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:20.18, Z:-1.37 [[ 8.25867345e-01 -5.63863818e-01 -8.50694895e-04 9.13330048e+01] [ 5.63855683e-01 8.25845134e-01 6.82513069e-03 2.01782686e+01] [-3.14590201e-03 -6.11632171e-03 9.99976347e-01 -1.36935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:20.21, Z:-1.40 [[ 8.24900082e-01 -5.64555462e-01 2.85829607e-02 9.13399091e+01] [ 5.65167088e-01 8.24686556e-01 -2.18688640e-02 2.02119145e+01] [-1.12257968e-02 3.41937763e-02 9.99352174e-01 -1.39624618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12762800000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.39, Y:20.20, Z:-1.36 [[ 8.28992338e-01 -5.59124778e-01 -1.22958154e-02 9.13890361e+01] [ 5.59249782e-01 8.28644223e-01 2.42576247e-02 2.02042104e+01] [-3.37418259e-03 -2.69858171e-02 9.99630122e-01 -1.36404227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15762800000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.41, Y:20.23, Z:-1.37 [[ 8.29767218e-01 -5.58104508e-01 2.39203338e-03 9.14051743e+01] [ 5.58102296e-01 8.29770665e-01 1.57172217e-03 2.02296955e+01] [-2.86202436e-03 3.08357842e-05 9.99995904e-01 -1.37486912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.187628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.41, Y:20.26, Z:-1.39 [[ 8.28671141e-01 -5.59326988e-01 2.13883222e-02 9.14130754e+01] [ 5.59666093e-01 8.28565788e-01 -1.58933851e-02 2.02573420e+01] [-8.83203277e-03 2.51407083e-02 9.99644907e-01 -1.39330037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:91.46, Y:20.25, Z:-1.37 [[ 8.31692181e-01 -5.55099717e-01 -1.23458495e-02 9.14575565e+01] [ 5.55233831e-01 8.31406806e-01 2.18658882e-02 2.02533851e+01] [-1.87332508e-03 -2.50405216e-02 9.99684682e-01 -1.36592887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.48, Y:20.28, Z:-1.38 [[ 8.32604051e-01 -5.53866491e-01 1.55083457e-03 9.14751748e+01] [ 5.53865554e-01 8.32605495e-01 1.01881284e-03 2.02780621e+01] [-1.85551968e-03 1.06861489e-05 9.99998278e-01 -1.37560432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.48, Y:20.31, Z:-1.40 [[ 8.30876717e-01 -5.55974538e-01 2.31558731e-02 9.14831069e+01] [ 5.56373054e-01 8.30753271e-01 -1.72634773e-02 2.03055756e+01] [-9.63876350e-03 2.72271252e-02 9.99582802e-01 -1.39559130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30762800000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.51, Y:20.32, Z:-1.39 [[ 8.33447268e-01 -5.52451456e-01 1.27687142e-02 9.15119198e+01] [ 5.52511115e-01 8.33504310e-01 -1.42610669e-03 2.03150122e+01] [-9.85492358e-03 8.24344123e-03 9.99917460e-01 -1.39136289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.55, Y:20.31, Z:-1.37 [[ 8.37127846e-01 -5.46698522e-01 -1.83764830e-02 9.15537390e+01] [ 5.47007259e-01 8.36645006e-01 2.84287393e-02 2.03137753e+01] [-1.67357050e-04 -3.38505589e-02 9.99426892e-01 -1.36503762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:20.34, Z:-1.38 [[ 8.38153522e-01 -5.45434384e-01 8.44814092e-05 9.15691140e+01] [ 5.45434381e-01 8.38153526e-01 5.21387665e-05 2.03406422e+01] [-9.92466671e-05 2.37877444e-06 9.99999995e-01 -1.37847745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:20.35, Z:-1.38 [[ 8.39075510e-01 -5.44014949e-01 -1.54607329e-04 9.15923981e+01] [ 5.44014939e-01 8.39075524e-01 -1.03505298e-04 2.03546168e+01] [ 1.86035655e-04 2.74006360e-06 9.99999983e-01 -1.37844397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:20.37, Z:-1.38 [[ 8.40687284e-01 -5.41520728e-01 4.37495204e-04 9.16164505e+01] [ 5.41520651e-01 8.40687398e-01 2.87077904e-04 2.03676414e+01] [-5.23255340e-04 -4.43005543e-06 9.99999863e-01 -1.37884509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:20.38, Z:-1.38 [[ 8.41128008e-01 -5.40835702e-01 6.46603968e-04 9.16407540e+01] [ 5.40835536e-01 8.41128256e-01 4.23352190e-04 2.03823093e+01] [-7.72840847e-04 -6.38698058e-06 9.99999701e-01 -1.37925333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.67, Y:20.40, Z:-1.38 [[ 8.41555828e-01 -5.40169801e-01 6.12260367e-04 9.16651522e+01] [ 5.40169653e-01 8.41556050e-01 4.00809446e-04 2.03969581e+01] [-7.31756575e-04 -6.57905536e-06 9.99999732e-01 -1.37944446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:20.41, Z:-1.38 [[ 8.41800024e-01 -5.39789121e-01 6.52449922e-04 9.16895168e+01] [ 5.39788950e-01 8.41800276e-01 4.29496456e-04 2.04096259e+01] [-7.81070039e-04 -9.36486849e-06 9.99999695e-01 -1.38005559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:20.42, Z:-1.38 [[ 8.41293901e-01 -5.40577728e-01 5.40340797e-04 9.17132878e+01] [ 5.40577611e-01 8.41294074e-01 3.55544205e-04 2.04233092e+01] [-6.46784789e-04 -7.02103381e-06 9.99999791e-01 -1.38003422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.74, Y:20.44, Z:-1.38 [[ 8.40292958e-01 -5.42131496e-01 1.08888950e-03 9.17382672e+01] [ 5.42131023e-01 8.40293663e-01 7.16498172e-04 2.04370209e+01] [-1.30342317e-03 -1.17475889e-05 9.99999150e-01 -1.38059325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:20.45, Z:-1.38 [[ 8.38897118e-01 -5.44288939e-01 1.08443921e-03 9.17631673e+01] [ 5.44288471e-01 8.38897819e-01 7.13989511e-04 2.04501842e+01] [-1.29835029e-03 -8.71598138e-06 9.99999157e-01 -1.38006088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:20.46, Z:-1.38 [[ 8.35389795e-01 -5.49653427e-01 2.23629732e-03 9.17890768e+01] [ 5.49651438e-01 8.35392788e-01 1.47850798e-03 2.04604927e+01] [-2.68085363e-03 -5.94643635e-06 9.99996406e-01 -1.37970202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.81, Y:20.47, Z:-1.38 [[ 8.32957585e-01 -5.53330123e-01 2.72687335e-03 9.18137851e+01] [ 5.53327188e-01 8.32962049e-01 1.80228495e-03 2.04740268e+01] [-3.26864056e-03 7.62624591e-06 9.99994658e-01 -1.37993250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:20.49, Z:-1.38 [[ 8.30528236e-01 -5.56969352e-01 2.82675710e-03 9.18375835e+01] [ 5.56966210e-01 8.30533046e-01 1.87094000e-03 2.04870570e+01] [-3.38977143e-03 2.05396918e-05 9.99994254e-01 -1.38031730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:91.86, Y:20.50, Z:-1.38 [[ 8.26282674e-01 -5.63246554e-01 3.20349722e-03 9.18642504e+01] [ 5.63242567e-01 8.26288882e-01 2.11981641e-03 2.04985721e+01] [-3.84099342e-03 5.27784274e-05 9.99992622e-01 -1.38107261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:91.89, Y:20.51, Z:-1.38 [[ 8.26134071e-01 -5.63464497e-01 3.20283405e-03 9.18880423e+01] [ 5.63460508e-01 8.26140278e-01 2.12081735e-03 2.05144260e+01] [-3.84099549e-03 5.25910251e-05 9.99992622e-01 -1.38136833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78762800000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:91.91, Y:20.53, Z:-1.38 [[ 8.24058750e-01 -5.66494201e-01 3.39068295e-03 9.19128604e+01] [ 5.66489751e-01 8.24065722e-01 2.24656377e-03 2.05280657e+01] [-4.06681095e-03 6.94866075e-05 9.99991728e-01 -1.38177946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.94, Y:20.54, Z:-1.38 [[ 8.22471325e-01 -5.68796605e-01 3.36782805e-03 9.19364822e+01] [ 5.68792223e-01 8.22478216e-01 2.23396189e-03 2.05410636e+01] [-4.04063515e-03 7.82248097e-05 9.99991834e-01 -1.38162036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:20.56, Z:-1.39 [[ 8.17614812e-01 -5.75595401e-01 1.39983596e-02 9.19530190e+01] [ 5.75706580e-01 8.17637440e-01 -5.56329383e-03 2.05601097e+01] [-8.24337658e-03 1.26075792e-02 9.99886541e-01 -1.39320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:20.56, Z:-1.38 [[ 8.19463562e-01 -5.73119971e-01 -3.60137412e-03 9.19899042e+01] [ 5.73114938e-01 8.19376549e-01 1.27019571e-02 2.05638863e+01] [-4.32886377e-03 -1.24727923e-02 9.99912841e-01 -1.37728146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:92.01, Y:20.58, Z:-1.38 [[ 8.18941507e-01 -5.73869657e-01 2.90267103e-03 9.20105831e+01] [ 5.73866434e-01 8.18946646e-01 1.92540485e-03 2.05829661e+01] [-3.48206413e-03 8.89515272e-05 9.99993934e-01 -1.38330905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:92.03, Y:20.60, Z:-1.38 [[ 8.18429238e-01 -5.74603674e-01 2.04965207e-03 9.20339283e+01] [ 5.74602066e-01 8.18431802e-01 1.36087999e-03 2.05958492e+01] [-2.45946708e-03 6.39503445e-05 9.99996973e-01 -1.38444684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:20.61, Z:-1.38 [[ 8.18428030e-01 -5.74607125e-01 1.48694280e-03 9.20577450e+01] [ 5.74606282e-01 8.18429379e-01 9.85513529e-04 2.06099471e+01] [-1.78324077e-03 4.78347788e-05 9.99998409e-01 -1.38464454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:92.08, Y:20.62, Z:-1.39 [[ 8.19117254e-01 -5.73624482e-01 1.37018667e-03 9.20812027e+01] [ 5.73623761e-01 8.19118399e-01 9.10047016e-04 2.06236558e+01] [-1.64437036e-03 4.05364201e-05 9.99998647e-01 -1.38524059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:20.64, Z:-1.39 [[ 8.19721897e-01 -5.72760252e-01 1.30573347e-03 9.21038764e+01] [ 5.72759596e-01 8.19722936e-01 8.67415495e-04 2.06380913e+01] [-1.56716079e-03 3.68319010e-05 9.99998771e-01 -1.38552102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:20.65, Z:-1.39 [[ 8.20475072e-01 -5.71680991e-01 1.22480942e-03 9.21277803e+01] [ 5.71680415e-01 8.20475986e-01 8.12205179e-04 2.06527371e+01] [-1.46924898e-03 3.38054569e-05 9.99998920e-01 -1.38598576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:20.67, Z:-1.39 [[ 8.21424337e-01 -5.70316242e-01 1.20111203e-03 9.21522934e+01] [ 5.70315686e-01 8.21425215e-01 7.96780963e-04 2.06673235e+01] [-1.44104083e-03 3.05177573e-05 9.99998961e-01 -1.38606540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:20.68, Z:-1.39 [[ 8.23895805e-01 -5.66739437e-01 1.45358245e-03 9.21764486e+01] [ 5.66738615e-01 8.23897087e-01 9.65570787e-04 2.06810297e+01] [-1.74482939e-03 2.82715850e-05 9.99998477e-01 -1.38734138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:20.70, Z:-1.39 [[ 8.25403222e-01 -5.64542233e-01 1.26027492e-03 9.22003131e+01] [ 5.64541612e-01 8.25404184e-01 8.37202106e-04 2.06963359e+01] [-1.51287214e-03 2.04483185e-05 9.99998855e-01 -1.38815971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:20.71, Z:-1.39 [[ 8.27894737e-01 -5.60880377e-01 1.87290098e-03 9.22224575e+01] [ 5.60878990e-01 8.27896855e-01 1.24746222e-03 2.07124170e+01] [-2.25024591e-03 1.77034053e-05 9.99997468e-01 -1.38905711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:20.73, Z:-1.39 [[ 8.30471147e-01 -5.57057467e-01 2.15675360e-03 9.22456726e+01] [ 5.57055615e-01 8.30473948e-01 1.43665957e-03 2.07289470e+01] [-2.59142961e-03 8.32738283e-06 9.99996642e-01 -1.38995119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:20.74, Z:-1.39 [[ 8.34528204e-01 -5.50958617e-01 2.69790583e-03 9.22684587e+01] [ 5.50955676e-01 8.34532565e-01 1.80041829e-03 2.07433858e+01] [-3.24344624e-03 -1.60733085e-05 9.99994740e-01 -1.39017479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:20.76, Z:-1.39 [[ 8.35636982e-01 -5.49275909e-01 2.60946278e-03 9.22917980e+01] [ 5.49273152e-01 8.35641056e-01 1.74042107e-03 2.07582202e+01] [-3.13654560e-03 -2.10523604e-05 9.99995081e-01 -1.39016472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:20.77, Z:-1.39 [[ 8.36880719e-01 -5.47378411e-01 2.74526034e-03 9.23148790e+01] [ 5.47375341e-01 8.36885221e-01 1.83364309e-03 2.07728086e+01] [-3.30116445e-03 -3.18527368e-05 9.99994551e-01 -1.38985730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:20.79, Z:-1.39 [[ 8.38704627e-01 -5.44570642e-01 4.16695589e-03 9.23375534e+01] [ 5.44575649e-01 8.38711724e-01 -8.02110232e-05 2.07885250e+01] [-3.45119419e-03 2.33649606e-03 9.99991315e-01 -1.39135080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:20.80, Z:-1.39 [[ 8.39450824e-01 -5.43431460e-01 2.13625638e-03 9.23626539e+01] [ 5.43420443e-01 8.39450251e-01 4.18315481e-03 2.08026150e+01] [-4.06653888e-03 -2.35066736e-03 9.99988969e-01 -1.39002986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:20.82, Z:-1.39 [[ 8.40418480e-01 -5.41932260e-01 2.49073061e-03 9.23842628e+01] [ 5.41929704e-01 8.40422170e-01 1.66507434e-03 2.08181378e+01] [-2.99562272e-03 -4.95583444e-05 9.99995512e-01 -1.39195077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:20.83, Z:-1.39 [[ 8.40504063e-01 -5.41801776e-01 1.93804075e-03 9.24075820e+01] [ 5.41800231e-01 8.40506297e-01 1.29426995e-03 2.08338721e+01] [-2.33017321e-03 -3.78082298e-05 9.99997284e-01 -1.39273254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:20.85, Z:-1.39 [[ 8.40530040e-01 -5.41763604e-01 1.20390890e-03 9.24308012e+01] [ 5.41763009e-01 8.40530902e-01 8.03134365e-04 2.08491708e+01] [-1.44703160e-03 -2.28252484e-05 9.99998953e-01 -1.39355574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:20.86, Z:-1.40 [[ 8.40322477e-01 -5.42086460e-01 -6.35805413e-04 9.24546763e+01] [ 5.42086290e-01 8.40322717e-01 -4.29670658e-04 2.08642885e+01] [ 7.67200378e-04 1.64005138e-05 9.99999706e-01 -1.39524407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.48, Y:20.88, Z:-1.40 [[ 8.40085418e-01 -5.42451504e-01 -1.68992373e-03 9.24774489e+01] [ 5.42450319e-01 8.40087117e-01 -1.13457708e-03 2.08793409e+01] [ 2.03513620e-03 3.64419940e-05 9.99997928e-01 -1.39586389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:20.89, Z:-1.40 [[ 8.39948492e-01 -5.42661851e-01 -2.15547148e-03 9.25002875e+01] [ 5.42659924e-01 8.39951256e-01 -1.44709143e-03 2.08939255e+01] [ 2.59577229e-03 4.57942792e-05 9.99996630e-01 -1.39598742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:20.91, Z:-1.40 [[ 8.39803201e-01 -5.42884699e-01 -2.60525869e-03 9.25235828e+01] [ 5.42881875e-01 8.39807240e-01 -1.75175071e-03 2.09091242e+01] [ 3.13891377e-03 5.67781326e-05 9.99995072e-01 -1.39540646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:20.93, Z:-1.40 [[ 8.39480465e-01 -5.43382673e-01 -2.79624121e-03 9.25467514e+01] [ 5.43379421e-01 8.39485120e-01 -1.88108247e-03 2.09256401e+01] [ 3.36955051e-03 5.97120617e-05 9.99994321e-01 -1.39568133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:20.94, Z:-1.39 [[ 8.38942557e-01 -5.44196939e-01 -5.00768061e-03 9.25717193e+01] [ 5.44216055e-01 8.38935933e-01 3.92242328e-03 2.09404793e+01] [ 2.06655246e-03 -6.01594801e-03 9.99979769e-01 -1.39356779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:92.59, Y:20.96, Z:-1.40 [[ 8.38840133e-01 -5.44377001e-01 9.55319590e-04 9.25905336e+01] [ 5.44370826e-01 8.38819128e-01 -6.54783758e-03 2.09609263e+01] [ 2.76315184e-03 6.01263706e-03 9.99978106e-01 -1.39880272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:20.97, Z:-1.40 [[ 8.37034897e-01 -5.47146926e-01 -1.67986873e-03 9.26145560e+01] [ 5.47145754e-01 8.37036582e-01 -1.13314976e-03 2.09747579e+01] [ 2.02611099e-03 2.93528507e-05 9.99997947e-01 -1.39569302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:20.99, Z:-1.40 [[ 8.35581555e-01 -5.49363869e-01 -1.67449525e-03 9.26378703e+01] [ 5.49362707e-01 8.35583233e-01 -1.13021866e-03 2.09900271e+01] [ 2.02008145e-03 2.44846266e-05 9.99997959e-01 -1.39524357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:21.01, Z:-1.40 [[ 8.33847326e-01 -5.51993363e-01 -1.40150286e-03 9.26615752e+01] [ 5.51992551e-01 8.33848503e-01 -9.47107662e-04 2.10051512e+01] [ 1.69143820e-03 1.61240541e-05 9.99998569e-01 -1.39561565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:21.02, Z:-1.40 [[ 8.31855904e-01 -5.54990056e-01 -1.33918999e-03 9.26855368e+01] [ 5.54989317e-01 8.31856982e-01 -9.05678105e-04 2.10198940e+01] [ 1.61665689e-03 1.01575390e-05 9.99998693e-01 -1.39537606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:21.03, Z:-1.40 [[ 8.28664130e-01 -5.59745791e-01 -6.40301826e-04 9.27096510e+01] [ 5.59745622e-01 8.28664377e-01 -4.35112839e-04 2.10338753e+01] [ 7.74147894e-04 2.15625867e-06 9.99999700e-01 -1.39503453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:21.05, Z:-1.39 [[ 8.27509669e-01 -5.61451416e-01 -2.34718089e-04 9.27328663e+01] [ 5.61451392e-01 8.27509703e-01 -1.61796488e-04 2.10494524e+01] [ 2.85072363e-04 2.10536037e-06 9.99999959e-01 -1.39495651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:21.07, Z:-1.40 [[ 8.26582568e-01 -5.62815343e-01 3.83720119e-04 9.27560920e+01] [ 5.62815285e-01 8.26582657e-01 2.55538201e-04 2.10652653e+01] [-4.60997216e-04 4.74012623e-06 9.99999894e-01 -1.39533773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:21.08, Z:-1.39 [[ 8.25554834e-01 -5.64321252e-01 8.60591206e-04 9.27794526e+01] [ 5.64320956e-01 8.25555283e-01 5.77722787e-04 2.10813590e+01] [-1.03648686e-03 8.70781303e-06 9.99999463e-01 -1.39468523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:21.10, Z:-1.39 [[ 8.25182151e-01 -5.64865260e-01 1.28651060e-03 9.28022777e+01] [ 5.64864596e-01 8.25183154e-01 8.65912276e-04 2.10974901e+01] [-1.55073064e-03 1.21689349e-05 9.99998798e-01 -1.39476424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:21.11, Z:-1.39 [[ 8.25574019e-01 -5.64290676e-01 1.89015896e-03 9.28248926e+01] [ 5.64289237e-01 8.25576182e-01 1.27460972e-03 2.11142217e+01] [-2.27972060e-03 1.43116919e-05 9.99997401e-01 -1.39464971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:21.13, Z:-1.39 [[ 8.26114140e-01 -5.63498919e-01 2.09654742e-03 9.28466820e+01] [ 5.63497141e-01 8.26116800e-01 1.41587347e-03 2.11295458e+01] [-2.52983622e-03 1.17253779e-05 9.99996800e-01 -1.39486670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:21.15, Z:-1.40 [[ 8.26665820e-01 -5.62689751e-01 1.96606554e-03 9.28692803e+01] [ 5.62688186e-01 8.26668158e-01 1.32731591e-03 2.11454819e+01] [-2.37215084e-03 9.03515470e-06 9.99997186e-01 -1.39507632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:21.16, Z:-1.40 [[ 8.28118254e-01 -5.60551115e-01 1.61386326e-03 9.28907771e+01] [ 5.60550054e-01 8.28119827e-01 1.09048091e-03 2.11611247e+01] [-1.94774246e-03 1.60399428e-06 9.99998103e-01 -1.39541343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:21.18, Z:-1.40 [[ 8.28740061e-01 -5.59632852e-01 9.91063585e-04 9.29136364e+01] [ 5.59632453e-01 8.28740654e-01 6.68087176e-04 2.11772437e+01] [-1.19521821e-03 9.60737971e-07 9.99999286e-01 -1.39581071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:21.19, Z:-1.40 [[ 8.29366510e-01 -5.58704918e-01 -7.63524772e-05 9.29370021e+01] [ 5.58704916e-01 8.29366514e-01 -5.51943482e-05 2.11932639e+01] [ 9.41615415e-05 3.11783963e-06 9.99999996e-01 -1.39614017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:21.21, Z:-1.40 [[ 8.29936812e-01 -5.57856985e-01 -6.87146632e-04 9.29592004e+01] [ 5.57856789e-01 8.29937097e-01 -4.67473643e-04 2.12085687e+01] [ 8.31071918e-04 4.64417118e-06 9.99999655e-01 -1.39652757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:21.22, Z:-1.40 [[ 8.30653738e-01 -5.56789036e-01 -5.81224439e-04 9.29822078e+01] [ 5.56788894e-01 8.30653941e-01 -3.97884889e-04 2.12241531e+01] [ 7.04334315e-04 6.88525801e-06 9.99999752e-01 -1.39747371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:21.24, Z:-1.40 [[ 8.30551431e-01 -5.56941476e-01 -7.16175245e-04 9.30060408e+01] [ 5.56941261e-01 8.30551740e-01 -4.89772112e-04 2.12399003e+01] [ 8.67594998e-04 7.91338524e-06 9.99999624e-01 -1.39801654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:21.25, Z:-1.40 [[ 8.30319633e-01 -5.57286997e-01 -7.14372376e-04 9.30286538e+01] [ 5.57286785e-01 8.30319940e-01 -4.86692197e-04 2.12545266e+01] [ 8.64384861e-04 5.99980211e-06 9.99999626e-01 -1.39845401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:21.27, Z:-1.40 [[ 8.29784115e-01 -5.58084415e-01 -3.29059473e-04 9.30522116e+01] [ 5.58084369e-01 8.29784180e-01 -2.27130919e-04 2.12694959e+01] [ 3.99806571e-04 4.82667987e-06 9.99999920e-01 -1.39852188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:21.28, Z:-1.40 [[ 8.28329317e-01 -5.60240458e-01 1.08221087e-03 9.30757859e+01] [ 5.60239977e-01 8.28330024e-01 7.34114723e-04 2.12834977e+01] [-1.30770852e-03 -1.79095452e-06 9.99999145e-01 -1.39779190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:21.30, Z:-1.40 [[ 8.27302525e-01 -5.61753737e-01 1.80843988e-03 9.30985311e+01] [ 5.61752395e-01 8.27304502e-01 1.22810911e-03 2.12981993e+01] [-2.18602534e-03 -1.22334667e-07 9.99997611e-01 -1.39735627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:21.31, Z:-1.40 [[ 8.25326099e-01 -5.64646088e-01 3.40959606e-03 9.31226352e+01] [ 5.64641338e-01 8.25333142e-01 2.31628136e-03 2.13127075e+01] [-4.12193183e-03 1.35114228e-05 9.99991505e-01 -1.39645432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:21.33, Z:-1.40 [[ 8.24310399e-01 -5.66124618e-01 3.90939394e-03 9.31465848e+01] [ 5.66118379e-01 8.24319669e-01 2.65784214e-03 2.13283178e+01] [-4.72726018e-03 2.22928511e-05 9.99988826e-01 -1.39655108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:21.34, Z:-1.40 [[ 8.23279181e-01 -5.67622632e-01 3.99223727e-03 9.31703251e+01] [ 5.67616136e-01 8.23288860e-01 2.71583778e-03 2.13441293e+01] [-4.82833546e-03 3.01655909e-05 9.99988343e-01 -1.39686985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:21.36, Z:-1.40 [[ 8.22165792e-01 -5.69234919e-01 3.87530003e-03 9.31936696e+01] [ 5.69228809e-01 8.22174924e-01 2.63776222e-03 2.13600667e+01] [-4.68768087e-03 3.72545542e-05 9.99989012e-01 -1.39715981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:21.38, Z:-1.40 [[ 8.19850036e-01 -5.72568560e-01 3.34101669e-03 9.32168055e+01] [ 5.72564042e-01 8.19856842e-01 2.27498154e-03 2.13764554e+01] [-4.04173830e-03 4.78023280e-05 9.99991831e-01 -1.39825780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:21.39, Z:-1.40 [[ 8.18496986e-01 -5.74503195e-01 2.96020037e-03 9.32394727e+01] [ 5.74499658e-01 8.18502338e-01 2.01646915e-03 2.13925082e+01] [-3.58139889e-03 5.01601797e-05 9.99993586e-01 -1.39864519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:21.41, Z:-1.40 [[ 8.17429543e-01 -5.76024105e-01 2.27444886e-03 9.32613910e+01] [ 5.76022019e-01 8.17432706e-01 1.55090842e-03 2.14080041e+01] [-2.75256952e-03 4.23742636e-05 9.99996211e-01 -1.39846462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:21.42, Z:-1.40 [[ 8.15727385e-01 -5.78435778e-01 9.40089096e-04 9.32842137e+01] [ 5.78435426e-01 8.15727927e-01 6.38541735e-04 2.14240890e+01] [-1.13621232e-03 2.29048564e-05 9.99999354e-01 -1.39826267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:21.44, Z:-1.40 [[ 8.15239137e-01 -5.79124435e-01 1.96626454e-04 9.33069227e+01] [ 5.79124420e-01 8.15239160e-01 1.30859523e-04 2.14402038e+01] [-2.36081533e-04 7.18937636e-06 9.99999972e-01 -1.39854689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:21.46, Z:-1.40 [[ 8.14960421e-01 -5.79516525e-01 -3.31312294e-04 9.33286328e+01] [ 5.79516480e-01 8.14960488e-01 -2.27992407e-04 2.14563714e+01] [ 4.02131796e-04 -6.19614686e-06 9.99999919e-01 -1.39890200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:21.47, Z:-1.40 [[ 8.15398270e-01 -5.78899344e-01 -1.10004664e-03 9.33493916e+01] [ 5.78898853e-01 8.15399012e-01 -7.54474172e-04 2.14734435e+01] [ 1.33374154e-03 -2.16188005e-05 9.99999110e-01 -1.39928572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:21.49, Z:-1.40 [[ 8.15255095e-01 -5.79100959e-01 -1.09947967e-03 9.33729391e+01] [ 5.79100467e-01 8.15255836e-01 -7.55302664e-04 2.14896577e+01] [ 1.33375371e-03 -2.09448446e-05 9.99999110e-01 -1.39957649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:21.51, Z:-1.40 [[ 8.15456894e-01 -5.78817280e-01 -7.81502908e-04 9.33953661e+01] [ 5.78817029e-01 8.15457268e-01 -5.38492642e-04 2.15066927e+01] [ 9.48971073e-04 -1.32296537e-05 9.99999550e-01 -1.40018856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:21.52, Z:-1.40 [[ 8.15759445e-01 -5.78390180e-01 -1.15196284e-03 9.34179927e+01] [ 5.78389637e-01 8.15760259e-01 -7.92569703e-04 2.15236335e+01] [ 1.39814004e-03 -1.97371500e-05 9.99999022e-01 -1.39972127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:21.54, Z:-1.40 [[ 8.16475351e-01 -5.77380110e-01 -4.59413252e-04 9.34398427e+01] [ 5.77380022e-01 8.16475480e-01 -3.18360428e-04 2.15413619e+01] [ 5.58914634e-04 -5.32259187e-06 9.99999844e-01 -1.39947488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:21.56, Z:-1.40 [[ 8.16892312e-01 -5.76790185e-01 -1.83601515e-04 9.34612823e+01] [ 5.76790171e-01 8.16892332e-01 -1.27381108e-04 2.15572043e+01] [ 2.23454843e-04 -1.84290136e-06 9.99999975e-01 -1.39950180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:21.57, Z:-1.40 [[ 8.17552252e-01 -5.75854378e-01 2.25765749e-04 9.34836116e+01] [ 5.75854358e-01 8.17552283e-01 1.51472153e-04 2.15734775e+01] [-2.71801206e-04 6.17179075e-06 9.99999963e-01 -1.39955706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:21.59, Z:-1.40 [[ 8.19225758e-01 -5.73470838e-01 5.96101977e-04 9.35060273e+01] [ 5.73470695e-01 8.19225975e-01 4.05771252e-04 2.15908377e+01] [-7.21040203e-04 9.42875345e-06 9.99999740e-01 -1.39977205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:21.61, Z:-1.40 [[ 8.20336183e-01 -5.71880154e-01 1.27906351e-03 9.35289969e+01] [ 5.71879485e-01 8.20337180e-01 8.75068537e-04 2.16076489e+01] [-1.54969768e-03 1.36197953e-05 9.99998799e-01 -1.39965371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:21.63, Z:-1.41 [[ 8.19832140e-01 -5.72495981e-01 1.11181918e-02 9.35425284e+01] [ 5.72579025e-01 8.19823028e-01 -6.59264942e-03 2.16294710e+01] [-5.34068436e-03 1.17709093e-02 9.99916458e-01 -1.41041080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:21.64, Z:-1.40 [[ 8.23719645e-01 -5.66977451e-01 -4.74512976e-03 9.35773980e+01] [ 5.66992271e-01 8.23648211e-01 1.11080437e-02 2.16368003e+01] [-2.38969267e-03 -1.18403657e-02 9.99927045e-01 -1.39525202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:21.66, Z:-1.40 [[ 8.27717925e-01 -5.61137912e-01 2.69807286e-03 9.35961100e+01] [ 5.61134859e-01 8.27722322e-01 1.85114748e-03 2.16590729e+01] [-3.27200416e-03 -1.82452184e-05 9.99994647e-01 -1.40128773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:21.68, Z:-1.40 [[ 8.29810885e-01 -5.58037955e-01 2.74536014e-03 9.36179260e+01] [ 5.58034770e-01 8.29815425e-01 1.88551384e-03 2.16750246e+01] [-3.33033048e-03 -3.26134973e-05 9.99994454e-01 -1.40147724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:21.69, Z:-1.40 [[ 8.33152925e-01 -5.53036997e-01 2.50674338e-03 9.36406983e+01] [ 5.53034320e-01 8.33156695e-01 1.72129136e-03 2.16914080e+01] [-3.04044784e-03 -4.77838120e-05 9.99995377e-01 -1.40136718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:21.71, Z:-1.40 [[ 8.34300020e-01 -5.51303730e-01 2.77016552e-03 9.36629186e+01] [ 5.51300443e-01 8.34304617e-01 1.90447445e-03 2.17067537e+01] [-3.36110575e-03 -6.17095944e-05 9.99994350e-01 -1.40137474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:21.72, Z:-1.40 [[ 8.34900723e-01 -5.50391161e-01 3.21756096e-03 9.36861578e+01] [ 5.50386718e-01 8.34906920e-01 2.21269765e-03 2.17224235e+01] [-3.90421314e-03 -7.64800456e-05 9.99992376e-01 -1.40119841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:21.74, Z:-1.40 [[ 8.35550708e-01 -5.49402940e-01 3.38003330e-03 9.37093485e+01] [ 5.49398023e-01 8.35557540e-01 2.32605463e-03 2.17376437e+01] [-4.10215356e-03 -8.65529790e-05 9.99991582e-01 -1.40079091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:21.75, Z:-1.40 [[ 8.35327917e-01 -5.49739649e-01 3.68650999e-03 9.37324251e+01] [ 5.49733794e-01 8.35336046e-01 2.53882592e-03 2.17533799e+01] [-4.47516795e-03 -9.41530393e-05 9.99989982e-01 -1.40088973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:21.77, Z:-1.40 [[ 8.35071386e-01 -5.50127535e-01 3.93379588e-03 9.37561324e+01] [ 5.50120864e-01 8.35080646e-01 2.71099943e-03 2.17691430e+01] [-4.77643224e-03 -9.98148650e-05 9.99988588e-01 -1.40147766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:21.78, Z:-1.40 [[ 8.33834525e-01 -5.52002315e-01 3.66452162e-03 9.37802295e+01] [ 5.51996539e-01 8.33842573e-01 2.52669878e-03 2.17838968e+01] [-4.45037771e-03 -8.40454315e-05 9.99990093e-01 -1.40169921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:21.80, Z:-1.40 [[ 8.32752466e-01 -5.53633319e-01 3.67130988e-03 9.38037619e+01] [ 5.53627531e-01 8.32760555e-01 2.53287585e-03 2.17986848e+01] [-4.45960651e-03 -7.67203854e-05 9.99990053e-01 -1.40219833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:21.81, Z:-1.40 [[ 8.31479836e-01 -5.55543332e-01 3.59008006e-03 9.38267190e+01] [ 5.55537803e-01 8.31487584e-01 2.47938238e-03 2.18130222e+01] [-4.36251135e-03 -6.71312658e-05 9.99990482e-01 -1.40245900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:21.83, Z:-1.40 [[ 8.29877532e-01 -5.57936948e-01 3.10544711e-03 9.38497745e+01] [ 5.57932827e-01 8.29883341e-01 2.14505827e-03 2.18276288e+01] [-3.77396609e-03 -4.75047795e-05 9.99992877e-01 -1.40262658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:21.84, Z:-1.40 [[ 8.25678614e-01 -5.64135765e-01 2.37997884e-03 9.38741089e+01] [ 5.64133374e-01 8.25682044e-01 1.64257512e-03 2.18410127e+01] [-2.89174116e-03 -1.36136535e-05 9.99995819e-01 -1.40313069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:21.85, Z:-1.40 [[ 8.23104665e-01 -5.67887355e-01 1.63166135e-03 9.38970640e+01] [ 5.67886238e-01 8.23106282e-01 1.12660382e-03 2.18548814e+01] [-1.98281477e-03 -7.14834230e-07 9.99998034e-01 -1.40304884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:21.87, Z:-1.40 [[ 8.20614637e-01 -5.71481168e-01 9.44436311e-04 9.39215005e+01] [ 5.71480798e-01 8.20615181e-01 6.50424225e-04 2.18693390e+01] [-1.14672397e-03 5.97957677e-06 9.99999342e-01 -1.40310126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:21.88, Z:-1.40 [[ 8.15289559e-01 -5.79053481e-01 -4.51477258e-05 9.39470167e+01] [ 5.79053480e-01 8.15289560e-01 -3.47461403e-05 2.18825924e+01] [ 5.69283429e-05 2.18521761e-06 9.99999998e-01 -1.40239136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:21.90, Z:-1.40 [[ 8.12594842e-01 -5.82828808e-01 -4.50731227e-04 9.39705716e+01] [ 5.82828723e-01 8.12594967e-01 -3.15880179e-04 2.18972409e+01] [ 5.50365994e-04 -6.01650107e-06 9.99999849e-01 -1.40251581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:21.91, Z:-1.40 [[ 8.07406406e-01 -5.89995397e-01 -5.72025676e-04 9.39945336e+01] [ 5.89995262e-01 8.07406608e-01 -4.00253081e-04 2.19114109e+01] [ 6.98004786e-04 -1.43255374e-05 9.99999756e-01 -1.40330309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:21.93, Z:-1.40 [[ 8.04964616e-01 -5.93322644e-01 -4.55897169e-04 9.40181875e+01] [ 5.93322558e-01 8.04964745e-01 -3.19870983e-04 2.19270641e+01] [ 5.56767845e-04 -1.30092517e-05 9.99999845e-01 -1.40378997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:21.94, Z:-1.40 [[ 8.02988504e-01 -5.95994511e-01 6.92011879e-05 9.40414504e+01] [ 5.95994509e-01 8.02988507e-01 4.45634949e-05 2.19424466e+01] [-8.21273570e-05 5.45955394e-06 9.99999997e-01 -1.40392739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:21.96, Z:-1.40 [[ 8.00667826e-01 -5.99107759e-01 9.61940532e-04 9.40644723e+01] [ 5.99107391e-01 8.00668403e-01 6.64938860e-04 2.19577357e+01] [-1.16856542e-03 4.39105312e-05 9.99999316e-01 -1.40258912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:21.97, Z:-1.40 [[ 8.00051716e-01 -5.99929233e-01 1.47217232e-03 9.40873440e+01] [ 5.99928369e-01 8.00053068e-01 1.02010296e-03 2.19741096e+01] [-1.78980557e-03 6.70628125e-05 9.99998396e-01 -1.40210932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:21.99, Z:-1.40 [[ 7.99712373e-01 -6.00380326e-01 1.89312126e-03 9.41095207e+01] [ 6.00378892e-01 7.99714609e-01 1.31508789e-03 2.19903100e+01] [-2.30350962e-03 8.48979856e-05 9.99997343e-01 -1.40172504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:22.01, Z:-1.40 [[ 7.99277413e-01 -6.00955820e-01 2.77838471e-03 9.41309136e+01] [ 6.00952735e-01 7.99282232e-01 1.92996069e-03 2.20083558e+01] [-3.38053464e-03 1.27103903e-04 9.99994278e-01 -1.40148107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:22.03, Z:-1.40 [[ 7.99409445e-01 -6.00779258e-01 2.97025763e-03 9.41523089e+01] [ 6.00775721e-01 7.99414952e-01 2.06597242e-03 2.20251016e+01] [-3.61566174e-03 1.32900800e-04 9.99993455e-01 -1.40163841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:22.04, Z:-1.40 [[ 7.99518075e-01 -6.00634755e-01 2.95615468e-03 9.41747157e+01] [ 6.00631252e-01 7.99523529e-01 2.05544610e-03 2.20429637e+01] [-3.59808759e-03 1.32192578e-04 9.99993518e-01 -1.40192168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:22.06, Z:-1.40 [[ 7.99985300e-01 -6.00013224e-01 2.76581668e-03 9.41956333e+01] [ 6.00010147e-01 7.99990073e-01 1.92532023e-03 2.20601011e+01] [-3.36784349e-03 1.19290192e-04 9.99994322e-01 -1.40185611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:22.08, Z:-1.40 [[ 8.00585141e-01 -5.99211835e-01 2.93407620e-03 9.42169417e+01] [ 5.99208369e-01 8.00590508e-01 2.04184317e-03 2.20780129e+01] [-3.57249015e-03 1.23453713e-04 9.99993611e-01 -1.40236499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:22.10, Z:-1.40 [[ 8.01923063e-01 -5.97422174e-01 2.47918122e-03 9.42364320e+01] [ 5.97419690e-01 8.01926890e-01 1.72573621e-03 2.20988590e+01] [-3.01911517e-03 9.72040056e-05 9.99995438e-01 -1.40338495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:22.12, Z:-1.40 [[ 8.02706314e-01 -5.96370890e-01 2.08196171e-03 9.42571460e+01] [ 5.96369130e-01 8.02709010e-01 1.45099442e-03 2.21167447e+01] [-2.53654026e-03 7.68953167e-05 9.99996780e-01 -1.40347092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:22.14, Z:-1.40 [[ 8.03944718e-01 -5.94700174e-01 2.14319964e-03 9.42767637e+01] [ 5.94698306e-01 8.03947571e-01 1.49265007e-03 2.21373432e+01] [-2.61069940e-03 7.45490537e-05 9.99996589e-01 -1.40397765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:22.15, Z:-1.40 [[ 8.04528623e-01 -5.93911108e-01 1.81395985e-03 9.42970822e+01] [ 5.93909764e-01 8.04530666e-01 1.26509373e-03 2.21547098e+01] [-2.21073954e-03 5.95243491e-05 9.99997555e-01 -1.40369005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:22.17, Z:-1.41 [[ 8.03566188e-01 -5.95207488e-01 3.07048488e-03 9.43146953e+01] [ 5.95208054e-01 8.03571211e-01 8.25698923e-04 2.21738040e+01] [-2.95881543e-03 1.16407359e-03 9.99994945e-01 -1.40555588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:22.19, Z:-1.40 [[ 8.05569423e-01 -5.92500302e-01 1.13861441e-03 9.43401689e+01] [ 5.92497359e-01 8.05569541e-01 2.14346689e-03 2.21892404e+01] [-2.18723787e-03 -1.05208536e-03 9.99997055e-01 -1.40349364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:22.21, Z:-1.40 [[ 8.06376000e-01 -5.91401951e-01 1.21630978e-03 9.43588970e+01] [ 5.91401343e-01 8.06376917e-01 8.48431404e-04 2.22093949e+01] [-1.48256812e-03 3.51725139e-05 9.99998900e-01 -1.40388216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:22.23, Z:-1.40 [[ 8.06666171e-01 -5.91006184e-01 1.17417223e-03 9.43796940e+01] [ 5.91005619e-01 8.06667025e-01 8.18498897e-04 2.22276065e+01] [-1.43090393e-03 3.36870165e-05 9.99998976e-01 -1.40464258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:22.25, Z:-1.41 [[ 8.07533542e-01 -5.89820979e-01 8.88912432e-04 9.43987624e+01] [ 5.89820655e-01 8.07534031e-01 6.19356062e-04 2.22470768e+01] [-1.08313624e-03 2.41481177e-05 9.99999413e-01 -1.40509960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:22.26, Z:-1.40 [[ 8.07794125e-01 -5.89464432e-01 5.77977800e-04 9.44194004e+01] [ 5.89464295e-01 8.07794332e-01 4.02089866e-04 2.22642307e+01] [-7.03904866e-04 1.58914447e-05 9.99999752e-01 -1.40462482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:22.28, Z:-1.41 [[ 8.07904962e-01 -5.89312160e-01 8.65594866e-04 9.44413469e+01] [ 5.89311853e-01 8.07905426e-01 6.02631052e-04 2.22823311e+01] [-1.05445660e-03 2.32366966e-05 9.99999444e-01 -1.40513414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:22.30, Z:-1.41 [[ 8.08454348e-01 -5.88555580e-01 1.97381888e-03 9.44609990e+01] [ 5.88553963e-01 8.08456757e-01 1.38056894e-03 2.23019672e+01] [-2.40828876e-03 4.55719594e-05 9.99997099e-01 -1.40521865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:22.32, Z:-1.41 [[ 8.08651375e-01 -5.88283844e-01 2.25246939e-03 9.44823301e+01] [ 5.88281738e-01 8.08654510e-01 1.57473157e-03 2.23198396e+01] [-2.74785867e-03 5.16777649e-05 9.99996223e-01 -1.40539008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:22.34, Z:-1.41 [[ 8.08762010e-01 -5.88130783e-01 2.48871059e-03 9.45034054e+01] [ 5.88128208e-01 8.08765837e-01 1.74121564e-03 2.23379460e+01] [-3.03684662e-03 5.54518410e-05 9.99995387e-01 -1.40604300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:22.36, Z:-1.41 [[ 8.09095129e-01 -5.87672860e-01 2.38362718e-03 9.45251632e+01] [ 5.87670493e-01 8.09098639e-01 1.66850600e-03 2.23563753e+01] [-2.90912520e-03 5.08072834e-05 9.99995767e-01 -1.40655772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:22.37, Z:-1.41 [[ 8.10688405e-01 -5.85474962e-01 1.83829680e-03 9.45447279e+01] [ 5.85473545e-01 8.10690489e-01 1.28817359e-03 2.23747713e+01] [-2.24448311e-03 3.19667530e-05 9.99997481e-01 -1.40648058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:22.39, Z:-1.41 [[ 8.11567843e-01 -5.84255557e-01 1.75497533e-03 9.45666638e+01] [ 5.84254266e-01 8.11569740e-01 1.22860783e-03 2.23922741e+01] [-2.14210583e-03 2.82532165e-05 9.99997705e-01 -1.40634679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:22.41, Z:-1.41 [[ 8.14093498e-01 -5.80730453e-01 1.97897427e-03 9.45878419e+01] [ 5.80728799e-01 8.14095903e-01 1.38639195e-03 2.24116614e+01] [-2.41619487e-03 2.05946775e-05 9.99997081e-01 -1.40645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:22.43, Z:-1.41 [[ 8.15190722e-01 -5.79189037e-01 2.03611951e-03 9.46084668e+01] [ 5.79187274e-01 8.15193265e-01 1.42884552e-03 2.24288358e+01] [-2.48740257e-03 1.45128946e-05 9.99996906e-01 -1.40682819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:22.45, Z:-1.41 [[ 8.16056845e-01 -5.77968776e-01 1.82176499e-03 9.46302679e+01] [ 5.77967365e-01 8.16058879e-01 1.27732937e-03 2.24466151e+01] [-2.22492399e-03 1.05473311e-05 9.99997525e-01 -1.40746637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:22.47, Z:-1.41 [[ 8.15410812e-01 -5.78861373e-01 4.97188138e-03 9.46462596e+01] [ 5.78871432e-01 8.15418476e-01 -7.57392491e-04 2.24678623e+01] [-3.61573868e-03 3.49566612e-03 9.99987353e-01 -1.41260052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.67, Y:22.48, Z:-1.41 [[ 8.15480270e-01 -5.78780553e-01 2.23632291e-03 9.46687877e+01] [ 5.78775779e-01 8.15483029e-01 2.45496561e-03 2.24835634e+01] [-3.24456973e-03 -7.07646484e-04 9.99994486e-01 -1.41161273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:22.50, Z:-1.41 [[ 8.17422160e-01 -5.76037345e-01 -1.41038924e-03 9.46966935e+01] [ 5.76039000e-01 8.17418382e-01 2.50178304e-03 2.24987613e+01] [-2.88242373e-04 -2.85745210e-03 9.99995876e-01 -1.40825628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:22.52, Z:-1.41 [[ 8.17016160e-01 -5.76614744e-01 -1.75901547e-04 9.47174344e+01] [ 5.76614731e-01 8.17016179e-01 -1.25293117e-04 2.25165642e+01] [ 2.15960268e-04 9.39078329e-07 9.99999977e-01 -1.40919118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:22.53, Z:-1.41 [[ 8.16325860e-01 -5.77591291e-01 -6.24847093e-04 9.47402695e+01] [ 5.77591121e-01 8.16326099e-01 -4.43414923e-04 2.25334015e+01] [ 7.66191588e-04 1.06493582e-06 9.99999706e-01 -1.40863807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:22.55, Z:-1.41 [[ 8.16172613e-01 -5.77807819e-01 -6.24833459e-04 9.47635964e+01] [ 5.77807649e-01 8.16172852e-01 -4.43433629e-04 2.25499112e+01] [ 7.66191524e-04 8.84831367e-07 9.99999706e-01 -1.40892278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:22.57, Z:-1.41 [[ 8.15449688e-01 -5.78827449e-01 -7.69352167e-04 9.47854323e+01] [ 5.78827193e-01 8.15450050e-01 -5.43642462e-04 2.25663372e+01] [ 9.42043443e-04 -2.00888009e-06 9.99999556e-01 -1.40897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:22.58, Z:-1.41 [[ 8.14225525e-01 -5.80548163e-01 -7.90550390e-04 9.48074826e+01] [ 5.80547892e-01 8.14225909e-01 -5.60938736e-04 2.25845441e+01] [ 9.69338562e-04 -2.22172570e-06 9.99999530e-01 -1.40883161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:22.60, Z:-1.41 [[ 8.13740472e-01 -5.81228227e-01 -4.38136096e-04 9.48289057e+01] [ 5.81228144e-01 8.13740590e-01 -3.10536596e-04 2.26009264e+01] [ 5.37021760e-04 -1.96083320e-06 9.99999856e-01 -1.40906376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:22.62, Z:-1.41 [[ 8.13252856e-01 -5.81910410e-01 -2.58813048e-04 9.48514735e+01] [ 5.81910380e-01 8.13252897e-01 -1.86136843e-04 2.26176375e+01] [ 3.18795427e-04 7.70320040e-07 9.99999949e-01 -1.40922508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:22.63, Z:-1.41 [[ 8.12467521e-01 -5.83006301e-01 4.25158183e-04 9.48730086e+01] [ 5.83006225e-01 8.12467632e-01 2.97796298e-04 2.26337930e+01] [-5.19044380e-04 5.92004720e-06 9.99999865e-01 -1.40922939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:22.65, Z:-1.41 [[ 8.12100158e-01 -5.83517375e-01 8.98208772e-04 9.48956998e+01] [ 5.83517034e-01 8.12100655e-01 6.31012339e-04 2.26505100e+01] [-1.09764260e-03 1.16748982e-05 9.99999398e-01 -1.40944350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:22.67, Z:-1.41 [[ 8.12251978e-01 -5.83304830e-01 1.48322508e-03 9.49169675e+01] [ 5.83303891e-01 8.12253332e-01 1.04656247e-03 2.26678189e+01] [-1.81521946e-03 1.50985250e-05 9.99998352e-01 -1.41034146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:22.68, Z:-1.41 [[ 8.12466324e-01 -5.83005394e-01 1.78381290e-03 9.49386530e+01] [ 5.83004034e-01 8.12468282e-01 1.25932544e-03 2.26841799e+01] [-2.18348493e-03 1.68106023e-05 9.99997616e-01 -1.41066622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:22.70, Z:-1.41 [[ 8.12662429e-01 -5.82730364e-01 2.25827553e-03 9.49614111e+01] [ 5.82728185e-01 8.12665566e-01 1.59373106e-03 2.27008130e+01] [-2.76393824e-03 2.07954507e-05 9.99996180e-01 -1.41100141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:22.72, Z:-1.42 [[ 8.10651490e-01 -5.85388892e-01 1.28064882e-02 9.49729349e+01] [ 5.85475471e-01 8.10679160e-01 -4.21567130e-03 2.27237912e+01] [-7.91414598e-03 1.09153250e-02 9.99909107e-01 -1.42115566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:22.74, Z:-1.42 [[ 8.11346335e-01 -5.84500300e-01 8.74777887e-03 9.49981341e+01] [ 5.84505291e-01 8.11386802e-01 2.24095275e-03 2.27381592e+01] [-8.40766988e-03 3.29493423e-03 9.99959226e-01 -1.41969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:22.75, Z:-1.42 [[ 8.12087498e-01 -5.83511449e-01 5.31830119e-03 9.50217957e+01] [ 5.83489963e-01 8.12104231e-01 5.11676098e-03 2.27531987e+01] [-7.30470351e-03 -1.05208226e-03 9.99972767e-01 -1.41803242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:22.76, Z:-1.41 [[ 8.14916399e-01 -5.79549583e-01 -5.79162553e-03 9.50545064e+01] [ 5.79575437e-01 8.14838775e-01 1.14054325e-02 2.27645604e+01] [-1.89077257e-03 -1.26511578e-02 9.99918183e-01 -1.40805126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:22.79, Z:-1.42 [[ 8.13250105e-01 -5.81889326e-01 5.39251615e-03 9.50676800e+01] [ 5.81903445e-01 8.13256632e-01 -1.42498021e-03 2.27877577e+01] [-3.55631875e-03 4.29678903e-03 9.99984445e-01 -1.41747605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:22.80, Z:-1.41 [[ 8.14687638e-01 -5.79897906e-01 -1.57198988e-03 9.50980597e+01] [ 5.79898878e-01 8.14677602e-01 4.20670001e-03 2.27996238e+01] [-1.15879158e-03 -4.33874166e-03 9.99989916e-01 -1.41157796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:22.82, Z:-1.41 [[ 8.14192877e-01 -5.80593657e-01 9.81929750e-04 9.51203021e+01] [ 5.80593245e-01 8.14193469e-01 6.91401704e-04 2.28174359e+01] [-1.20090423e-03 7.16743779e-06 9.99999279e-01 -1.41344633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:22.83, Z:-1.41 [[ 8.13336933e-01 -5.81790246e-01 1.77297901e-03 9.51433588e+01] [ 5.81788900e-01 8.13338865e-01 1.25168621e-03 2.28335197e+01] [-2.17025156e-03 1.34568807e-05 9.99997645e-01 -1.41408396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:22.85, Z:-1.41 [[ 8.12923200e-01 -5.82363872e-01 2.86202490e-03 9.51662994e+01] [ 5.82360356e-01 8.12928238e-01 2.02362061e-03 2.28501431e+01] [-3.50510439e-03 2.16816970e-05 9.99993857e-01 -1.41460738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:22.87, Z:-1.41 [[ 8.13095152e-01 -5.82121501e-01 3.29136768e-03 9.51882121e+01] [ 5.82116838e-01 8.13101813e-01 2.33004437e-03 2.28653728e+01] [-4.03258595e-03 2.14127696e-05 9.99991869e-01 -1.41453144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:22.88, Z:-1.41 [[ 8.14035701e-01 -5.80799600e-01 4.20736058e-03 9.52113922e+01] [ 5.80791961e-01 8.14046574e-01 2.97888330e-03 2.28814753e+01] [-5.15512170e-03 1.86838434e-05 9.99986712e-01 -1.41464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:22.90, Z:-1.41 [[ 8.14932198e-01 -5.79540260e-01 4.31276170e-03 9.52339788e+01] [ 5.79532206e-01 8.14943610e-01 3.05541151e-03 2.28973088e+01] [-5.28539156e-03 9.43108160e-06 9.99986032e-01 -1.41483905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:22.92, Z:-1.42 [[ 8.14162268e-01 -5.80559436e-01 9.51541537e-03 9.52498465e+01] [ 5.80584524e-01 8.14199968e-01 1.53543283e-04 2.29163221e+01] [-7.83659188e-03 5.39949375e-03 9.99954716e-01 -1.42081884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:22.93, Z:-1.41 [[ 8.19447631e-01 -5.73153417e-01 -8.60481430e-04 9.52802294e+01] [ 5.73147151e-01 8.19429452e-01 6.14135515e-03 2.29285478e+01] [-2.81483486e-03 -5.52570141e-03 9.99980771e-01 -1.41457751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:22.95, Z:-1.42 [[ 8.21337996e-01 -5.70438668e-01 1.90326599e-03 9.53010358e+01] [ 5.70437075e-01 8.21340201e-01 1.34828505e-03 2.29470273e+01] [-2.33234280e-03 -2.17042571e-05 9.99997280e-01 -1.41762656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:22.96, Z:-1.42 [[ 8.23065053e-01 -5.67945436e-01 1.37840267e-03 9.53241242e+01] [ 5.67944598e-01 8.23066207e-01 9.76149416e-04 2.29637754e+01] [-1.68891626e-03 -2.05781209e-05 9.99998574e-01 -1.41784478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:22.98, Z:-1.42 [[ 8.25908467e-01 -5.63802429e-01 1.42350475e-03 9.53464779e+01] [ 5.63801524e-01 8.25909693e-01 1.01027078e-03 2.29787883e+01] [-1.74527949e-03 -3.18170409e-05 9.99998476e-01 -1.41772022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:22.99, Z:-1.42 [[ 8.26612544e-01 -5.62769541e-01 1.46467479e-03 9.53694226e+01] [ 5.62768584e-01 8.26613841e-01 1.03837466e-03 2.29945958e+01] [-1.79508608e-03 -3.40605604e-05 9.99998388e-01 -1.41805386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:23.01, Z:-1.42 [[ 8.26995300e-01 -5.62205807e-01 1.84532070e-03 9.53919710e+01] [ 5.62204280e-01 8.26997357e-01 1.31120494e-03 2.30098423e+01] [-2.26324238e-03 -4.69131284e-05 9.99997438e-01 -1.41821365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:23.02, Z:-1.42 [[ 8.26374439e-01 -5.63114850e-01 2.63684664e-03 9.54159745e+01] [ 5.63111736e-01 8.26378643e-01 1.87357844e-03 2.30246385e+01] [-3.23407359e-03 -6.34380417e-05 9.99994768e-01 -1.41879283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:23.04, Z:-1.42 [[ 8.25448272e-01 -5.64468672e-01 3.20448853e-03 9.54383570e+01] [ 5.64464072e-01 8.25454489e-01 2.27997327e-03 2.30391094e+01] [-3.93213292e-03 -7.31813473e-05 9.99992266e-01 -1.41951721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:23.05, Z:-1.42 [[ 8.24273504e-01 -5.66179338e-01 3.76141973e-03 9.54623290e+01] [ 5.66173017e-01 8.24282083e-01 2.67628165e-03 2.30538830e+01] [-4.61572626e-03 -7.63736957e-05 9.99989345e-01 -1.41958939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:23.07, Z:-1.42 [[ 8.22145681e-01 -5.69257327e-01 4.75129034e-03 9.54883699e+01] [ 5.69247277e-01 8.22159407e-01 3.38349679e-03 2.30663084e+01] [-5.83239838e-03 -7.70681871e-05 9.99982988e-01 -1.41872153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:23.08, Z:-1.42 [[ 8.21045710e-01 -5.70841340e-01 4.90984861e-03 9.55117516e+01] [ 5.70830620e-01 8.21060387e-01 3.49922500e-03 2.30805674e+01] [-6.02878449e-03 -7.03317496e-05 9.99981824e-01 -1.41822800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:23.10, Z:-1.42 [[ 8.20053405e-01 -5.72264732e-01 5.04868247e-03 9.55355088e+01] [ 5.72253420e-01 8.20068944e-01 3.59861374e-03 2.30952824e+01] [-6.19962743e-03 -6.19296413e-05 9.99980780e-01 -1.41844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:23.11, Z:-1.42 [[ 8.18952798e-01 -5.73848559e-01 3.76116093e-03 9.55598441e+01] [ 5.73842294e-01 8.18961434e-01 2.68170134e-03 2.31086931e+01] [-4.61913619e-03 -3.78735986e-05 9.99989331e-01 -1.41857282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:23.12, Z:-1.42 [[ 8.18749642e-01 -5.74142986e-01 2.97575630e-03 9.55834980e+01] [ 5.74139064e-01 8.18755050e-01 2.12233967e-03 2.31236046e+01] [-3.65494194e-03 -2.91669113e-05 9.99993320e-01 -1.41904335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:23.14, Z:-1.42 [[ 8.18738792e-01 -5.74162585e-01 2.02903104e-03 9.56076373e+01] [ 5.74160762e-01 8.18741306e-01 1.44700572e-03 2.31384930e+01] [-2.49206807e-03 -1.97297103e-05 9.99996895e-01 -1.41968287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:23.15, Z:-1.42 [[ 8.19309515e-01 -5.73351471e-01 9.75821555e-05 9.56327579e+01] [ 5.73351467e-01 8.19309521e-01 6.67263995e-05 2.31508278e+01] [-1.18207668e-04 1.27929802e-06 9.99999993e-01 -1.41976007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:23.17, Z:-1.42 [[ 8.19392874e-01 -5.73232068e-01 -5.60621280e-04 9.56566482e+01] [ 5.73231925e-01 8.19393066e-01 -4.04183732e-04 2.31655093e+01] [ 6.91060266e-04 9.81925448e-06 9.99999761e-01 -1.42004385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:23.18, Z:-1.42 [[ 8.19412471e-01 -5.73203181e-01 -1.14723178e-03 9.56797786e+01] [ 5.73202592e-01 8.19413273e-01 -8.22380571e-04 2.31798765e+01] [ 1.41144811e-03 1.62726637e-05 9.99999004e-01 -1.42068685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:23.19, Z:-1.42 [[ 8.19243533e-01 -5.73442680e-01 -1.87810526e-03 9.57047288e+01] [ 5.73441101e-01 8.19245685e-01 -1.34577963e-03 2.31916207e+01] [ 2.31035711e-03 2.55385085e-05 9.99997331e-01 -1.42129123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:23.21, Z:-1.42 [[ 8.18720117e-01 -5.74188242e-01 -2.28749998e-03 9.57297431e+01] [ 5.74185896e-01 8.18723312e-01 -1.64145683e-03 2.32057158e+01] [ 2.81533477e-03 3.04435002e-05 9.99996036e-01 -1.42114273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:23.22, Z:-1.42 [[ 8.17795241e-01 -5.75505441e-01 -2.10493567e-03 9.57567101e+01] [ 5.75503462e-01 8.17797950e-01 -1.50937414e-03 2.32152286e+01] [ 2.59006511e-03 2.29612222e-05 9.99996646e-01 -1.42005504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:23.23, Z:-1.42 [[ 8.17046714e-01 -5.76567768e-01 -2.06797476e-03 9.57806790e+01] [ 5.76565858e-01 8.17049330e-01 -1.48418298e-03 2.32274917e+01] [ 2.54536946e-03 2.03231865e-05 9.99996760e-01 -1.41920028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:23.24, Z:-1.42 [[ 8.16126938e-01 -5.77870211e-01 -1.68531840e-03 9.58057953e+01] [ 5.77868942e-01 8.16128678e-01 -1.21151786e-03 2.32407976e+01] [ 2.07553676e-03 1.48592026e-05 9.99997846e-01 -1.41861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:23.25, Z:-1.42 [[ 8.15264872e-01 -5.79086779e-01 -1.30031848e-03 9.58306938e+01] [ 5.79086023e-01 8.15265909e-01 -9.35935414e-04 2.32544144e+01] [ 1.60209315e-03 1.00390104e-05 9.99998717e-01 -1.41871171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:23.26, Z:-1.42 [[ 8.13879938e-01 -5.81032988e-01 -3.37842280e-04 9.58574679e+01] [ 5.81032936e-01 8.13880008e-01 -2.45616936e-04 2.32648940e+01] [ 4.17674619e-04 3.60520504e-06 9.99999913e-01 -1.41933181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:23.28, Z:-1.42 [[ 8.13373075e-01 -5.81742390e-01 1.79082601e-04 9.58830037e+01] [ 5.81742377e-01 8.13373095e-01 1.25579611e-04 2.32774427e+01] [-2.18715953e-04 2.03686350e-06 9.99999976e-01 -1.41896779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:23.29, Z:-1.42 [[ 8.12615138e-01 -5.82800160e-01 7.81437268e-04 9.59116134e+01] [ 5.82799892e-01 8.12615514e-01 5.58629487e-04 2.32862377e+01] [-9.60577402e-04 1.47077729e-06 9.99999539e-01 -1.41782567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:23.30, Z:-1.42 [[ 8.12486011e-01 -5.82980395e-01 5.84251603e-04 9.59366402e+01] [ 5.82980245e-01 8.12486221e-01 4.17153492e-04 2.32994811e+01] [-7.17888684e-04 1.67576599e-06 9.99999742e-01 -1.41810179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:23.31, Z:-1.42 [[ 8.12588024e-01 -5.82838383e-01 3.50139814e-04 9.59607031e+01] [ 5.82838329e-01 8.12588100e-01 2.50561976e-04 2.33128243e+01] [-4.30556583e-04 4.71243212e-07 9.99999907e-01 -1.41874391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:23.32, Z:-1.42 [[ 8.13690527e-01 -5.81297783e-01 -7.84069310e-04 9.59875493e+01] [ 5.81297506e-01 8.13690904e-01 -5.67438828e-04 2.33239172e+01] [ 9.67840998e-04 5.94206434e-06 9.99999532e-01 -1.41976012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:23.34, Z:-1.42 [[ 8.14440225e-01 -5.80245636e-01 -1.45655629e-03 9.60112148e+01] [ 5.80244686e-01 8.14441528e-01 -1.05003171e-03 2.33370453e+01] [ 1.79555625e-03 1.00290160e-05 9.99998388e-01 -1.42023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:23.35, Z:-1.42 [[ 8.17106848e-01 -5.76479494e-01 -2.79147650e-03 9.60366589e+01] [ 5.76475976e-01 8.17111615e-01 -2.01417343e-03 2.33490598e+01] [ 3.44207755e-03 3.65757608e-05 9.99994075e-01 -1.41910161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:23.36, Z:-1.42 [[ 8.18864681e-01 -5.73980737e-01 -2.59769460e-03 9.60589142e+01] [ 5.73977678e-01 8.18868800e-01 -1.87432699e-03 2.33649182e+01] [ 3.20299864e-03 4.38014578e-05 9.99994869e-01 -1.41894532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:23.38, Z:-1.42 [[ 8.19785146e-01 -5.72661426e-01 -3.34753862e-03 9.60812779e+01] [ 5.72656328e-01 8.19791978e-01 -2.41720114e-03 2.33827077e+01] [ 4.12852316e-03 6.45964168e-05 9.99991476e-01 -1.41898019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:23.40, Z:-1.42 [[ 8.20268851e-01 -5.71967400e-01 -3.50783397e-03 9.61023452e+01] [ 5.71961802e-01 8.20276349e-01 -2.53166388e-03 2.33994123e+01] [ 4.32542245e-03 7.02979870e-05 9.99990643e-01 -1.41956338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:23.42, Z:-1.42 [[ 8.19181316e-01 -5.73526608e-01 -3.03348467e-03 9.61238316e+01] [ 5.73522420e-01 8.19186930e-01 -2.19259450e-03 2.34180945e+01] [ 3.74250228e-03 5.63609807e-05 9.99992995e-01 -1.42018110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:23.43, Z:-1.42 [[ 8.17907152e-01 -5.75345153e-01 -2.41759341e-03 9.61453544e+01] [ 5.75342503e-01 8.17910724e-01 -1.74674049e-03 2.34338655e+01] [ 2.98235425e-03 3.77272923e-05 9.99995552e-01 -1.42000016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:23.45, Z:-1.42 [[ 8.16024216e-01 -5.78014516e-01 -1.92307299e-03 9.61684268e+01] [ 5.78012840e-01 8.16026481e-01 -1.39230516e-03 2.34496844e+01] [ 2.37405108e-03 2.45938464e-05 9.99997182e-01 -1.41947122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:23.46, Z:-1.42 [[ 8.11946939e-01 -5.83730617e-01 -8.57113421e-04 9.61924772e+01] [ 5.83730286e-01 8.11947392e-01 -6.21532897e-04 2.34631389e+01] [ 1.05873879e-03 4.32867060e-06 9.99999440e-01 -1.41861128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:23.48, Z:-1.42 [[ 8.09938166e-01 -5.86514851e-01 -7.05237646e-04 9.62158886e+01] [ 5.86514627e-01 8.09938473e-01 -5.13077255e-04 2.34785368e+01] [ 8.72126532e-04 1.92865630e-06 9.99999620e-01 -1.41865499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:23.50, Z:-1.42 [[ 8.08710408e-01 -5.88206896e-01 -3.50286376e-04 9.62387528e+01] [ 5.88206840e-01 8.08710484e-01 -2.56574702e-04 2.34955226e+01] [ 4.34199274e-04 1.45378929e-06 9.99999906e-01 -1.41846913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:23.51, Z:-1.42 [[ 8.08554420e-01 -5.88421300e-01 -3.50311153e-04 9.62618831e+01] [ 5.88421244e-01 8.08554496e-01 -2.56539893e-04 2.35123474e+01] [ 4.34199196e-04 1.29593993e-06 9.99999906e-01 -1.41872474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:23.53, Z:-1.42 [[ 8.06650828e-01 -5.91027717e-01 -8.24539068e-04 9.62842140e+01] [ 5.91027412e-01 8.06651249e-01 -6.00393736e-04 2.35302679e+01] [ 1.01996481e-03 -3.01708725e-06 9.99999480e-01 -1.41931915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:23.55, Z:-1.42 [[ 8.05810684e-01 -5.92170125e-01 -1.91937517e-03 9.63056358e+01] [ 5.92168487e-01 8.05812970e-01 -1.39300503e-03 2.35464129e+01] [ 2.37155337e-03 -1.40951564e-05 9.99997188e-01 -1.41977263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:23.56, Z:-1.42 [[ 8.04714301e-01 -5.93654547e-01 -3.02872824e-03 9.63280036e+01] [ 5.93650474e-01 8.04720000e-01 -2.19918648e-03 2.35634762e+01] [ 3.74283524e-03 -2.82891454e-05 9.99992995e-01 -1.42027108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:23.58, Z:-1.42 [[ 8.02673570e-01 -5.96406494e-01 -3.79918399e-03 9.63506893e+01] [ 5.96400112e-01 8.02682560e-01 -2.75943245e-03 2.35807372e+01] [ 4.69528216e-03 -5.09102620e-05 9.99988976e-01 -1.42065963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:23.60, Z:-1.42 [[ 8.01590625e-01 -5.97861517e-01 -3.75176958e-03 9.63724686e+01] [ 5.97855314e-01 8.01599403e-01 -2.72396954e-03 2.35968151e+01] [ 4.63597282e-03 -5.95069344e-05 9.99989252e-01 -1.42085372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:23.61, Z:-1.42 [[ 8.00566121e-01 -5.99233253e-01 -3.65987502e-03 9.63954148e+01] [ 5.99227349e-01 8.00574484e-01 -2.66061489e-03 2.36136145e+01] [ 4.52433147e-03 -6.30990647e-05 9.99989763e-01 -1.42127028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:23.63, Z:-1.42 [[ 7.98722135e-01 -6.01692616e-01 -2.99105082e-03 9.64166426e+01] [ 6.01688693e-01 7.98727733e-01 -2.17376209e-03 2.36300880e+01] [ 3.69697184e-03 -6.34495568e-05 9.99993164e-01 -1.42198700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:23.65, Z:-1.42 [[ 7.98179776e-01 -6.02413406e-01 -2.67070973e-03 9.64394666e+01] [ 6.02410272e-01 7.98184242e-01 -1.94402111e-03 2.36470511e+01] [ 3.30282280e-03 -5.71846405e-05 9.99994544e-01 -1.42205944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:23.66, Z:-1.42 [[ 7.97788776e-01 -6.02932907e-01 -2.23119273e-03 9.64612287e+01] [ 6.02930721e-01 7.97791895e-01 -1.62425767e-03 2.36634464e+01] [ 2.75934587e-03 -4.94401048e-05 9.99996192e-01 -1.42236276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:23.68, Z:-1.42 [[ 7.97720520e-01 -6.03023736e-01 -2.08463240e-03 9.64837611e+01] [ 6.03021823e-01 7.97723242e-01 -1.51953313e-03 2.36803832e+01] [ 2.57927426e-03 -4.49160751e-05 9.99996673e-01 -1.42246201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:23.70, Z:-1.42 [[ 7.97961833e-01 -6.02705249e-01 -1.81523654e-03 9.65060168e+01] [ 6.02703795e-01 7.97963897e-01 -1.32441330e-03 2.36979155e+01] [ 2.24672407e-03 -3.72186919e-05 9.99997475e-01 -1.42275136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:23.71, Z:-1.42 [[ 7.97940002e-01 -6.02734859e-01 -1.56281582e-03 9.65281262e+01] [ 6.02733779e-01 7.97941532e-01 -1.14135554e-03 2.37144864e+01] [ 1.93497042e-03 -3.12286442e-05 9.99998127e-01 -1.42310300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:23.73, Z:-1.42 [[ 7.97927409e-01 -6.02751712e-01 -1.49117282e-03 9.65508551e+01] [ 6.02750727e-01 7.97928802e-01 -1.08982345e-03 2.37312226e+01] [ 1.84674270e-03 -2.92055013e-05 9.99998294e-01 -1.42338665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:96.57, Y:23.75, Z:-1.43 [[ 7.97724838e-01 -6.03019354e-01 -1.65595762e-03 9.65731368e+01] [ 6.03018144e-01 7.97726556e-01 -1.20844325e-03 2.37468596e+01] [ 2.04971604e-03 -3.45672897e-05 9.99997899e-01 -1.42531729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:23.76, Z:-1.42 [[ 7.97590960e-01 -6.03197059e-01 -1.40279975e-03 9.65964845e+01] [ 6.03196187e-01 7.97592194e-01 -1.02622508e-03 2.37633167e+01] [ 1.73787808e-03 -2.76556116e-05 9.99998490e-01 -1.42276759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:23.78, Z:-1.42 [[ 7.96911194e-01 -6.04095411e-01 -1.13248030e-03 9.66189063e+01] [ 6.04094842e-01 7.96911999e-01 -8.29645982e-04 2.37797618e+01] [ 1.40367247e-03 -2.29713393e-05 9.99999015e-01 -1.42316133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:23.80, Z:-1.42 [[ 7.96483114e-01 -6.04659875e-01 -1.04114727e-03 9.66404520e+01] [ 6.04659397e-01 7.96483794e-01 -7.61391629e-04 2.37957719e+01] [ 1.28963990e-03 -2.31039071e-05 9.99999168e-01 -1.42390396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:23.81, Z:-1.42 [[ 7.95692579e-01 -6.05699851e-01 -1.00521438e-03 9.66630913e+01] [ 6.05699403e-01 7.95693213e-01 -7.37356669e-04 2.38124372e+01] [ 1.24645909e-03 -2.21485220e-05 9.99999223e-01 -1.42436615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05762800000001 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:96.69, Y:23.83, Z:-1.43 [[ 7.94307251e-01 -6.07514311e-01 -1.53396989e-03 9.66860077e+01] [ 6.07513272e-01 7.94308731e-01 -1.12425008e-03 2.38282377e+01] [ 1.90144369e-03 -3.89070753e-05 9.99998191e-01 -1.42689891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:23.84, Z:-1.42 [[ 7.94082738e-01 -6.07808610e-01 -1.13993372e-03 9.67081801e+01] [ 6.07808036e-01 7.94083556e-01 -8.35594049e-04 2.38439409e+01] [ 1.41308388e-03 -2.93300656e-05 9.99999001e-01 -1.42459211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:23.86, Z:-1.42 [[ 7.93694341e-01 -6.08316473e-01 -6.01650878e-04 9.67311733e+01] [ 6.08316312e-01 7.93694569e-01 -4.43229577e-04 2.38605640e+01] [ 7.47150887e-04 -1.42052364e-05 9.99999721e-01 -1.42490255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:23.88, Z:-1.43 [[ 7.93528989e-01 -6.08532447e-01 6.21741205e-05 9.67526475e+01] [ 6.08532446e-01 7.93528992e-01 4.41622705e-05 2.38761993e+01] [-7.62111418e-05 2.79092772e-06 9.99999997e-01 -1.42511797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:23.89, Z:-1.42 [[ 7.93709178e-01 -6.08296334e-01 1.14479692e-03 9.67750931e+01] [ 6.08295762e-01 7.93710003e-01 8.35114830e-04 2.38926183e+01] [-1.41663405e-03 3.35368072e-05 9.99998996e-01 -1.42496379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:23.91, Z:-1.43 [[ 7.93595093e-01 -6.08444659e-01 1.38766497e-03 9.67974551e+01] [ 6.08443816e-01 7.93596305e-01 1.01349724e-03 2.39088135e+01] [-1.71790277e-03 4.00097354e-05 9.99998524e-01 -1.42518460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:23.92, Z:-1.43 [[ 7.93498307e-01 -6.08570555e-01 1.52203340e-03 9.68194641e+01] [ 6.08569537e-01 7.93499766e-01 1.11398797e-03 2.39247438e+01] [-1.88567342e-03 4.23155944e-05 9.99998221e-01 -1.42540804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:23.94, Z:-1.43 [[ 7.93061525e-01 -6.09139353e-01 1.63298174e-03 9.68419537e+01] [ 6.09138181e-01 7.93063205e-01 1.19562751e-03 2.39402750e+01] [-2.02336150e-03 4.65053505e-05 9.99997952e-01 -1.42590725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:23.96, Z:-1.43 [[ 7.92621857e-01 -6.09711924e-01 1.40036302e-03 9.68650227e+01] [ 6.09711066e-01 7.92623093e-01 1.02401149e-03 2.39567408e+01] [-1.73431209e-03 4.21629359e-05 9.99998495e-01 -1.42636229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:23.97, Z:-1.43 [[ 7.92239475e-01 -6.10209846e-01 7.46994978e-04 9.68881056e+01] [ 6.10209603e-01 7.92239827e-01 5.45042897e-04 2.39731161e+01] [-9.24389714e-04 2.40190110e-05 9.99999572e-01 -1.42684793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:23.99, Z:-1.43 [[ 7.92402723e-01 -6.09998079e-01 5.18414409e-04 9.69098283e+01] [ 6.09997961e-01 7.92402892e-01 3.79171617e-04 2.39891288e+01] [-6.42087035e-04 1.57751101e-05 9.99999794e-01 -1.42702917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:24.01, Z:-1.43 [[ 7.92482521e-01 -6.09894559e-01 2.83518219e-04 9.69317434e+01] [ 6.09894524e-01 7.92482572e-01 2.06826551e-04 2.40055070e+01] [-3.50825635e-04 9.00978272e-06 9.99999938e-01 -1.42707216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:24.02, Z:-1.43 [[ 7.92370171e-01 -6.10039977e-01 8.59342911e-04 9.69539514e+01] [ 6.10039654e-01 7.92370637e-01 6.28116533e-04 2.40222248e+01] [-1.06409428e-03 2.65324470e-05 9.99999433e-01 -1.42734886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:24.04, Z:-1.43 [[ 7.92077013e-01 -6.10419320e-01 1.50267718e-03 9.69758047e+01] [ 6.10418326e-01 7.92078438e-01 1.10283030e-03 2.40389049e+01] [-1.86342711e-03 4.37351593e-05 9.99998263e-01 -1.42764852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:24.06, Z:-1.43 [[ 7.91387984e-01 -6.11310336e-01 2.17535117e-03 9.69978212e+01] [ 6.11308256e-01 7.91390971e-01 1.59632942e-03 2.40560030e+01] [-2.69740595e-03 6.64942083e-05 9.99996360e-01 -1.42818211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:24.07, Z:-1.43 [[ 7.90435961e-01 -6.12537668e-01 2.93185962e-03 9.70197872e+01] [ 6.12533889e-01 7.90441393e-01 2.15382792e-03 2.40729004e+01] [-3.63676394e-03 9.34003369e-05 9.99993383e-01 -1.42888273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:24.09, Z:-1.43 [[ 7.88945674e-01 -6.14453964e-01 3.32423863e-03 9.70424688e+01] [ 6.14449114e-01 7.88952669e-01 2.44392286e-03 2.40898863e+01] [-4.12434503e-03 1.14453112e-04 9.99991488e-01 -1.42838420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:24.11, Z:-1.43 [[ 7.88102251e-01 -6.15534180e-01 3.53766599e-03 9.70638781e+01] [ 6.15528688e-01 7.88110181e-01 2.60308928e-03 2.41063988e+01] [-4.39036101e-03 1.26034388e-04 9.99990354e-01 -1.42836678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:24.12, Z:-1.43 [[ 7.87166007e-01 -6.16729195e-01 3.84425340e-03 9.70859954e+01] [ 6.16722720e-01 7.87175381e-01 2.82955429e-03 2.41237957e+01] [-4.77117037e-03 1.43509460e-04 9.99988608e-01 -1.42845187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:24.14, Z:-1.43 [[ 7.85452548e-01 -6.18900919e-01 5.09377663e-03 9.71075727e+01] [ 6.18889578e-01 7.85469038e-01 3.75243908e-03 2.41412852e+01] [-6.32339183e-03 2.05122432e-04 9.99979986e-01 -1.42860936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:24.16, Z:-1.43 [[ 7.84497169e-01 -6.20108258e-01 5.47180863e-03 9.71297555e+01] [ 6.20095181e-01 7.84516218e-01 4.03352554e-03 2.41588374e+01] [-6.79394510e-03 2.28752799e-04 9.99976895e-01 -1.42872025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:24.18, Z:-1.43 [[ 7.83923587e-01 -6.20829879e-01 5.83696021e-03 9.71513597e+01] [ 6.20814998e-01 7.83945278e-01 4.30576468e-03 2.41758723e+01] [-7.24900477e-03 2.48281941e-04 9.99973695e-01 -1.42902263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:24.19, Z:-1.43 [[ 7.83561624e-01 -6.21287637e-01 5.73178960e-03 9.71730374e+01] [ 6.21273294e-01 7.83582549e-01 4.22886069e-03 2.41942670e+01] [-7.11866917e-03 2.47434856e-04 9.99974631e-01 -1.42973049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:24.21, Z:-1.43 [[ 7.83626414e-01 -6.21208556e-01 5.43814015e-03 9.71951832e+01] [ 6.21195628e-01 7.83645249e-01 4.01440981e-03 2.42114591e+01] [-6.75535841e-03 2.32351324e-04 9.99977155e-01 -1.43034293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:24.23, Z:-1.43 [[ 7.84021904e-01 -6.20712133e-01 5.10897007e-03 9.72172817e+01] [ 6.20700700e-01 7.84038521e-01 3.77346292e-03 2.42286508e+01] [-6.34786356e-03 2.12663710e-04 9.99979829e-01 -1.43080985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:24.25, Z:-1.43 [[ 7.85045768e-01 -6.19420729e-01 4.59384721e-03 9.72378567e+01] [ 6.19411449e-01 7.85059188e-01 3.39536083e-03 2.42466137e+01] [-5.70959884e-03 1.79967903e-04 9.99983684e-01 -1.43207209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:24.26, Z:-1.43 [[ 7.85499840e-01 -6.18849008e-01 3.98830192e-03 9.72603810e+01] [ 6.18842008e-01 7.85509950e-01 2.94757637e-03 2.42641827e+01] [-4.95695555e-03 1.52808004e-04 9.99987703e-01 -1.43290154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:24.28, Z:-1.43 [[ 7.86117408e-01 -6.18070051e-01 2.97198178e-03 9.72815440e+01] [ 6.18066152e-01 7.86123018e-01 2.19801447e-03 2.42806480e+01] [-3.69487021e-03 1.08983909e-04 9.99993168e-01 -1.43358112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:24.30, Z:-1.43 [[ 7.86121202e-01 -6.18066185e-01 2.76521414e-03 9.73042314e+01] [ 6.18062812e-01 7.86126059e-01 2.04443120e-03 2.42974043e+01] [-3.43740068e-03 1.01905315e-04 9.99994087e-01 -1.43363385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:24.31, Z:-1.43 [[ 7.86083613e-01 -6.18114828e-01 2.57139556e-03 9.73258709e+01] [ 6.18111905e-01 7.86087814e-01 1.90318649e-03 2.43137320e+01] [-3.19773051e-03 9.33464983e-05 9.99994883e-01 -1.43386027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:24.33, Z:-1.43 [[ 7.85793691e-01 -6.18483860e-01 2.44756201e-03 9.73483919e+01] [ 6.18481216e-01 7.85797497e-01 1.81078255e-03 2.43306931e+01] [-3.04322789e-03 9.08696237e-05 9.99995365e-01 -1.43397563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:24.35, Z:-1.43 [[ 7.85534320e-01 -6.18809979e-01 3.16894923e-03 9.73712963e+01] [ 6.18805540e-01 7.85540703e-01 2.34676954e-03 2.43476222e+01] [-3.94154301e-03 1.17495319e-04 9.99992225e-01 -1.43436477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:24.36, Z:-1.43 [[ 7.85467652e-01 -6.18892200e-01 3.60737044e-03 9.73940393e+01] [ 6.18886440e-01 7.85475924e-01 2.67339980e-03 2.43648627e+01] [-4.48804891e-03 1.32683584e-04 9.99989920e-01 -1.43498745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:24.38, Z:-1.44 [[ 7.85636382e-01 -6.18677138e-01 3.75144829e-03 9.74169577e+01] [ 6.18670899e-01 7.85645327e-01 2.78192233e-03 2.43818837e+01] [-4.66841957e-03 1.35332490e-04 9.99989094e-01 -1.43527970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:24.40, Z:-1.44 [[ 7.86054435e-01 -6.18145684e-01 3.78654534e-03 9.74391039e+01] [ 6.18139309e-01 7.86063544e-01 2.81043860e-03 2.43981450e+01] [-4.71372574e-03 1.31454789e-04 9.99988882e-01 -1.43561834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.46, Y:24.41, Z:-1.44 [[ 7.87592162e-01 -6.16187364e-01 3.42327452e-03 9.74614284e+01] [ 6.16182136e-01 7.87599594e-01 2.54044003e-03 2.44145409e+01] [-4.26155667e-03 1.08529948e-04 9.99990914e-01 -1.43654245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:24.43, Z:-1.44 [[ 7.88948196e-01 -6.14449215e-01 3.59260662e-03 9.74844161e+01] [ 6.14443432e-01 7.88956369e-01 2.66776153e-03 2.44314748e+01] [-4.47361385e-03 1.02727892e-04 9.99989988e-01 -1.43575168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:24.45, Z:-1.44 [[ 7.90678757e-01 -6.12218351e-01 3.97414629e-03 9.75060860e+01] [ 6.12211233e-01 7.90688738e-01 2.95383269e-03 2.44475291e+01] [-4.95070330e-03 9.74842414e-05 9.99987740e-01 -1.43608184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:24.46, Z:-1.44 [[ 7.94909981e-01 -6.06713499e-01 4.10513919e-03 9.75288536e+01] [ 6.06705831e-01 7.94920578e-01 3.05119385e-03 2.44644351e+01] [-5.11446011e-03 6.51874375e-05 9.99986919e-01 -1.43551032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:24.48, Z:-1.44 [[ 7.97466921e-01 -6.03347101e-01 4.33420195e-03 9.75505853e+01] [ 6.03338487e-01 7.97478698e-01 3.22422473e-03 2.44807229e+01] [-5.40176037e-03 4.37782796e-05 9.99985409e-01 -1.43562739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:24.50, Z:-1.44 [[ 8.02107201e-01 -5.97161759e-01 4.67664730e-03 9.75730395e+01] [ 5.97151623e-01 8.02120835e-01 3.47935293e-03 2.44975986e+01] [-5.82897275e-03 1.85348412e-06 9.99983011e-01 -1.43611438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:24.51, Z:-1.44 [[ 8.04081727e-01 -5.94500725e-01 4.63289719e-03 9.75945851e+01] [ 5.94490718e-01 8.04095074e-01 3.44940079e-03 2.45133412e+01] [-5.77596107e-03 -1.93857688e-05 9.99983319e-01 -1.43644564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:24.53, Z:-1.44 [[ 8.07095249e-01 -5.90406140e-01 4.22465145e-03 9.76179243e+01] [ 5.90397763e-01 8.07106305e-01 3.14540520e-03 2.45289701e+01] [-5.26680937e-03 -4.44168242e-05 9.99986129e-01 -1.43697662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:24.54, Z:-1.44 [[ 8.08168171e-01 -5.88940869e-01 3.58596026e-03 9.76402940e+01] [ 5.88934811e-01 8.08176126e-01 2.67181120e-03 2.45449481e+01] [-4.47162628e-03 -4.73759427e-05 9.99990001e-01 -1.43777912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:24.56, Z:-1.44 [[ 8.08018203e-01 -5.89146607e-01 3.58600818e-03 9.76631671e+01] [ 5.89140550e-01 8.08026159e-01 2.67174715e-03 2.45621087e+01] [-4.47163919e-03 -4.61574992e-05 9.99990001e-01 -1.43803533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:24.58, Z:-1.44 [[ 8.08778473e-01 -5.88107208e-01 2.70084532e-03 9.76861104e+01] [ 5.88103766e-01 8.08782981e-01 2.01248433e-03 2.45778879e+01] [-3.36795426e-03 -3.92766985e-05 9.99994328e-01 -1.43863830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:24.59, Z:-1.44 [[ 8.09243802e-01 -5.87470039e-01 1.84971744e-03 9.77095386e+01] [ 5.87468424e-01 8.09245916e-01 1.37804761e-03 2.45931809e+01] [-2.30643797e-03 -2.85258995e-05 9.99997340e-01 -1.43938016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:24.61, Z:-1.44 [[ 8.09222265e-01 -5.87501890e-01 9.25129307e-04 9.77333048e+01] [ 5.87501487e-01 8.09222794e-01 6.88034791e-04 2.46087123e+01] [-1.15285746e-03 -1.32582289e-05 9.99999335e-01 -1.43999978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:24.62, Z:-1.44 [[ 8.08282965e-01 -5.88794209e-01 -1.69834503e-04 9.77568931e+01] [ 5.88794195e-01 8.08282982e-01 -1.29098875e-04 2.46218641e+01] [ 2.13287008e-04 4.35085232e-06 9.99999977e-01 -1.44132909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:24.64, Z:-1.45 [[ 8.05414509e-01 -5.92652447e-01 8.39909730e-03 9.77723821e+01] [ 5.92703582e-01 8.05397601e-01 -6.09657261e-03 2.46410117e+01] [-3.15146414e-03 9.88844310e-03 9.99946142e-01 -1.45145763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:24.65, Z:-1.44 [[ 8.06293106e-01 -5.91475778e-01 -6.91600563e-03 9.78072819e+01] [ 5.91514676e-01 8.06262534e-01 7.14944444e-03 2.46478039e+01] [ 1.34739301e-03 -9.85546659e-03 9.99950526e-01 -1.43643391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:24.67, Z:-1.44 [[ 8.05674088e-01 -5.92358973e-01 3.33184265e-04 9.78278290e+01] [ 5.92358922e-01 8.05674157e-01 2.46257435e-04 2.46672590e+01] [-4.14310753e-04 -1.03856247e-06 9.99999914e-01 -1.43943622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:24.69, Z:-1.44 [[ 8.05345282e-01 -5.92805145e-01 1.01789989e-03 9.78501635e+01] [ 5.92804659e-01 8.05345925e-01 7.59197997e-04 2.46851064e+01] [-1.26981800e-03 -8.00072994e-06 9.99999194e-01 -1.43953694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:24.70, Z:-1.44 [[ 8.04302259e-01 -5.94216395e-01 2.18014678e-03 9.78698775e+01] [ 5.94214154e-01 8.04305213e-01 1.63191892e-03 2.47043134e+01] [-2.72321639e-03 -1.70820008e-05 9.99996292e-01 -1.43960966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:24.72, Z:-1.44 [[ 8.03202513e-01 -5.95697219e-01 3.24745267e-03 9.78915960e+01] [ 5.95692258e-01 8.03209078e-01 2.43114820e-03 2.47225776e+01] [-4.05661169e-03 -1.82219270e-05 9.99991772e-01 -1.43974831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:24.74, Z:-1.44 [[ 8.01745783e-01 -5.97647875e-01 4.55150247e-03 9.79134736e+01] [ 5.97638143e-01 8.01758703e-01 3.41069913e-03 2.47402475e+01] [-5.68760380e-03 -1.43621596e-05 9.99983825e-01 -1.44001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:24.76, Z:-1.44 [[ 7.97755898e-01 -6.02946159e-01 6.43861290e-03 9.79366498e+01] [ 6.02926822e-01 7.97781880e-01 4.82896266e-03 2.47564551e+01] [-8.04821320e-03 2.96789685e-05 9.99967612e-01 -1.43902497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:24.77, Z:-1.44 [[ 7.95239380e-01 -6.06257348e-01 6.80856941e-03 9.79601889e+01] [ 6.06235819e-01 7.95268523e-01 5.10959632e-03 2.47721756e+01] [-8.51237125e-03 6.42464466e-05 9.99963767e-01 -1.43851709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:24.79, Z:-1.44 [[ 7.92628567e-01 -6.09668223e-01 6.67922227e-03 9.79836671e+01] [ 6.09647601e-01 7.92656703e-01 5.01539275e-03 2.47880104e+01] [-8.35205588e-03 9.66282640e-05 9.99965116e-01 -1.43855237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:24.80, Z:-1.44 [[ 7.88540704e-01 -6.14962403e-01 4.98009977e-03 9.80055799e+01] [ 6.14951032e-01 7.88556422e-01 3.74144901e-03 2.48039783e+01] [-6.22794013e-03 1.12232658e-04 9.99980600e-01 -1.43952427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:24.82, Z:-1.44 [[ 7.87296394e-01 -6.16561086e-01 4.10061895e-03 9.80268114e+01] [ 6.16553399e-01 7.87307067e-01 3.08048327e-03 2.48222232e+01] [-5.12775239e-03 1.02997179e-04 9.99986848e-01 -1.44111827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:24.84, Z:-1.44 [[ 7.86352985e-01 -6.17770020e-01 3.03054897e-03 9.80473646e+01] [ 6.17765825e-01 7.86358821e-01 2.27815511e-03 2.48404309e+01] [-3.79047484e-03 8.07355118e-05 9.99992813e-01 -1.44297882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:98.07, Y:24.86, Z:-1.45 [[ 7.84380019e-01 -6.20280165e-01 -7.08867577e-04 9.80683881e+01] [ 6.20279934e-01 7.84380339e-01 -5.36594368e-04 2.48593877e+01] [ 8.88860633e-04 -1.88024330e-05 9.99999605e-01 -1.44595775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:24.88, Z:-1.44 [[ 7.83564850e-01 -6.21309713e-01 -6.05012614e-04 9.80910205e+01] [ 6.21309544e-01 7.83565084e-01 -4.58719418e-04 2.48761990e+01] [ 7.59073589e-04 -1.64636992e-05 9.99999712e-01 -1.44342029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.11, Y:24.89, Z:-1.44 [[ 7.82318278e-01 -6.22878814e-01 -3.08798879e-04 9.81136897e+01] [ 6.22878769e-01 7.82318339e-01 -2.35888631e-04 2.48924974e+01] [ 3.88509057e-04 -7.80427838e-06 9.99999924e-01 -1.44255819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:24.91, Z:-1.44 [[ 7.82106622e-01 -6.23144507e-01 3.94139578e-04 9.81356383e+01] [ 6.23144438e-01 7.82106721e-01 2.93921590e-04 2.49096397e+01] [-4.91414837e-04 1.57278641e-05 9.99999879e-01 -1.44152049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:24.93, Z:-1.44 [[ 7.82073877e-01 -6.23185149e-01 8.49413850e-04 9.81560570e+01] [ 6.23184821e-01 7.82074338e-01 6.39172916e-04 2.49270407e+01] [-1.06262784e-03 2.94613778e-05 9.99999435e-01 -1.44163305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:98.18, Y:24.94, Z:-1.44 [[ 7.82488042e-01 -6.22665065e-01 8.25066178e-04 9.81764649e+01] [ 6.22664756e-01 7.82488477e-01 6.20994803e-04 2.49449277e+01] [-1.03227655e-03 2.78186228e-05 9.99999467e-01 -1.44392723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:24.96, Z:-1.44 [[ 7.85007046e-01 -6.19481131e-01 2.65842916e-03 9.81964944e+01] [ 6.19477896e-01 7.85011543e-01 2.00331821e-03 2.49645045e+01] [-3.32791541e-03 7.42191937e-05 9.99994460e-01 -1.44324754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:24.98, Z:-1.44 [[ 7.86355732e-01 -6.17766584e-01 3.01824006e-03 9.82174371e+01] [ 6.17762391e-01 7.86361521e-01 2.27729555e-03 2.49821685e+01] [-3.78026494e-03 7.37907909e-05 9.99992852e-01 -1.44330165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:25.00, Z:-1.44 [[ 7.87856264e-01 -6.15848129e-01 3.68630906e-03 9.82396281e+01] [ 6.15841852e-01 7.87864884e-01 2.78151839e-03 2.50002050e+01] [-4.61730635e-03 7.87467116e-05 9.99989337e-01 -1.44332279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:25.02, Z:-1.44 [[ 7.90920488e-01 -6.11903798e-01 4.30401133e-03 9.82617013e+01] [ 6.11895170e-01 7.90932196e-01 3.25004652e-03 2.50183231e+01] [-5.39289694e-03 6.30753688e-05 9.99985456e-01 -1.44278151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:25.04, Z:-1.44 [[ 7.92296212e-01 -6.10116410e-01 4.96776082e-03 9.82835615e+01] [ 6.10104864e-01 7.92311784e-01 3.75393831e-03 2.50357092e+01] [-6.22635481e-03 5.66239432e-05 9.99980614e-01 -1.44271522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:25.05, Z:-1.44 [[ 7.95379805e-01 -6.06082692e-01 5.89371178e-03 9.83033395e+01] [ 6.06066303e-01 7.95401641e-01 4.45713484e-03 2.50537470e+01] [-7.38926030e-03 2.68650659e-05 9.99972699e-01 -1.44341273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:25.07, Z:-1.44 [[ 7.96507861e-01 -6.04597862e-01 6.05421807e-03 9.83245837e+01] [ 6.04580518e-01 7.96530869e-01 4.57943916e-03 2.50718492e+01] [-7.59109070e-03 1.27030069e-05 9.99971187e-01 -1.44451196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:25.09, Z:-1.45 [[ 7.97520518e-01 -6.03264600e-01 5.73106936e-03 9.83466696e+01] [ 6.03249008e-01 7.97541110e-01 4.33732931e-03 2.50899753e+01] [-7.18732065e-03 -1.84721495e-06 9.99974171e-01 -1.44604620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:25.11, Z:-1.45 [[ 7.98247248e-01 -6.02318384e-01 3.72777409e-03 9.83680457e+01] [ 6.02311772e-01 7.98255952e-01 2.82222332e-03 2.51068287e+01] [-4.67559485e-03 -7.54977801e-06 9.99989069e-01 -1.44833097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:25.12, Z:-1.45 [[ 7.97727688e-01 -6.03010380e-01 3.00293350e-03 9.83905129e+01] [ 6.03006095e-01 7.97733340e-01 2.27332756e-03 2.51233728e+01] [-3.76638028e-03 -2.70913199e-06 9.99992907e-01 -1.44914334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:25.14, Z:-1.45 [[ 7.96901559e-01 -6.04104432e-01 2.39570300e-03 9.84119768e+01] [ 6.04101705e-01 7.96905161e-01 1.81524453e-03 2.51390759e+01] [-3.00574535e-03 6.77068379e-07 9.99995483e-01 -1.44970162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:25.15, Z:-1.45 [[ 7.95949572e-01 -6.05358682e-01 2.26797862e-03 9.84342033e+01] [ 6.05356242e-01 7.95952804e-01 1.71885337e-03 2.51549417e+01] [-2.84572675e-03 4.81440627e-06 9.99995951e-01 -1.45065161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:25.17, Z:-1.45 [[ 7.93734372e-01 -6.08258860e-01 2.62779900e-03 9.84576451e+01] [ 6.08255601e-01 7.93738722e-01 1.99116445e-03 2.51703668e+01] [-3.29692924e-03 1.79177924e-05 9.99994565e-01 -1.45127763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:25.19, Z:-1.45 [[ 7.92571293e-01 -6.09772023e-01 2.97077577e-03 9.84810781e+01] [ 6.09767863e-01 7.92576860e-01 2.25261680e-03 2.51865031e+01] [-3.72815084e-03 2.61241803e-05 9.99993050e-01 -1.45158826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:25.20, Z:-1.45 [[ 7.91519585e-01 -6.11135720e-01 3.14286880e-03 9.85043643e+01] [ 6.11131068e-01 7.91525824e-01 2.38471932e-03 2.52022188e+01] [-3.94504898e-03 3.31527207e-05 9.99992218e-01 -1.45187186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:25.22, Z:-1.45 [[ 7.90167292e-01 -6.12883830e-01 3.01021315e-03 9.85282633e+01] [ 6.12879567e-01 7.90173025e-01 2.28634120e-03 2.52157487e+01] [-3.77985078e-03 3.83060996e-05 9.99992856e-01 -1.45219720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:25.23, Z:-1.45 [[ 7.89751885e-01 -6.13419398e-01 2.93309768e-03 9.85508024e+01] [ 6.13415351e-01 7.89757331e-01 2.22832156e-03 2.52303937e+01] [-3.68333107e-03 3.93859914e-05 9.99993216e-01 -1.45214237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:25.24, Z:-1.45 [[ 7.89847264e-01 -6.13298988e-01 2.37736323e-03 9.85757448e+01] [ 6.13296332e-01 7.89850841e-01 1.80514243e-03 2.52447428e+01] [-2.98485437e-03 3.22413357e-05 9.99995545e-01 -1.45237068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:25.26, Z:-1.45 [[ 7.90329457e-01 -6.12678664e-01 2.05021169e-03 9.85990378e+01] [ 6.12676686e-01 7.90332116e-01 1.55716787e-03 2.52607691e+01] [-2.57439168e-03 2.54412671e-05 9.99996686e-01 -1.45323022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:25.28, Z:-1.45 [[ 7.91146860e-01 -6.11624175e-01 1.58543855e-03 9.86219935e+01] [ 6.11622990e-01 7.91148449e-01 1.20413904e-03 2.52772152e+01] [-1.99079780e-03 1.70398439e-05 9.99998018e-01 -1.45388735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:25.29, Z:-1.45 [[ 7.94538781e-01 -6.07212481e-01 1.06240625e-03 9.86432725e+01] [ 6.07211945e-01 7.94539491e-01 8.07185895e-04 2.52934977e+01] [-1.33425707e-03 3.76526730e-06 9.99999110e-01 -1.45451661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:25.31, Z:-1.45 [[ 7.95884432e-01 -6.05448245e-01 6.27241899e-04 9.86658493e+01] [ 6.05448059e-01 7.95884679e-01 4.74987250e-04 2.53106508e+01] [-7.86792414e-04 1.72743291e-06 9.99999690e-01 -1.45479266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:25.33, Z:-1.46 [[ 7.97048670e-01 -6.03915015e-01 2.67662923e-04 9.86882257e+01] [ 6.03914982e-01 7.97048715e-01 2.00998197e-04 2.53272672e+01] [-3.34726218e-04 1.44030303e-06 9.99999944e-01 -1.45502364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:25.34, Z:-1.45 [[ 7.98195211e-01 -6.02398871e-01 -6.70511969e-05 9.87098882e+01] [ 6.02398869e-01 7.98195214e-01 -5.25131869e-05 2.53435542e+01] [ 8.51538289e-05 1.52420910e-06 9.99999996e-01 -1.45494609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:25.36, Z:-1.45 [[ 7.99572194e-01 -6.00569979e-01 8.21308728e-05 9.87311296e+01] [ 6.00569976e-01 7.99572198e-01 6.13478124e-05 2.53600666e+01] [-1.02513217e-04 2.73331429e-07 9.99999995e-01 -1.45495393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:25.38, Z:-1.46 [[ 7.99626541e-01 -6.00497431e-01 4.78915997e-04 9.87538864e+01] [ 6.00497322e-01 7.99626685e-01 3.62520832e-04 2.53773221e+01] [-6.00646839e-04 -2.29350555e-06 9.99999820e-01 -1.45510824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:25.39, Z:-1.45 [[ 7.99335788e-01 -6.00883555e-01 1.11856336e-03 9.87763300e+01] [ 6.00882952e-01 7.99336571e-01 8.51401745e-04 2.53941406e+01] [-1.40570191e-03 -8.43023006e-06 9.99999012e-01 -1.45499510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:25.41, Z:-1.46 [[ 7.98367762e-01 -6.02165688e-01 2.32394814e-03 9.87974850e+01] [ 6.02163074e-01 7.98371144e-01 1.77445957e-03 2.54104459e+01] [-2.92389180e-03 -1.72755636e-05 9.99995725e-01 -1.45508978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:25.43, Z:-1.46 [[ 7.97432644e-01 -6.03399524e-01 3.19264812e-03 9.88198814e+01] [ 6.03394599e-01 7.97439035e-01 2.43792838e-03 2.54274819e+01] [-4.01698706e-03 -1.76570448e-05 9.99991932e-01 -1.45548046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:25.44, Z:-1.45 [[ 7.94965643e-01 -6.06638517e-01 4.39718320e-03 9.88427422e+01] [ 6.06629208e-01 7.94977804e-01 3.36073325e-03 2.54443625e+01] [-5.53441329e-03 -4.20770776e-06 9.99984685e-01 -1.45498048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:25.46, Z:-1.46 [[ 7.93715573e-01 -6.08272408e-01 4.50180648e-03 9.88652239e+01] [ 6.08262665e-01 7.93728340e-01 3.44275732e-03 2.54609260e+01] [-5.66734567e-03 5.71070824e-06 9.99983940e-01 -1.45550670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:25.48, Z:-1.46 [[ 7.92700073e-01 -6.09593631e-01 4.71163233e-03 9.88866077e+01] [ 6.09582965e-01 7.92714075e-01 3.60607904e-03 2.54774042e+01] [-5.93322008e-03 1.35916835e-05 9.99982398e-01 -1.45560371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:25.49, Z:-1.46 [[ 7.91795827e-01 -6.10765980e-01 4.92809212e-03 9.89087074e+01] [ 6.10754332e-01 7.91811162e-01 3.77221394e-03 2.54945020e+01] [-6.20605830e-03 2.30303534e-05 9.99980742e-01 -1.45605666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:25.51, Z:-1.46 [[ 7.90652419e-01 -6.12246698e-01 4.76788132e-03 9.89312257e+01] [ 6.12235809e-01 7.90666795e-01 3.65158382e-03 2.55113056e+01] [-6.00547557e-03 3.19340912e-05 9.99981966e-01 -1.45637191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:25.53, Z:-1.46 [[ 7.90112213e-01 -6.12946242e-01 4.42661321e-03 9.89535810e+01] [ 6.12936858e-01 7.90124613e-01 3.39193696e-03 2.55284194e+01] [-5.57665106e-03 3.32235694e-05 9.99984450e-01 -1.45682382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:25.55, Z:-1.46 [[ 7.89670611e-01 -6.13519318e-01 3.79110805e-03 9.89745256e+01] [ 6.13512431e-01 7.89679711e-01 2.90704135e-03 2.55456326e+01] [-4.77728714e-03 3.02867977e-05 9.99988588e-01 -1.45761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:25.56, Z:-1.46 [[ 7.89438804e-01 -6.13820462e-01 3.28874864e-03 9.89962568e+01] [ 6.13815284e-01 7.89445654e-01 2.52130445e-03 2.55631496e+01] [-4.14391658e-03 2.82686080e-05 9.99991414e-01 -1.45787274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:99.02, Y:25.58, Z:-1.46 [[ 7.89040287e-01 -6.14336419e-01 2.48804806e-03 9.90182103e+01] [ 6.14333457e-01 7.89044209e-01 1.90779734e-03 2.55807302e+01] [-3.13520930e-03 2.31622004e-05 9.99995085e-01 -1.46064950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:25.60, Z:-1.46 [[ 7.89226264e-01 -6.14096434e-01 2.73384138e-03 9.90393169e+01] [ 6.14092848e-01 7.89230999e-01 2.09890006e-03 2.55979218e+01] [-3.44655941e-03 2.23253900e-05 9.99994060e-01 -1.45904102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:25.61, Z:-1.46 [[ 7.89040268e-01 -6.14335540e-01 2.70183381e-03 9.90607997e+01] [ 6.14332036e-01 7.89044894e-01 2.07483779e-03 2.56148256e+01] [-3.40651476e-03 2.26924995e-05 9.99994198e-01 -1.45927198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:25.63, Z:-1.46 [[ 7.88887244e-01 -6.14532030e-01 2.70202370e-03 9.90834173e+01] [ 6.14528529e-01 7.88891871e-01 2.07459096e-03 2.56323211e+01] [-3.40650712e-03 2.38523028e-05 9.99994198e-01 -1.45952825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:25.65, Z:-1.46 [[ 7.87889466e-01 -6.15808336e-01 3.20657297e-03 9.91061866e+01] [ 6.15803408e-01 7.87895991e-01 2.46367915e-03 2.56494494e+01] [-4.04360015e-03 3.35117147e-05 9.99991824e-01 -1.45933236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:25.67, Z:-1.46 [[ 7.86861377e-01 -6.17113183e-01 4.52687886e-03 9.91285030e+01] [ 6.17103367e-01 7.86874397e-01 3.48118435e-03 2.56662882e+01] [-5.71036983e-03 5.43426707e-05 9.99983694e-01 -1.46000073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:25.68, Z:-1.46 [[ 7.85688982e-01 -6.18598824e-01 5.32151272e-03 9.91509491e+01] [ 6.18585273e-01 7.85707000e-01 4.09516420e-03 2.56833869e+01] [-6.71441355e-03 7.42840060e-05 9.99977455e-01 -1.46017295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:25.70, Z:-1.46 [[ 7.84272212e-01 -6.20383593e-01 6.42612485e-03 9.91730041e+01] [ 6.20363864e-01 7.84298531e-01 4.94876171e-03 2.57001894e+01] [-8.11013085e-03 1.05359352e-04 9.99967107e-01 -1.46078958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:25.72, Z:-1.46 [[ 7.81852534e-01 -6.23414786e-01 7.78585190e-03 9.91952579e+01] [ 6.23385933e-01 7.81891283e-01 6.00004389e-03 2.57168970e+01] [-9.82820581e-03 1.62441029e-04 9.99951689e-01 -1.46108957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:25.73, Z:-1.46 [[ 7.80884522e-01 -6.24623695e-01 8.03766207e-03 9.92178973e+01] [ 6.24592971e-01 7.80925866e-01 6.19782543e-03 2.57342596e+01] [-1.01481268e-02 1.80481286e-04 9.99948490e-01 -1.46105817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:25.75, Z:-1.46 [[ 7.80059229e-01 -6.25660954e-01 7.48127985e-03 9.92400656e+01] [ 6.25634354e-01 7.80095084e-01 5.77193018e-03 2.57512723e+01] [-9.44738097e-03 1.78098287e-04 9.99955357e-01 -1.46106385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:25.77, Z:-1.46 [[ 7.79882204e-01 -6.25887940e-01 6.93068284e-03 9.92623384e+01] [ 6.25865096e-01 7.79912982e-01 5.35000087e-03 2.57686806e+01] [-8.75383054e-03 1.65302010e-04 9.99961671e-01 -1.46156553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:25.79, Z:-1.46 [[ 7.80228497e-01 -6.25461820e-01 6.40342841e-03 9.92836065e+01] [ 6.25442283e-01 7.80254760e-01 4.94578972e-03 2.57856401e+01] [-8.08970814e-03 1.46128799e-04 9.99967267e-01 -1.46191670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:25.80, Z:-1.46 [[ 7.81538955e-01 -6.23829543e-01 5.79338453e-03 9.93050783e+01] [ 6.23813501e-01 7.81560418e-01 4.47527603e-03 2.58042388e+01] [-7.31968944e-03 1.16388934e-04 9.99973204e-01 -1.46267151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:25.82, Z:-1.46 [[ 7.82435730e-01 -6.22701895e-01 6.05626880e-03 9.93273304e+01] [ 6.22684309e-01 7.82459160e-01 4.68115642e-03 2.58218734e+01] [-7.65374797e-03 1.08439516e-04 9.99970704e-01 -1.46282421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:25.84, Z:-1.46 [[ 7.83338251e-01 -6.21563608e-01 6.31386838e-03 9.93486287e+01] [ 6.21544432e-01 7.83363690e-01 4.88342486e-03 2.58388959e+01] [-7.98141441e-03 9.89762482e-05 9.99968143e-01 -1.46279397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:25.86, Z:-1.46 [[ 7.85064761e-01 -6.19377799e-01 6.66804692e-03 9.93695939e+01] [ 6.19356321e-01 7.85093074e-01 5.15873488e-03 2.58564284e+01] [-8.43024331e-03 7.99560437e-05 9.99964462e-01 -1.46310356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:25.87, Z:-1.46 [[ 7.85676951e-01 -6.18605631e-01 6.22902430e-03 9.93918053e+01] [ 6.18586857e-01 7.85701641e-01 4.81995285e-03 2.58737496e+01] [-7.87580459e-03 6.62667054e-05 9.99968983e-01 -1.46308729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:25.89, Z:-1.46 [[ 7.86789217e-01 -6.17201242e-01 5.03537012e-03 9.94144497e+01] [ 6.17188935e-01 7.86805329e-01 3.89787686e-03 2.58906602e+01] [-6.36763048e-03 4.09672399e-05 9.99979726e-01 -1.46366609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:25.91, Z:-1.46 [[ 7.87135187e-01 -6.16765235e-01 4.34082620e-03 9.94367976e+01] [ 6.16756074e-01 7.87147155e-01 3.36167456e-03 2.59077441e+01] [-5.49023300e-03 3.11385914e-05 9.99984928e-01 -1.46407238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:25.92, Z:-1.46 [[ 7.87605402e-01 -6.16169196e-01 3.64052361e-03 9.94588916e+01] [ 6.16162741e-01 7.87613815e-01 2.82040525e-03 2.59244158e+01] [-4.60517353e-03 2.17885931e-05 9.99989396e-01 -1.46491366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:25.94, Z:-1.47 [[ 7.88631162e-01 -6.14861706e-01 2.44404550e-03 9.94804409e+01] [ 6.14858787e-01 7.88634949e-01 1.89466527e-03 2.59400996e+01] [-3.09241682e-03 8.55077964e-06 9.99995218e-01 -1.46540667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:25.96, Z:-1.47 [[ 7.89017134e-01 -6.14367462e-01 2.14098254e-03 9.95029853e+01] [ 6.14365223e-01 7.89020039e-01 1.65881235e-03 2.59571496e+01] [-2.70839846e-03 6.51385212e-06 9.99996332e-01 -1.46588229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:25.97, Z:-1.47 [[ 7.89780127e-01 -6.13386366e-01 2.12548856e-03 9.95251253e+01] [ 6.13384153e-01 7.89782987e-01 1.64765847e-03 2.59737662e+01] [-2.68932594e-03 2.45309073e-06 9.99996384e-01 -1.46658051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:25.99, Z:-1.47 [[ 7.90361450e-01 -6.12637348e-01 2.06346348e-03 9.95475031e+01] [ 6.12635258e-01 7.90364144e-01 1.60038060e-03 2.59904447e+01] [-2.61134047e-03 -7.28653863e-07 9.99996590e-01 -1.46671971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:26.01, Z:-1.47 [[ 7.92024870e-01 -6.10483559e-01 2.53571209e-03 9.95700590e+01] [ 6.10480384e-01 7.92028929e-01 1.96903818e-03 2.60053633e+01] [-3.21042276e-03 -1.15247155e-05 9.99994847e-01 -1.46633520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:26.02, Z:-1.47 [[ 7.92719513e-01 -6.09579739e-01 2.88387497e-03 9.95924786e+01] [ 6.09575624e-01 7.92724758e-01 2.23985160e-03 2.60217618e+01] [-3.65148724e-03 -1.76341848e-05 9.99993333e-01 -1.46653761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:26.04, Z:-1.47 [[ 7.94175243e-01 -6.07678542e-01 3.53176333e-03 9.96160085e+01] [ 6.07672342e-01 7.94183095e-01 2.74531361e-03 2.60375754e+01] [-4.47313490e-03 -3.41052096e-05 9.99989995e-01 -1.46595122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:26.05, Z:-1.47 [[ 7.94484326e-01 -6.07274551e-01 3.50357156e-03 9.96389341e+01] [ 6.07268438e-01 7.94492051e-01 2.72495504e-03 2.60539666e+01] [-4.43835560e-03 -3.73256397e-05 9.99990150e-01 -1.46576304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:26.07, Z:-1.47 [[ 7.94784171e-01 -6.06881700e-01 3.56688169e-03 9.96609448e+01] [ 6.06875349e-01 7.94792174e-01 2.77681093e-03 2.60697265e+01] [-4.52012539e-03 -4.23127989e-05 9.99989783e-01 -1.46578740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:26.09, Z:-1.47 [[ 7.95532670e-01 -6.05901565e-01 3.32640843e-03 9.96832702e+01] [ 6.05896034e-01 7.95539623e-01 2.58921059e-03 2.60862354e+01] [-4.21509646e-03 -4.43439433e-05 9.99991115e-01 -1.46587568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:26.10, Z:-1.47 [[ 7.96094183e-01 -6.05164647e-01 3.13062409e-03 9.97038919e+01] [ 6.05159734e-01 7.96100338e-01 2.43905906e-03 2.61031228e+01] [-3.96832321e-03 -4.71930873e-05 9.99992125e-01 -1.46659049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:26.12, Z:-1.47 [[ 7.96249223e-01 -6.04962669e-01 2.70998519e-03 9.97259416e+01] [ 6.04958989e-01 7.96253833e-01 2.11056741e-03 2.61212574e+01] [-3.43465059e-03 -4.11077610e-05 9.99994101e-01 -1.46679637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:26.14, Z:-1.47 [[ 7.96487364e-01 -6.04652605e-01 1.76258532e-03 9.97469995e+01] [ 6.04651048e-01 7.96489314e-01 1.37239925e-03 2.61397470e+01] [-2.23370515e-03 -2.73496057e-05 9.99997505e-01 -1.46705234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:26.16, Z:-1.47 [[ 7.96092091e-01 -6.05173916e-01 1.38345920e-03 9.97678047e+01] [ 6.05172958e-01 7.96093293e-01 1.07713030e-03 2.61579981e+01] [-1.75321376e-03 -2.02628163e-05 9.99998463e-01 -1.46760226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:26.18, Z:-1.47 [[ 7.95885643e-01 -6.05445554e-01 1.31302750e-03 9.97882182e+01] [ 6.05444688e-01 7.95886726e-01 1.02421323e-03 2.61754997e+01] [-1.66512650e-03 -2.01910782e-05 9.99998613e-01 -1.46806789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:26.19, Z:-1.47 [[ 7.95491009e-01 -6.05964679e-01 9.28737460e-04 9.98097612e+01] [ 6.05964248e-01 7.95491551e-01 7.22574420e-04 2.61934126e+01] [-1.17665738e-03 -1.20197575e-05 9.99999308e-01 -1.46819142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:26.21, Z:-1.47 [[ 7.94629950e-01 -6.07094026e-01 2.93983558e-04 9.98306292e+01] [ 6.07093983e-01 7.94630004e-01 2.28401164e-04 2.62108466e+01] [-3.72269138e-04 -3.01875597e-06 9.99999931e-01 -1.46814651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:26.23, Z:-1.47 [[ 7.94190645e-01 -6.07668675e-01 -2.84086491e-05 9.98529451e+01] [ 6.07668675e-01 7.94190645e-01 -2.54490386e-05 2.62281319e+01] [ 3.80264668e-05 2.94834218e-06 9.99999999e-01 -1.46850054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:26.24, Z:-1.47 [[ 7.93526961e-01 -6.08534985e-01 -3.65665176e-04 9.98740893e+01] [ 6.08534917e-01 7.93527045e-01 -2.87505457e-04 2.62443503e+01] [ 4.65122336e-04 5.62330420e-06 9.99999892e-01 -1.46882282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:26.26, Z:-1.47 [[ 7.91666189e-01 -6.10952996e-01 -1.03964389e-03 9.98971741e+01] [ 6.10952450e-01 7.91666872e-01 -8.17029196e-04 2.62606568e+01] [ 1.32221806e-03 1.16414089e-05 9.99999126e-01 -1.46893828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:26.28, Z:-1.47 [[ 7.90365333e-01 -6.12634370e-01 -1.33008051e-03 9.99195399e+01] [ 6.12633479e-01 7.90366452e-01 -1.04503336e-03 2.62771123e+01] [ 1.69147437e-03 1.11062866e-05 9.99998569e-01 -1.46873008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:26.29, Z:-1.47 [[ 7.87802067e-01 -6.15926495e-01 -1.56708601e-03 9.99415486e+01] [ 6.15925268e-01 7.87803626e-01 -1.22919294e-03 2.62924984e+01] [ 1.99164854e-03 3.15286340e-06 9.99998017e-01 -1.46832354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:26.31, Z:-1.47 [[ 7.86535787e-01 -6.17542276e-01 -1.73011701e-03 9.99637824e+01] [ 6.17540780e-01 7.86537689e-01 -1.35944922e-03 2.63096286e+01] [ 2.20031961e-03 8.37652773e-07 9.99997579e-01 -1.46838720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:26.33, Z:-1.47 [[ 7.85643464e-01 -6.18677119e-01 -1.72321476e-03 9.99853643e+01] [ 6.18675638e-01 7.85645354e-01 -1.35355623e-03 2.63262914e+01] [ 2.19124994e-03 -2.69838609e-06 9.99997599e-01 -1.46842215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:26.34, Z:-1.47 [[ 7.84806614e-01 -6.19738644e-01 -1.60990857e-03 1.00007144e+02] [ 6.19737350e-01 7.84808265e-01 -1.26634847e-03 2.63434321e+01] [ 2.04827464e-03 -3.88181699e-06 9.99997902e-01 -1.46817863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:26.36, Z:-1.47 [[ 7.83765793e-01 -6.21056339e-01 -4.53220240e-04 1.00027914e+02] [ 6.21056236e-01 7.83765924e-01 -3.57441187e-04 2.63609276e+01] [ 5.77209695e-04 -1.32508032e-06 9.99999833e-01 -1.46831611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:26.38, Z:-1.47 [[ 7.83255915e-01 -6.21699422e-01 1.70834108e-05 1.00049690e+02] [ 6.21699422e-01 7.83255915e-01 1.03919402e-05 2.63783914e+01] [-1.98413459e-05 2.48119801e-06 1.00000000e+00 -1.46846517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:26.40, Z:-1.47 [[ 7.82726637e-01 -6.22365657e-01 -4.12034600e-05 1.00071124e+02] [ 6.22365656e-01 7.82726638e-01 -3.44305847e-05 2.63953784e+01] [ 5.36794591e-05 1.30611737e-06 9.99999999e-01 -1.46794913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:26.41, Z:-1.47 [[ 7.82515847e-01 -6.22630668e-01 -1.38185190e-05 1.00093438e+02] [ 6.22630668e-01 7.82515847e-01 -1.38717375e-05 2.64130568e+01] [ 1.94501792e-05 2.25102074e-06 1.00000000e+00 -1.46802998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:26.43, Z:-1.47 [[ 7.82491429e-01 -6.22661354e-01 -4.33663503e-05 1.00114130e+02] [ 6.22661353e-01 7.82491430e-01 -3.57606866e-05 2.64297719e+01] [ 5.62005949e-05 9.79880473e-07 9.99999998e-01 -1.46797212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:26.45, Z:-1.47 [[ 7.82452578e-01 -6.22710139e-01 2.16286473e-04 1.00135236e+02] [ 6.22710116e-01 7.82452607e-01 1.68479065e-04 2.64469663e+01] [-2.74147537e-04 2.85689585e-06 9.99999962e-01 -1.46824953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:26.47, Z:-1.47 [[ 7.82915108e-01 -6.22128477e-01 -3.03914481e-04 1.00156806e+02] [ 6.22128430e-01 7.82915167e-01 -2.42287242e-04 2.64650447e+01] [ 3.88673049e-04 6.16502829e-07 9.99999924e-01 -1.46816377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:26.48, Z:-1.47 [[ 7.83179946e-01 -6.21794780e-01 -6.51462096e-04 1.00177792e+02] [ 6.21794567e-01 7.83180217e-01 -5.14160292e-04 2.64828147e+01] [ 8.29914411e-04 -2.39556201e-06 9.99999656e-01 -1.46835585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:26.50, Z:-1.47 [[ 7.83361448e-01 -6.21565929e-01 -7.98459906e-04 1.00198816e+02] [ 6.21565608e-01 7.83361855e-01 -6.31974690e-04 2.65007488e+01] [ 1.01829697e-03 -1.23060848e-06 9.99999482e-01 -1.46918530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:26.52, Z:-1.47 [[ 7.83514798e-01 -6.21372799e-01 -6.37396001e-04 1.00218862e+02] [ 6.21372595e-01 7.83515057e-01 -5.03484488e-04 2.65184111e+01] [ 8.12260930e-04 -1.57286012e-06 9.99999670e-01 -1.47022713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:26.54, Z:-1.47 [[ 7.83243555e-01 -6.21714724e-01 -5.79468649e-04 1.00240910e+02] [ 6.21714554e-01 7.83243769e-01 -4.59818757e-04 2.65357665e+01] [ 7.39741300e-04 -1.14014302e-07 9.99999726e-01 -1.47049899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:26.55, Z:-1.47 [[ 7.82867777e-01 -6.22187724e-01 -6.92169748e-04 1.00262689e+02] [ 6.22187482e-01 7.82868083e-01 -5.49146665e-04 2.65529581e+01] [ 8.83549917e-04 -7.50123218e-07 9.99999610e-01 -1.47052452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:26.57, Z:-1.47 [[ 7.82068150e-01 -6.23192875e-01 -2.21169986e-04 1.00285117e+02] [ 6.23192850e-01 7.82068181e-01 -1.77754617e-04 2.65695276e+01] [ 2.83745419e-04 1.18467064e-06 9.99999960e-01 -1.47085455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:26.59, Z:-1.47 [[ 7.81567276e-01 -6.23820887e-01 3.06146951e-04 1.00307983e+02] [ 6.23820841e-01 7.81567336e-01 2.38504519e-04 2.65866090e+01] [-3.88058558e-04 4.57352062e-06 9.99999925e-01 -1.47086183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:26.60, Z:-1.47 [[ 7.80969118e-01 -6.24569442e-01 4.98958148e-04 1.00330088e+02] [ 6.24569320e-01 7.80969277e-01 3.90999059e-04 2.66034496e+01] [-6.33877048e-04 6.27576072e-06 9.99999799e-01 -1.47014812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:26.62, Z:-1.47 [[ 7.80592656e-01 -6.25039284e-01 9.99058259e-04 1.00352249e+02] [ 6.25038789e-01 7.80593295e-01 7.86585162e-04 2.66206958e+01] [-1.27150481e-03 1.04475641e-05 9.99999192e-01 -1.47060327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:26.64, Z:-1.47 [[ 7.80397252e-01 -6.25282900e-01 1.19311627e-03 1.00373975e+02] [ 6.25282193e-01 7.80398164e-01 9.40534927e-04 2.66378278e+01] [-1.51920616e-03 1.20434854e-05 9.99998846e-01 -1.47077455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:26.65, Z:-1.47 [[ 7.80418249e-01 -6.25256083e-01 1.47904176e-03 1.00396289e+02] [ 6.25254993e-01 7.80419651e-01 1.16734783e-03 2.66547402e+01] [-1.88416458e-03 1.37586982e-05 9.99998225e-01 -1.47093337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:26.67, Z:-1.47 [[ 7.81280049e-01 -6.24178525e-01 1.62898366e-03 1.00417838e+02] [ 6.24177196e-01 7.81281747e-01 1.28814699e-03 2.66711315e+01] [-2.07672889e-03 1.03709110e-05 9.99997844e-01 -1.47090701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:26.69, Z:-1.47 [[ 7.81753960e-01 -6.23585245e-01 1.47935706e-03 1.00439480e+02] [ 6.23584150e-01 7.81755360e-01 1.16853025e-03 2.66883880e+01] [-1.88517353e-03 9.00046429e-06 9.99998223e-01 -1.47148722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:26.71, Z:-1.47 [[ 7.81588817e-01 -6.23792221e-01 1.47894554e-03 1.00461858e+02] [ 6.23791125e-01 7.81590216e-01 1.16905018e-03 2.67062036e+01] [-1.88517377e-03 8.83655763e-06 9.99998223e-01 -1.47174289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:26.72, Z:-1.47 [[ 7.82276400e-01 -6.22930095e-01 1.31575137e-03 1.00482677e+02] [ 6.22929224e-01 7.82277506e-01 1.04161051e-03 2.67230615e+01] [-1.67813324e-03 4.79265650e-06 9.99998592e-01 -1.47251599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:26.74, Z:-1.47 [[ 7.82882754e-01 -6.22168241e-01 1.12835756e-03 1.00504612e+02] [ 6.22167602e-01 7.82883567e-01 8.91822169e-04 2.67405664e+01] [-1.43823602e-03 3.83532199e-06 9.99998966e-01 -1.47318593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:26.76, Z:-1.47 [[ 7.84426376e-01 -6.20220781e-01 1.20182968e-03 1.00526535e+02] [ 6.20220052e-01 7.84427296e-01 9.50573922e-04 2.67580724e+01] [-1.53231371e-03 -2.56387300e-07 9.99998826e-01 -1.47331984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:26.77, Z:-1.47 [[ 7.85330150e-01 -6.19075680e-01 1.36301094e-03 1.00547600e+02] [ 6.19074737e-01 7.85331333e-01 1.08059105e-03 2.67748207e+01] [-1.73938284e-03 -4.81509416e-06 9.99998487e-01 -1.47344249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:26.79, Z:-1.47 [[ 7.86192749e-01 -6.17980288e-01 1.15090738e-03 1.00568834e+02] [ 6.17979615e-01 7.86193592e-01 9.12462120e-04 2.67911425e+01] [-1.46871961e-03 -6.13380163e-06 9.99998921e-01 -1.47301140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:26.81, Z:-1.47 [[ 7.87682520e-01 -6.16080759e-01 8.63578541e-04 1.00591648e+02] [ 6.16080381e-01 7.87682993e-01 6.82852992e-04 2.68083571e+01] [-1.10091872e-03 -5.83756879e-06 9.99999394e-01 -1.47298229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:26.83, Z:-1.47 [[ 7.88293457e-01 -6.15299329e-01 4.01393040e-04 1.00612744e+02] [ 6.15299247e-01 7.88293560e-01 3.17570514e-04 2.68255613e+01] [-5.11816473e-04 -3.36192339e-06 9.99999869e-01 -1.47332917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:26.84, Z:-1.47 [[ 7.88752183e-01 -6.14711305e-01 7.93905001e-05 1.00634469e+02] [ 6.14711302e-01 7.88752187e-01 6.00280757e-05 2.68431052e+01] [-9.95193674e-05 1.45496198e-06 9.99999995e-01 -1.47410106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:26.86, Z:-1.48 [[ 7.88860540e-01 -6.14572197e-01 -2.50067081e-04 1.00656045e+02] [ 6.14572164e-01 7.88860580e-01 -2.02135124e-04 2.68607856e+01] [ 3.21494689e-04 5.77215568e-06 9.99999948e-01 -1.47502311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:26.88, Z:-1.48 [[ 7.88792683e-01 -6.14659055e-01 -5.91106362e-04 1.00677610e+02] [ 6.14658872e-01 7.88792905e-01 -4.73696981e-04 2.68780273e+01] [ 7.57422643e-04 1.03199429e-05 9.99999713e-01 -1.47540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:26.90, Z:-1.48 [[ 7.88337465e-01 -6.15242951e-01 -3.90402037e-04 1.00699739e+02] [ 6.15242871e-01 7.88337562e-01 -3.14191884e-04 2.68950826e+01] [ 5.01072932e-04 7.49716355e-06 9.99999874e-01 -1.47524718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:26.91, Z:-1.47 [[ 7.87477314e-01 -6.16343636e-01 -5.19510796e-05 1.00720829e+02] [ 6.16343634e-01 7.87477316e-01 -4.27942121e-05 2.69112938e+01] [ 6.72862369e-05 1.67975394e-06 9.99999998e-01 -1.47483258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:26.93, Z:-1.47 [[ 7.85243019e-01 -6.19186638e-01 1.14401271e-03 1.00743772e+02] [ 6.19185971e-01 7.85243852e-01 9.08740570e-04 2.69283076e+01] [-1.46100896e-03 -5.22556969e-06 9.99998933e-01 -1.47376609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:26.95, Z:-1.47 [[ 7.83400686e-01 -6.21514714e-01 1.68123677e-03 1.00765865e+02] [ 6.21513274e-01 7.83402490e-01 1.33774931e-03 2.69453579e+01] [-2.14851595e-03 -3.08275307e-06 9.99997692e-01 -1.47345269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:26.96, Z:-1.47 [[ 7.81540792e-01 -6.23850545e-01 2.11839570e-03 1.00788164e+02] [ 6.23848263e-01 7.81543663e-01 1.68735962e-03 2.69624369e+01] [-2.70827895e-03 2.81710664e-06 9.99996333e-01 -1.47343805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:26.98, Z:-1.47 [[ 7.77813227e-01 -6.28490856e-01 2.41414347e-03 1.00809794e+02] [ 6.28487906e-01 7.77816973e-01 1.92566522e-03 2.69783421e+01] [-3.08802475e-03 1.94520964e-05 9.99995232e-01 -1.47320184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:27.00, Z:-1.47 [[ 7.76274787e-01 -6.30389469e-01 2.56383125e-03 1.00831506e+02] [ 6.30386154e-01 7.76279020e-01 2.04456611e-03 2.69959626e+01] [-3.27912135e-03 2.90585929e-05 9.99994623e-01 -1.47312241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:27.01, Z:-1.47 [[ 7.75028710e-01 -6.31918721e-01 3.03797124e-03 1.00851975e+02] [ 6.31914067e-01 7.75034663e-01 2.42538942e-03 2.70131645e+01] [-3.88718200e-03 3.99903325e-05 9.99992444e-01 -1.47314396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:27.03, Z:-1.47 [[ 7.73741795e-01 -6.33493647e-01 3.07134234e-03 1.00873404e+02] [ 6.33488904e-01 7.73747890e-01 2.45203255e-03 2.70310135e+01] [-3.92979169e-03 4.84212255e-05 9.99992277e-01 -1.47331427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:27.05, Z:-1.47 [[ 7.72194258e-01 -6.35380001e-01 2.87791283e-03 1.00895268e+02] [ 6.35375846e-01 7.72199619e-01 2.29867363e-03 2.70489056e+01] [-3.68285444e-03 5.35337234e-05 9.99993217e-01 -1.47357287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:27.07, Z:-1.47 [[ 7.68546474e-01 -6.39788872e-01 2.55249705e-03 1.00917191e+02] [ 6.39785625e-01 7.68550710e-01 2.03944413e-03 2.70669239e+01] [-3.26653708e-03 6.56433213e-05 9.99994663e-01 -1.47382220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:27.08, Z:-1.47 [[ 7.67032176e-01 -6.41603095e-01 2.66629015e-03 1.00937796e+02] [ 6.41599555e-01 7.67036806e-01 2.13284742e-03 2.70840235e+01] [-3.41358419e-03 7.47279802e-05 9.99994171e-01 -1.47387216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:27.10, Z:-1.47 [[ 7.65442837e-01 -6.43496776e-01 3.02696739e-03 1.00959609e+02] [ 6.43492228e-01 7.65448816e-01 2.42122102e-03 2.71023452e+01] [-3.87503652e-03 9.45237053e-05 9.99992488e-01 -1.47371626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:27.12, Z:-1.47 [[ 7.63149110e-01 -6.46213200e-01 3.45487409e-03 1.00980119e+02] [ 6.46207293e-01 7.63156920e-01 2.76589912e-03 2.71205982e+01] [-4.42397159e-03 1.21771379e-04 9.99990207e-01 -1.47304321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:27.14, Z:-1.47 [[ 7.62383618e-01 -6.47116580e-01 3.36910703e-03 1.01001310e+02] [ 6.47110968e-01 7.62391053e-01 2.69770302e-03 2.71389723e+01] [-4.31430541e-03 1.23501518e-04 9.99990686e-01 -1.47291904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:27.16, Z:-1.47 [[ 7.62029550e-01 -6.47534501e-01 3.16763104e-03 1.01022193e+02] [ 6.47529540e-01 7.62036125e-01 2.53754204e-03 2.71575380e+01] [-4.05699530e-03 1.17452647e-04 9.99991763e-01 -1.47326071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:27.18, Z:-1.47 [[ 7.63087811e-01 -6.46292111e-01 1.87077696e-03 1.01042264e+02] [ 6.46290379e-01 7.63090101e-01 1.49812012e-03 2.71779690e+01] [-2.39579460e-03 6.58679462e-05 9.99997128e-01 -1.47369768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:27.20, Z:-1.47 [[ 7.64058773e-01 -6.45145690e-01 1.10890196e-03 1.01062749e+02] [ 6.45145081e-01 7.64059577e-01 8.87096184e-04 2.71971609e+01] [-1.41957344e-03 3.76090204e-05 9.99998992e-01 -1.47424680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:27.22, Z:-1.47 [[ 7.65415907e-01 -6.43535546e-01 7.00285181e-04 1.01082691e+02] [ 6.43535303e-01 7.65416227e-01 5.59353884e-04 2.72165167e+01] [-8.95973748e-04 2.25198759e-05 9.99999598e-01 -1.47480230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:27.24, Z:-1.48 [[ 7.66967028e-01 -6.41685808e-01 9.49696485e-04 1.01101810e+02] [ 6.41685356e-01 7.66967616e-01 7.61753921e-04 2.72352573e+01] [-1.21719313e-03 2.51661852e-05 9.99999259e-01 -1.47521788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:27.26, Z:-1.47 [[ 7.70183322e-01 -6.37820268e-01 1.71949047e-03 1.01120293e+02] [ 6.37818776e-01 7.70185241e-01 1.38011211e-03 2.72560123e+01] [-2.20458966e-03 3.37839804e-05 9.99997569e-01 -1.47476280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:27.28, Z:-1.47 [[ 7.71739164e-01 -6.35934998e-01 2.31101176e-03 1.01141367e+02] [ 6.35932292e-01 7.71742623e-01 1.85564695e-03 2.72751340e+01] [-2.96357712e-03 3.75715792e-05 9.99995608e-01 -1.47481231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:27.29, Z:-1.47 [[ 7.72738469e-01 -6.34718457e-01 2.78175645e-03 1.01161945e+02] [ 6.34714521e-01 7.72743475e-01 2.23555741e-03 2.72941673e+01] [-3.56853370e-03 3.81200047e-05 9.99993632e-01 -1.47476117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:27.31, Z:-1.47 [[ 7.74899397e-01 -6.32076620e-01 3.17361493e-03 1.01181373e+02] [ 6.32071465e-01 7.74905895e-01 2.55298433e-03 2.73135541e+01] [-4.07293462e-03 2.76454166e-05 9.99991705e-01 -1.47429935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:27.33, Z:-1.47 [[ 7.75501612e-01 -6.31335075e-01 3.64313731e-03 1.01201219e+02] [ 6.31328267e-01 7.75510169e-01 2.93218701e-03 2.73316321e+01] [-4.67648254e-03 2.60998115e-05 9.99989065e-01 -1.47458546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:27.35, Z:-1.48 [[ 7.75856168e-01 -6.30894858e-01 4.34577987e-03 1.01220971e+02] [ 6.30885151e-01 7.75868338e-01 3.49980134e-03 2.73495192e+01] [-5.57975967e-03 2.63455315e-05 9.99984433e-01 -1.47514042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:27.37, Z:-1.48 [[ 7.75956229e-01 -6.30767520e-01 4.92596672e-03 1.01242109e+02] [ 6.30755042e-01 7.75971864e-01 3.96762585e-03 2.73678339e+01] [-6.32506111e-03 2.83743530e-05 9.99979996e-01 -1.47570167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:27.39, Z:-1.48 [[ 7.75812058e-01 -6.30941759e-01 5.30534777e-03 1.01263057e+02] [ 6.30927271e-01 7.75830198e-01 4.27591744e-03 2.73868885e+01] [-6.81390388e-03 2.99802768e-05 9.99976785e-01 -1.47611016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:27.40, Z:-1.48 [[ 7.75527675e-01 -6.31293669e-01 5.01283707e-03 1.01284393e+02] [ 6.31280728e-01 7.75543875e-01 4.04228386e-03 2.74049590e+01] [-6.43954329e-03 2.96044360e-05 9.99979265e-01 -1.47668481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:27.42, Z:-1.48 [[ 7.75302161e-01 -6.31573878e-01 4.58207257e-03 1.01305029e+02] [ 6.31563058e-01 7.75315700e-01 3.69713617e-03 2.74220787e+01] [-5.88756744e-03 2.74701013e-05 9.99982668e-01 -1.47744459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:27.44, Z:-1.48 [[ 7.74864003e-01 -6.32115340e-01 3.99683051e-03 1.01326878e+02] [ 6.32107111e-01 7.74874310e-01 3.22546465e-03 2.74399095e+01] [-5.13590697e-03 2.71285418e-05 9.99986811e-01 -1.47805612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:27.46, Z:-1.48 [[ 7.73944057e-01 -6.33248990e-01 2.51246443e-03 1.01348518e+02] [ 6.33245745e-01 7.73948135e-01 2.02755224e-03 2.74583141e+01] [-3.22846257e-03 2.17953973e-05 9.99994788e-01 -1.47894174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:27.48, Z:-1.48 [[ 7.73327569e-01 -6.34002871e-01 2.19806510e-03 1.01370196e+02] [ 6.34000388e-01 7.73330692e-01 1.77445448e-03 2.74761638e+01] [-2.82484044e-03 2.13395599e-05 9.99996010e-01 -1.47990398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:27.49, Z:-1.48 [[ 7.72763385e-01 -6.34692138e-01 1.62514464e-03 1.01392199e+02] [ 6.34690782e-01 7.72765094e-01 1.31184472e-03 2.74938333e+01] [-2.08847258e-03 1.77187593e-05 9.99997819e-01 -1.48023766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:27.51, Z:-1.48 [[ 7.72310926e-01 -6.35244060e-01 9.04221671e-04 1.01413417e+02] [ 6.35243640e-01 7.72311456e-01 7.30477886e-04 2.75100515e+01] [-1.16237249e-03 1.02450125e-05 9.99999324e-01 -1.48100548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:27.53, Z:-1.48 [[ 7.71903669e-01 -6.35739488e-01 1.70780994e-04 1.01435287e+02] [ 6.35739474e-01 7.71903688e-01 1.35169005e-04 2.75269626e+01] [-2.17758754e-04 4.23476815e-06 9.99999976e-01 -1.48096231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:27.54, Z:-1.48 [[ 7.71750530e-01 -6.35925403e-01 2.60192337e-05 1.01456566e+02] [ 6.35925403e-01 7.71750531e-01 1.89492624e-05 2.75433184e+01] [-3.21306748e-05 1.92218833e-06 9.99999999e-01 -1.48119077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:27.56, Z:-1.48 [[ 7.71716834e-01 -6.35966293e-01 5.93753569e-05 1.01478526e+02] [ 6.35966291e-01 7.71716836e-01 4.49992458e-05 2.75603083e+01] [-7.44389662e-05 3.03405009e-06 9.99999997e-01 -1.48118414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:27.58, Z:-1.48 [[ 7.72190511e-01 -6.35390547e-01 8.16928398e-04 1.01500838e+02] [ 6.35390205e-01 7.72190943e-01 6.59391273e-04 2.75771279e+01] [-1.04979569e-03 9.89261815e-06 9.99999449e-01 -1.48079944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:27.60, Z:-1.48 [[ 7.72408825e-01 -6.35125129e-01 8.23551421e-04 1.01522665e+02] [ 6.35124780e-01 7.72409264e-01 6.65134602e-04 2.75950083e+01] [-1.05856245e-03 9.30207919e-06 9.99999440e-01 -1.48097044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:27.61, Z:-1.48 [[ 7.72914884e-01 -6.34509120e-01 8.71261391e-04 1.01543476e+02] [ 6.34508727e-01 7.72915375e-01 7.05828341e-04 2.76117171e+01] [-1.12126584e-03 7.27772588e-06 9.99999371e-01 -1.48146865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:27.63, Z:-1.48 [[ 7.73650062e-01 -6.33612519e-01 8.70014057e-04 1.01564815e+02] [ 6.33612127e-01 7.73650551e-01 7.04996934e-04 2.76278682e+01] [-1.11978174e-03 5.83053542e-06 9.99999373e-01 -1.48180361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:27.64, Z:-1.48 [[ 7.73681114e-01 -6.33574801e-01 7.10976772e-04 1.01586729e+02] [ 6.33574541e-01 7.73681441e-01 5.74296047e-04 2.76448229e+01] [-9.13929037e-04 6.13477585e-06 9.99999582e-01 -1.48192800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:27.66, Z:-1.48 [[ 7.73550034e-01 -6.33734787e-01 7.51109850e-04 1.01609586e+02] [ 6.33734497e-01 7.73550399e-01 6.07220901e-04 2.76620375e+01] [-9.65838333e-04 6.28847424e-06 9.99999534e-01 -1.48201088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:27.68, Z:-1.48 [[ 7.73147450e-01 -6.34225870e-01 7.52343908e-04 1.01631486e+02] [ 6.34225576e-01 7.73147816e-01 6.10260825e-04 2.76784678e+01] [-9.68716252e-04 5.33414741e-06 9.99999531e-01 -1.48176507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:101.65, Y:27.69, Z:-1.48 [[ 7.71651227e-01 -6.36045701e-01 5.00097849e-04 1.01654492e+02] [ 6.36045574e-01 7.71651389e-01 4.03561541e-04 2.76940782e+01] [-6.42584783e-04 6.67626510e-06 9.99999794e-01 -1.48425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:27.71, Z:-1.48 [[ 7.71261639e-01 -6.36517373e-01 1.05801957e-03 1.01676499e+02] [ 6.36516792e-01 7.71262364e-01 8.59520131e-04 2.77100070e+01] [-1.36311017e-03 1.05323156e-05 9.99999071e-01 -1.48163548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:27.73, Z:-1.48 [[ 7.70271929e-01 -6.37714584e-01 1.12453328e-03 1.01698878e+02] [ 6.37713932e-01 7.70272750e-01 9.12330946e-04 2.77266312e+01] [-1.44800409e-03 1.43876229e-05 9.99998952e-01 -1.48173711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:27.74, Z:-1.48 [[ 7.69285303e-01 -6.38904343e-01 1.16719765e-03 1.01720421e+02] [ 6.38903638e-01 7.69286189e-01 9.49151458e-04 2.77427623e+01] [-1.50432602e-03 1.55585605e-05 9.99998868e-01 -1.48189434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:27.76, Z:-1.48 [[ 7.67306424e-01 -6.41279661e-01 1.11740162e-03 1.01743115e+02] [ 6.41279017e-01 7.67307237e-01 9.08837587e-04 2.77573184e+01] [-1.44020941e-03 1.92092918e-05 9.99998963e-01 -1.48216537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:27.77, Z:-1.48 [[ 7.65870226e-01 -6.42993868e-01 1.29680314e-03 1.01766191e+02] [ 6.42993006e-01 7.65871324e-01 1.05368737e-03 2.77741945e+01] [-1.67069885e-03 2.68475652e-05 9.99998604e-01 -1.48259118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:27.79, Z:-1.48 [[ 7.62969263e-01 -6.46432349e-01 1.76716610e-03 1.01789337e+02] [ 6.46430748e-01 7.62971308e-01 1.43929997e-03 2.77892377e+01] [-2.27870709e-03 4.42088613e-05 9.99997403e-01 -1.48350086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:27.81, Z:-1.48 [[ 7.61033524e-01 -6.48709124e-01 2.10884707e-03 1.01812089e+02] [ 6.48706855e-01 7.61036443e-01 1.71706541e-03 2.78058572e+01] [-2.71878547e-03 6.12792106e-05 9.99996302e-01 -1.48313979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:27.82, Z:-1.48 [[ 7.60922024e-01 -6.48839911e-01 2.10796056e-03 1.01834171e+02] [ 6.48837639e-01 7.60924941e-01 1.71815231e-03 2.78239793e+01] [-2.71880556e-03 6.03442229e-05 9.99996302e-01 -1.48339518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:27.84, Z:-1.48 [[ 7.59107259e-01 -6.50960498e-01 2.56879126e-03 1.01857208e+02] [ 6.50957135e-01 7.59111601e-01 2.09414113e-03 2.78407661e+01] [-3.31320240e-03 8.24952676e-05 9.99994508e-01 -1.48357577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:27.86, Z:-1.48 [[ 7.57487745e-01 -6.52842459e-01 3.00653661e-03 1.01880272e+02] [ 6.52837859e-01 7.57493705e-01 2.45296629e-03 2.78575324e+01] [-3.87883310e-03 1.04689022e-04 9.99992472e-01 -1.48369449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:27.87, Z:-1.48 [[ 7.56137587e-01 -6.54404835e-01 3.20346561e-03 1.01902886e+02] [ 6.54399619e-01 7.56144363e-01 2.61533074e-03 2.78741548e+01] [-4.13376754e-03 1.18796798e-04 9.99991449e-01 -1.48346649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:27.89, Z:-1.48 [[ 7.56019103e-01 -6.54537698e-01 3.93933410e-03 1.01923505e+02] [ 6.54529796e-01 7.56029352e-01 3.21950349e-03 2.78910163e+01] [-5.08553861e-03 1.44405403e-04 9.99987058e-01 -1.48359817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:27.91, Z:-1.48 [[ 7.56438289e-01 -6.54055706e-01 3.49967525e-03 1.01944953e+02] [ 6.54049466e-01 7.56446374e-01 2.85984352e-03 2.79094681e+01] [-4.51781362e-03 1.25665587e-04 9.99989787e-01 -1.48392561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:27.93, Z:-1.48 [[ 7.57182234e-01 -6.53196446e-01 3.07694297e-03 1.01965620e+02] [ 6.53191608e-01 7.57188478e-01 2.51623410e-03 2.79267871e+01] [-3.97342094e-03 1.04585573e-04 9.99992100e-01 -1.48466327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:27.94, Z:-1.49 [[ 7.59211633e-01 -6.50840757e-01 2.00110319e-03 1.01985565e+02] [ 6.50838704e-01 7.59214268e-01 1.63607906e-03 2.79444594e+01] [-2.58409303e-03 6.02651485e-05 9.99996659e-01 -1.48552555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:27.96, Z:-1.49 [[ 7.59893701e-01 -6.50045353e-01 1.61286895e-03 1.02006752e+02] [ 6.50044019e-01 7.59895412e-01 1.31800147e-03 2.79626863e+01] [-2.08237244e-03 4.68948039e-05 9.99997831e-01 -1.48644937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:27.98, Z:-1.49 [[ 7.60751833e-01 -6.49041953e-01 1.09118510e-03 1.02027449e+02] [ 6.49041341e-01 7.60752615e-01 8.92344981e-04 2.79805051e+01] [-1.40929125e-03 2.93711607e-05 9.99999007e-01 -1.48665362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:28.00, Z:-1.49 [[ 7.61630865e-01 -6.48010574e-01 8.49270336e-04 1.02048199e+02] [ 6.48010204e-01 7.61631338e-01 6.92955529e-04 2.79996670e+01] [-1.09587341e-03 2.25595246e-05 9.99999399e-01 -1.48745201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:28.02, Z:-1.49 [[ 7.61703488e-01 -6.47925277e-01 7.94634347e-04 1.02068941e+02] [ 6.47924952e-01 7.61703902e-01 6.49478040e-04 2.80177933e+01] [-1.02608932e-03 2.01537332e-05 9.99999473e-01 -1.48765654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:28.04, Z:-1.49 [[ 7.61621236e-01 -6.48021366e-01 1.18400472e-03 1.02090455e+02] [ 6.48020643e-01 7.61622156e-01 9.68313725e-04 2.80363207e+01] [-1.52925221e-03 2.97712020e-05 9.99998830e-01 -1.48807853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:102.11, Y:28.05, Z:-1.49 [[ 7.61181319e-01 -6.48538431e-01 9.50236402e-04 1.02111640e+02] [ 6.48537966e-01 7.61181912e-01 7.76926270e-04 2.80546480e+01] [-1.22716931e-03 2.48826208e-05 9.99999247e-01 -1.49081435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:28.07, Z:-1.49 [[ 7.60853117e-01 -6.48919417e-01 2.47493241e-03 1.02132183e+02] [ 6.48916242e-01 7.60857139e-01 2.03072560e-03 2.80725672e+01] [-3.20084727e-03 6.09399435e-05 9.99994875e-01 -1.48811517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:28.09, Z:-1.49 [[ 7.60801818e-01 -6.48977680e-01 2.92655950e-03 1.02153014e+02] [ 6.48973234e-01 7.60807444e-01 2.40314080e-03 2.80898207e+01] [-3.78613299e-03 7.09448921e-05 9.99992830e-01 -1.48855223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:28.11, Z:-1.49 [[ 7.60574262e-01 -6.49242882e-01 3.23598953e-03 1.02174250e+02] [ 6.49237450e-01 7.60581142e-01 2.65706431e-03 2.81074888e+01] [-4.18631270e-03 8.00308659e-05 9.99991234e-01 -1.48872709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:28.13, Z:-1.49 [[ 7.60594092e-01 -6.49219153e-01 3.33442254e-03 1.02195826e+02] [ 6.49213378e-01 7.60601397e-01 2.73952506e-03 2.81251247e+01] [-4.31471858e-03 8.10851430e-05 9.99990688e-01 -1.48881306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:28.14, Z:-1.49 [[ 7.60866536e-01 -6.48895437e-01 4.10193819e-03 1.02217556e+02] [ 6.48886679e-01 7.60877587e-01 3.37275804e-03 2.81434519e+01] [-5.30964014e-03 9.54743206e-05 9.99985899e-01 -1.48905430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:28.16, Z:-1.49 [[ 7.61101445e-01 -6.48617499e-01 4.46428381e-03 1.02237842e+02] [ 6.48607103e-01 7.61114532e-01 3.67373993e-03 2.81606922e+01] [-5.78068329e-03 9.94774122e-05 9.99983287e-01 -1.48942921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:28.18, Z:-1.49 [[ 7.61355882e-01 -6.48316357e-01 4.80849177e-03 1.02258871e+02] [ 6.48304287e-01 7.61371059e-01 3.95753489e-03 2.81786670e+01] [-6.22678108e-03 1.04273356e-04 9.99980608e-01 -1.49005385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:28.20, Z:-1.49 [[ 7.62498108e-01 -6.46971144e-01 4.99740688e-03 1.02280221e+02] [ 6.46958061e-01 7.62514479e-01 4.11543923e-03 2.81968919e+01] [-6.47316552e-03 9.50980376e-05 9.99979044e-01 -1.49097511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:28.21, Z:-1.49 [[ 7.63032786e-01 -6.46341798e-01 4.82149925e-03 1.02300919e+02] [ 6.46329591e-01 7.63048015e-01 3.97329083e-03 2.82140035e+01] [-6.24713937e-03 8.45264648e-05 9.99980483e-01 -1.49161384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:28.23, Z:-1.49 [[ 7.63528126e-01 -6.45758860e-01 4.50509819e-03 1.02322235e+02] [ 6.45748189e-01 7.63541413e-01 3.71310371e-03 2.82308685e+01] [-5.83759865e-03 7.40998830e-05 9.99982958e-01 -1.49160639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:28.25, Z:-1.49 [[ 7.63699926e-01 -6.45557175e-01 4.28439583e-03 1.02344785e+02] [ 6.45547516e-01 7.63711941e-01 3.53206702e-03 2.82484094e+01] [-5.55219547e-03 6.83417638e-05 9.99984584e-01 -1.49154545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:28.26, Z:-1.49 [[ 7.64006422e-01 -6.45197416e-01 3.80542802e-03 1.02366458e+02] [ 6.45189782e-01 7.64015898e-01 3.13906275e-03 2.82649517e+01] [-4.93272268e-03 5.69591668e-05 9.99987832e-01 -1.49150077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:28.28, Z:-1.49 [[ 7.64068260e-01 -6.45123327e-01 3.94798185e-03 1.02387996e+02] [ 6.45115105e-01 7.64078457e-01 3.25755427e-03 2.82824575e+01] [-5.11809213e-03 5.79089000e-05 9.99986901e-01 -1.49212116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:28.30, Z:-1.49 [[ 7.64093723e-01 -6.45094305e-01 3.75759693e-03 1.02409981e+02] [ 6.45086849e-01 7.64102961e-01 3.10198162e-03 2.83003127e+01] [-4.87226161e-03 5.37716778e-05 9.99988129e-01 -1.49258960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:28.32, Z:-1.49 [[ 7.64496479e-01 -6.44619008e-01 3.38632181e-03 1.02431379e+02] [ 6.44612940e-01 7.64503978e-01 2.79747963e-03 2.83163301e+01] [-4.39216504e-03 4.42035336e-05 9.99990353e-01 -1.49371196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:28.33, Z:-1.49 [[ 7.64391871e-01 -6.44744819e-01 3.03079096e-03 1.02453683e+02] [ 6.44739960e-01 7.64397878e-01 2.50354197e-03 2.83334318e+01] [-3.93087589e-03 4.03849091e-05 9.99992273e-01 -1.49409625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:28.35, Z:-1.49 [[ 7.64184147e-01 -6.44992840e-01 2.61277105e-03 1.02476560e+02] [ 6.44989227e-01 7.64188612e-01 2.15903077e-03 2.83505724e+01] [-3.38920927e-03 3.53120929e-05 9.99994256e-01 -1.49428288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:28.37, Z:-1.49 [[ 7.63800947e-01 -6.45448104e-01 2.20420134e-03 1.02498354e+02] [ 6.45445530e-01 7.63804127e-01 1.82291893e-03 2.83666635e+01] [-2.86017765e-03 3.03446967e-05 9.99995909e-01 -1.49412259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:28.38, Z:-1.49 [[ 7.63290884e-01 -6.46051892e-01 1.99465650e-03 1.02521322e+02] [ 6.46049786e-01 7.63293490e-01 1.64998213e-03 2.83815051e+01] [-2.58848240e-03 2.92310857e-05 9.99996649e-01 -1.49376961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:28.40, Z:-1.49 [[ 7.63137079e-01 -6.46232342e-01 2.35786588e-03 1.02542372e+02] [ 6.46229397e-01 7.63140721e-01 1.95134970e-03 2.83984765e+01] [-3.06040875e-03 3.45749328e-05 9.99995316e-01 -1.49424864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:28.42, Z:-1.49 [[ 7.63439744e-01 -6.45871574e-01 3.10911801e-03 1.02563637e+02] [ 6.45866448e-01 7.63446074e-01 2.57359458e-03 2.84165604e+01] [-4.03585552e-03 4.32906175e-05 9.99991855e-01 -1.49473269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:28.43, Z:-1.49 [[ 7.65322226e-01 -6.43632806e-01 4.32440245e-03 1.02584773e+02] [ 6.43622836e-01 7.65334443e-01 3.58282066e-03 2.84346489e+01] [-5.61563505e-03 4.12718783e-05 9.99984231e-01 -1.49494905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:28.45, Z:-1.49 [[ 7.66096598e-01 -6.42710888e-01 4.32635675e-03 1.02605661e+02] [ 6.42700878e-01 7.66108813e-01 3.58720865e-03 2.84517190e+01] [-5.61999809e-03 3.24049430e-05 9.99984207e-01 -1.49488274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:28.47, Z:-1.50 [[ 7.66543286e-01 -6.42178019e-01 4.33388648e-03 1.02627196e+02] [ 6.42167965e-01 7.66555537e-01 3.59366076e-03 2.84691581e+01] [-5.62993463e-03 2.83865272e-05 9.99984151e-01 -1.49520103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:28.49, Z:-1.50 [[ 7.66378505e-01 -6.42376407e-01 4.06685050e-03 1.02649009e+02] [ 6.42367546e-01 7.66389295e-01 3.37396477e-03 2.84867551e+01] [-5.28414606e-03 2.66787009e-05 9.99986038e-01 -1.49505549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:28.50, Z:-1.50 [[ 7.65642966e-01 -6.43249220e-01 4.61405120e-03 1.02670878e+02] [ 6.43237815e-01 7.65656868e-01 3.83055811e-03 2.85037631e+01] [-5.99678350e-03 3.50923383e-05 9.99982019e-01 -1.49507791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:28.52, Z:-1.49 [[ 7.65415061e-01 -6.43516993e-01 5.06591864e-03 1.02691334e+02] [ 6.43503229e-01 7.65431825e-01 4.20895547e-03 2.85210223e+01] [-6.58614972e-03 3.83370962e-05 9.99978310e-01 -1.49498537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:28.54, Z:-1.50 [[ 7.65078660e-01 -6.43914125e-01 5.40765588e-03 1.02712395e+02] [ 6.43898447e-01 7.65097770e-01 4.49370163e-03 2.85391977e+01] [-7.03094341e-03 4.39460012e-05 9.99975282e-01 -1.49564666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:28.56, Z:-1.50 [[ 7.64706110e-01 -6.44357156e-01 5.33106136e-03 1.02733720e+02] [ 6.44341912e-01 7.64724691e-01 4.43254339e-03 2.85576302e+01] [-6.93293530e-03 4.54332519e-05 9.99975966e-01 -1.49579907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:28.58, Z:-1.50 [[ 7.63693970e-01 -6.45558582e-01 5.06340635e-03 1.02755299e+02] [ 6.45544842e-01 7.63710753e-01 4.21224325e-03 2.85757889e+01] [-6.58622766e-03 5.17910828e-05 9.99978309e-01 -1.49579354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:28.59, Z:-1.50 [[ 7.62937098e-01 -6.46454577e-01 4.84410330e-03 1.02777079e+02] [ 6.46442005e-01 7.62952474e-01 4.03194424e-03 2.85938085e+01] [-6.30228940e-03 5.53120108e-05 9.99980139e-01 -1.49587024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:28.61, Z:-1.50 [[ 7.61520376e-01 -6.48125134e-01 4.53070322e-03 1.02798667e+02] [ 6.48114155e-01 7.61533851e-01 3.77302142e-03 2.86116865e+01] [-5.89567389e-03 6.31801998e-05 9.99982618e-01 -1.49621976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:28.63, Z:-1.50 [[ 7.61034411e-01 -6.48697110e-01 4.32258786e-03 1.02820141e+02] [ 6.48687115e-01 7.61046685e-01 3.60156270e-03 2.86294040e+01] [-5.62601448e-03 6.30938991e-05 9.99984172e-01 -1.49641374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:28.65, Z:-1.50 [[ 7.60659236e-01 -6.49138084e-01 4.15616684e-03 1.02840689e+02] [ 6.49128838e-01 7.60670588e-01 3.46520576e-03 2.86468696e+01] [-5.41087090e-03 6.20469855e-05 9.99985359e-01 -1.49659959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:28.67, Z:-1.50 [[ 7.60496510e-01 -6.49329739e-01 3.99364275e-03 1.02861654e+02] [ 6.49321200e-01 7.60506993e-01 3.33054615e-03 2.86651309e+01] [-5.19981591e-03 6.02881796e-05 9.99986479e-01 -1.49687881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:28.68, Z:-1.50 [[ 7.61171767e-01 -6.48539657e-01 3.72228741e-03 1.02882950e+02] [ 6.48532222e-01 7.61180866e-01 3.10571291e-03 2.86840794e+01] [-4.84751194e-03 5.00423416e-05 9.99988249e-01 -1.49735947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:28.70, Z:-1.50 [[ 7.61517750e-01 -6.48133929e-01 3.62290794e-03 1.02903951e+02] [ 6.48126875e-01 7.61526367e-01 3.02437921e-03 2.87024469e+01] [-4.71914270e-03 4.49855501e-05 9.99988864e-01 -1.49751613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:28.72, Z:-1.50 [[ 7.61893925e-01 -6.47692306e-01 3.51049005e-03 1.02924722e+02] [ 6.47685671e-01 7.61902011e-01 2.93207272e-03 2.87207349e+01] [-4.57373038e-03 3.97657086e-05 9.99989540e-01 -1.49789948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:28.74, Z:-1.50 [[ 7.62220428e-01 -6.47308766e-01 3.37339829e-03 1.02945883e+02] [ 6.47302629e-01 7.62227892e-01 2.81902848e-03 2.87390784e+01] [-4.39608012e-03 3.48884872e-05 9.99990337e-01 -1.49841107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:28.76, Z:-1.50 [[ 7.62716860e-01 -6.46725343e-01 3.05321187e-03 1.02966178e+02] [ 6.46720303e-01 7.62722971e-01 2.55341897e-03 2.87562815e+01] [-3.98011559e-03 2.70384069e-05 9.99992079e-01 -1.49903598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:28.77, Z:-1.50 [[ 7.62573465e-01 -6.46893728e-01 3.19621717e-03 1.02986732e+02] [ 6.46888203e-01 7.62580162e-01 2.67374136e-03 2.87735631e+01] [-4.16699832e-03 2.86709754e-05 9.99991318e-01 -1.49947592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:28.79, Z:-1.50 [[ 7.62438207e-01 -6.47051465e-01 3.51892482e-03 1.03008242e+02] [ 6.47044766e-01 7.62446326e-01 2.94449428e-03 2.87909796e+01] [-4.58823064e-03 3.19069488e-05 9.99989474e-01 -1.49994818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:28.81, Z:-1.50 [[ 7.61592263e-01 -6.48044421e-01 3.95634780e-03 1.03030011e+02] [ 6.48035955e-01 7.61602538e-01 3.31276605e-03 2.88080233e+01] [-5.15998409e-03 4.08786286e-05 9.99986686e-01 -1.49967105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:28.83, Z:-1.50 [[ 7.61173273e-01 -6.48534597e-01 4.25725112e-03 1.03051268e+02] [ 6.48524785e-01 7.61185177e-01 3.56771433e-03 2.88252375e+01] [-5.55434263e-03 4.52840755e-05 9.99984573e-01 -1.49969194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:28.84, Z:-1.50 [[ 7.60738062e-01 -6.49044285e-01 4.37225786e-03 1.03072846e+02] [ 6.49033943e-01 7.60750625e-01 3.66442677e-03 2.88431569e+01] [-5.70457315e-03 5.00748351e-05 9.99983728e-01 -1.50001614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:28.86, Z:-1.50 [[ 7.60280290e-01 -6.49580155e-01 4.41624535e-03 1.03094087e+02] [ 6.49569601e-01 7.60293115e-01 3.70323727e-03 2.88608849e+01] [-5.76319037e-03 5.31604197e-05 9.99983391e-01 -1.50030252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:28.88, Z:-1.50 [[ 7.59499888e-01 -6.50495650e-01 3.91519428e-03 1.03116309e+02] [ 6.50487360e-01 7.59509978e-01 3.28460386e-03 2.88788415e+01] [-5.11024964e-03 5.21281272e-05 9.99986941e-01 -1.50096485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:28.90, Z:-1.50 [[ 7.59053495e-01 -6.51018345e-01 3.59265061e-03 1.03137443e+02] [ 6.51011359e-01 7.59061995e-01 3.01636123e-03 2.88963126e+01] [-4.69075103e-03 4.92768250e-05 9.99988997e-01 -1.50122434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:28.91, Z:-1.50 [[ 7.58663019e-01 -6.51474434e-01 3.38913349e-03 1.03158968e+02] [ 6.51468222e-01 7.58670587e-01 2.84527622e-03 2.89147197e+01] [-4.42486061e-03 4.93069246e-05 9.99990209e-01 -1.50132341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:28.93, Z:-1.50 [[ 7.58502407e-01 -6.51661428e-01 3.38833540e-03 1.03180799e+02] [ 6.51655215e-01 7.58509974e-01 2.84622605e-03 2.89331895e+01] [-4.42486193e-03 4.91571181e-05 9.99990209e-01 -1.50157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:28.95, Z:-1.50 [[ 7.58337957e-01 -6.51852224e-01 3.49589873e-03 1.03201365e+02] [ 6.51845605e-01 7.58346013e-01 2.93795696e-03 2.89516885e+01] [-4.56621464e-03 5.08219360e-05 9.99989573e-01 -1.50159905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:28.97, Z:-1.50 [[ 7.58440702e-01 -6.51730816e-01 3.82701869e-03 1.03223040e+02] [ 6.51722871e-01 7.58450355e-01 3.21836299e-03 2.89702474e+01] [-5.00011002e-03 5.32181225e-05 9.99987498e-01 -1.50167540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:28.99, Z:-1.50 [[ 7.58251732e-01 -6.51949944e-01 3.94725796e-03 1.03243381e+02] [ 6.51941484e-01 7.58262004e-01 3.32190340e-03 2.89878596e+01] [-5.15877047e-03 5.45422053e-05 9.99986692e-01 -1.50160353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:29.01, Z:-1.50 [[ 7.57952684e-01 -6.52300221e-01 3.48589812e-03 1.03264372e+02] [ 6.52293624e-01 7.57960698e-01 2.93396105e-03 2.90069862e+01] [-4.55599722e-03 5.00254695e-05 9.99989620e-01 -1.50169245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:29.02, Z:-1.50 [[ 7.57543549e-01 -6.52779964e-01 2.46782180e-03 1.03284696e+02] [ 6.52776656e-01 7.57547568e-01 2.07851364e-03 2.90246292e+01] [-3.22630446e-03 3.63718566e-05 9.99994795e-01 -1.50217895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:29.04, Z:-1.50 [[ 7.56863486e-01 -6.53570989e-01 1.62021768e-03 1.03306381e+02] [ 6.53569568e-01 7.56865220e-01 1.36311443e-03 2.90430167e+01] [-2.11717846e-03 2.72334362e-05 9.99997758e-01 -1.50277168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:29.06, Z:-1.50 [[ 7.55735184e-01 -6.54877331e-01 1.13685907e-04 1.03327251e+02] [ 6.54877324e-01 7.55735193e-01 9.26864868e-05 2.90617263e+01] [-1.46614720e-04 4.40388333e-06 9.99999989e-01 -1.50352907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:29.08, Z:-1.50 [[ 7.55509545e-01 -6.55137627e-01 -1.30302202e-04 1.03348213e+02] [ 6.55137617e-01 7.55509557e-01 -1.13264931e-04 2.90807505e+01] [ 1.72648677e-04 2.06862168e-07 9.99999985e-01 -1.50384802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:29.10, Z:-1.50 [[ 7.55057801e-01 -6.55658226e-01 -8.15087964e-05 1.03369500e+02] [ 6.55658223e-01 7.55057806e-01 -7.20926937e-05 2.90998553e+01] [ 1.08812021e-04 9.92238251e-07 9.99999994e-01 -1.50405811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:29.12, Z:-1.50 [[ 7.53953198e-01 -6.56928126e-01 -1.15424437e-04 1.03390468e+02] [ 6.56928118e-01 7.53953207e-01 -1.00856996e-04 2.91178364e+01] [ 1.53280421e-04 2.15896564e-07 9.99999988e-01 -1.50362317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:29.14, Z:-1.50 [[ 7.52958271e-01 -6.58068127e-01 4.27155121e-04 1.03411618e+02] [ 6.58068029e-01 7.52958392e-01 3.59325334e-04 2.91352862e+01] [-5.58090583e-04 1.05401465e-05 9.99999844e-01 -1.50289871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:29.15, Z:-1.50 [[ 7.51647627e-01 -6.59563740e-01 1.23225295e-03 1.03432582e+02] [ 6.59562920e-01 7.51648636e-01 1.04034596e-03 2.91523679e+01] [-1.61239572e-03 3.07747867e-05 9.99998700e-01 -1.50214063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:29.17, Z:-1.50 [[ 7.48819400e-01 -6.62769510e-01 2.46637148e-03 1.03454699e+02] [ 6.62766239e-01 7.48823458e-01 2.08375977e-03 2.91701872e+01] [-3.22792926e-03 7.42680144e-05 9.99994787e-01 -1.50076439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:29.19, Z:-1.50 [[ 7.47050203e-01 -6.64762558e-01 2.59538718e-03 1.03475809e+02] [ 6.64758942e-01 7.47054706e-01 2.19414201e-03 2.91888324e+01] [-3.39747966e-03 8.61726017e-05 9.99994225e-01 -1.50081783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:29.21, Z:-1.50 [[ 7.45354930e-01 -6.66661862e-01 2.82672170e-03 1.03496203e+02] [ 6.66657579e-01 7.45360283e-01 2.39203985e-03 2.92069244e+01] [-3.70160783e-03 1.01536756e-04 9.99993144e-01 -1.50144024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:29.22, Z:-1.50 [[ 7.43575146e-01 -6.68646054e-01 2.90814985e-03 1.03516099e+02] [ 6.68641530e-01 7.43580824e-01 2.46229122e-03 2.92249031e+01] [-3.80884577e-03 1.13611215e-04 9.99992740e-01 -1.50208171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:29.25, Z:-1.51 [[ 7.37627912e-01 -6.75175992e-01 6.51484661e-03 1.03528426e+02] [ 6.75183396e-01 7.37648726e-01 1.31884226e-03 2.92458367e+01] [-5.69611893e-03 3.42590140e-03 9.99977908e-01 -1.50748129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:29.26, Z:-1.50 [[ 7.39237362e-01 -6.73444521e-01 7.74954727e-04 1.03559021e+02] [ 6.73433961e-01 7.39231370e-01 4.86646872e-03 2.92619153e+01] [-3.85016754e-03 -3.07559466e-03 9.99987858e-01 -1.50164948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:29.28, Z:-1.50 [[ 7.38098574e-01 -6.74687416e-01 2.71767744e-03 1.03578563e+02] [ 6.74683510e-01 7.38103565e-01 2.29990988e-03 2.92808842e+01] [-3.55764765e-03 1.36011950e-04 9.99993662e-01 -1.50298308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:29.30, Z:-1.50 [[ 7.37255459e-01 -6.75608789e-01 2.67434331e-03 1.03599102e+02] [ 6.75605009e-01 7.37260297e-01 2.26436744e-03 2.92990782e+01] [-3.50151369e-03 1.37382476e-04 9.99993860e-01 -1.50324950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:29.32, Z:-1.50 [[ 7.37154843e-01 -6.75719910e-01 2.31075140e-03 1.03619829e+02] [ 6.75717090e-01 7.37158455e-01 1.95596651e-03 2.93188531e+01] [-3.02507545e-03 1.19564030e-04 9.99995417e-01 -1.50219887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:29.34, Z:-1.50 [[ 7.37751682e-01 -6.75067367e-01 2.55047266e-03 1.03639992e+02] [ 6.75063922e-01 7.37756080e-01 2.16037008e-03 2.93381076e+01] [-3.34002205e-03 1.27915416e-04 9.99994414e-01 -1.50286218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:29.36, Z:-1.50 [[ 7.38535886e-01 -6.74211233e-01 1.98963362e-03 1.03660086e+02] [ 6.74209133e-01 7.38538560e-01 1.68552670e-03 2.93577157e+01] [-2.60582218e-03 9.66072006e-05 9.99996600e-01 -1.50349930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:29.38, Z:-1.50 [[ 7.39533736e-01 -6.73118022e-01 1.40782053e-03 1.03679355e+02] [ 6.73116967e-01 7.39535073e-01 1.19384174e-03 2.93764346e+01] [-1.84472905e-03 6.47416429e-05 9.99998296e-01 -1.50430451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:29.40, Z:-1.51 [[ 7.41636553e-01 -6.70801279e-01 9.31487893e-04 1.03699045e+02] [ 6.70800818e-01 7.41637136e-01 7.88064244e-04 2.93960162e+01] [-1.21946052e-03 4.03855909e-05 9.99999256e-01 -1.50504904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:29.41, Z:-1.51 [[ 7.42632112e-01 -6.69699517e-01 3.21094155e-04 1.03718747e+02] [ 6.69699462e-01 7.42632182e-01 2.71076088e-04 2.94142847e+01] [-4.19994378e-04 1.37267751e-05 9.99999912e-01 -1.50539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:29.43, Z:-1.51 [[ 7.43556872e-01 -6.68672688e-01 -1.20423508e-04 1.03739386e+02] [ 6.68672680e-01 7.43556882e-01 -1.05640715e-04 2.94329251e+01] [ 1.60180789e-04 -1.97403005e-06 9.99999987e-01 -1.50562433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:29.45, Z:-1.51 [[ 7.45030252e-01 -6.67030404e-01 -6.02753069e-04 1.03759331e+02] [ 6.67030206e-01 7.45030496e-01 -5.14445925e-04 2.94513636e+01] [ 7.92220491e-04 -1.87767265e-05 9.99999686e-01 -1.50528395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:29.47, Z:-1.51 [[ 7.45273856e-01 -6.66758404e-01 -3.33378403e-04 1.03780950e+02] [ 6.66758342e-01 7.45273930e-01 -2.86971669e-04 2.94700973e+01] [ 4.39799004e-04 -8.41034901e-06 9.99999903e-01 -1.50511805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:29.49, Z:-1.51 [[ 7.45368813e-01 -6.66652327e-01 8.51839608e-05 1.03801389e+02] [ 6.66652323e-01 7.45368818e-01 7.02983327e-05 2.94880628e+01] [-1.10358015e-04 4.38990051e-06 9.99999994e-01 -1.50510099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:29.51, Z:-1.51 [[ 7.45146104e-01 -6.66901178e-01 3.19822288e-04 1.03822399e+02] [ 6.66901124e-01 7.45146172e-01 2.69296136e-04 2.95065176e+01] [-4.17908264e-04 1.26248770e-05 9.99999913e-01 -1.50518621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:29.53, Z:-1.51 [[ 7.44335200e-01 -6.67805650e-01 8.51217867e-04 1.03843851e+02] [ 6.67805260e-01 7.44335686e-01 7.22213739e-04 2.95254278e+01] [-1.11589025e-03 3.08786613e-05 9.99999377e-01 -1.50572310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:29.54, Z:-1.51 [[ 7.43635985e-01 -6.68583848e-01 1.07725867e-03 1.03865472e+02] [ 6.68583222e-01 7.43636764e-01 9.15406936e-04 2.95435167e+01] [-1.41311544e-03 3.95075323e-05 9.99999001e-01 -1.50596465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:29.56, Z:-1.51 [[ 7.42819439e-01 -6.69490398e-01 1.37428905e-03 1.03886734e+02] [ 6.69489378e-01 7.42820709e-01 1.16937508e-03 2.95613963e+01] [-1.80373575e-03 5.14373762e-05 9.99998372e-01 -1.50619612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:29.58, Z:-1.51 [[ 7.42155233e-01 -6.70225769e-01 1.74039143e-03 1.03908221e+02] [ 6.70224132e-01 7.42157271e-01 1.48251249e-03 2.95794849e+01] [-2.28526223e-03 6.61979351e-05 9.99997387e-01 -1.50624522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:29.60, Z:-1.51 [[ 7.41597750e-01 -6.70841669e-01 2.05740205e-03 1.03929449e+02] [ 6.70839376e-01 7.41600600e-01 1.75546296e-03 2.95960480e+01] [-2.70340829e-03 7.83389269e-05 9.99996343e-01 -1.50563952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:29.61, Z:-1.51 [[ 7.41654912e-01 -6.70777471e-01 2.36118467e-03 1.03950555e+02] [ 6.70774451e-01 7.41658666e-01 2.01486394e-03 2.96132707e+01] [-3.10271841e-03 8.94886162e-05 9.99995183e-01 -1.50557857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:29.63, Z:-1.51 [[ 7.41675463e-01 -6.70755566e-01 2.11602998e-03 1.03972213e+02] [ 6.70753141e-01 7.41678477e-01 1.80543477e-03 2.96314809e+01] [-2.78041932e-03 8.02870933e-05 9.99996131e-01 -1.50516051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:29.65, Z:-1.51 [[ 7.41917864e-01 -6.70487620e-01 2.05768238e-03 1.03992495e+02] [ 6.70485321e-01 7.41920714e-01 1.75755880e-03 2.96488902e+01] [-2.70505860e-03 7.56815670e-05 9.99996338e-01 -1.50583760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:29.67, Z:-1.51 [[ 7.42683578e-01 -6.69641682e-01 1.05879704e-03 1.04013213e+02] [ 6.69641075e-01 7.42684331e-01 9.02609281e-04 2.96672714e+01] [-1.39077677e-03 3.86608985e-05 9.99999032e-01 -1.50740885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:29.69, Z:-1.51 [[ 7.43095873e-01 -6.69184339e-01 9.18832561e-04 1.04034864e+02] [ 6.69183882e-01 7.43096440e-01 7.83308953e-04 2.96856415e+01] [-1.20695929e-03 3.27942894e-05 9.99999271e-01 -1.50814592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:29.70, Z:-1.51 [[ 7.43218486e-01 -6.69048466e-01 6.57694308e-04 1.04055585e+02] [ 6.69048231e-01 7.43218776e-01 5.61377293e-04 2.97031310e+01] [-8.64399375e-04 2.28032315e-05 9.99999626e-01 -1.50863503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:29.72, Z:-1.51 [[ 7.42962441e-01 -6.69333016e-01 -3.54322609e-04 1.04077505e+02] [ 6.69332945e-01 7.42962525e-01 -3.06665205e-04 2.97207033e+01] [ 4.68509566e-04 -9.31906617e-06 9.99999890e-01 -1.50904192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:29.74, Z:-1.51 [[ 7.42427916e-01 -6.69924944e-01 -1.16574907e-03 1.04098549e+02] [ 6.69924198e-01 7.42428830e-01 -1.00071185e-03 2.97377730e+01] [ 1.53588755e-03 -3.80070980e-05 9.99998820e-01 -1.50950863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:29.76, Z:-1.51 [[ 7.41352153e-01 -6.71114147e-01 -1.66921089e-03 1.04119711e+02] [ 6.71112621e-01 7.41354030e-01 -1.43253689e-03 2.97552884e+01] [ 2.19887199e-03 -5.82141822e-05 9.99997581e-01 -1.50956632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:29.77, Z:-1.51 [[ 7.40071578e-01 -6.72526082e-01 -1.65200182e-03 1.04141546e+02] [ 6.72524586e-01 7.40073419e-01 -1.41989516e-03 2.97730271e+01] [ 2.17751917e-03 -6.01877856e-05 9.99997627e-01 -1.50973444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:29.79, Z:-1.51 [[ 7.37205173e-01 -6.75668453e-01 -8.21459816e-04 1.04163223e+02] [ 6.75668084e-01 7.37205630e-01 -7.06414679e-04 2.97897057e+01] [ 1.08288691e-03 -3.42616247e-05 9.99999413e-01 -1.50835930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:29.81, Z:-1.51 [[ 7.35337166e-01 -6.77701356e-01 -3.52855433e-04 1.04184812e+02] [ 6.77701287e-01 7.35337251e-01 -3.06106033e-04 2.98076395e+01] [ 4.66916217e-04 -1.40394382e-05 9.99999891e-01 -1.50792655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:29.83, Z:-1.51 [[ 7.33391125e-01 -6.79806898e-01 2.00542010e-04 1.04206491e+02] [ 6.79806877e-01 7.33391152e-01 1.68920708e-04 2.98256744e+01] [-2.61909199e-04 1.24448893e-05 9.99999966e-01 -1.50787837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:29.84, Z:-1.51 [[ 7.29473680e-01 -6.84006853e-01 1.66587229e-03 1.04227923e+02] [ 6.84005366e-01 7.29475576e-01 1.42969926e-03 2.98425116e+01] [-2.19313724e-03 9.65376014e-05 9.99997590e-01 -1.50740784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:29.86, Z:-1.51 [[ 7.27353843e-01 -6.86258413e-01 2.40375277e-03 1.04249591e+02] [ 6.86255328e-01 7.27357800e-01 2.06295089e-03 2.98606594e+01] [-3.16410573e-03 1.49092891e-04 9.99994983e-01 -1.50736382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:29.88, Z:-1.51 [[ 7.25534386e-01 -6.88179215e-01 3.03688353e-03 1.04269817e+02] [ 6.88174295e-01 7.25540716e-01 2.60945543e-03 2.98779944e+01] [-3.99915564e-03 1.96655535e-04 9.99991984e-01 -1.50740949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:29.90, Z:-1.51 [[ 7.23812283e-01 -6.89987292e-01 3.64908812e-03 1.04291345e+02] [ 6.89980209e-01 7.23821439e-01 3.13614571e-03 2.98968053e+01] [-4.80518890e-03 2.47817793e-04 9.99988424e-01 -1.50728942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:29.92, Z:-1.51 [[ 7.22013303e-01 -6.91862656e-01 4.78075179e-03 1.04311859e+02] [ 6.91850518e-01 7.22029051e-01 4.11212309e-03 2.99163073e+01] [-6.29686608e-03 3.38558029e-04 9.99980117e-01 -1.50720675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:29.94, Z:-1.51 [[ 7.21941822e-01 -6.91936337e-01 4.91021144e-03 1.04331723e+02] [ 6.91923517e-01 7.21958437e-01 4.22636706e-03 2.99350052e+01] [-6.46934552e-03 3.46299631e-04 9.99979014e-01 -1.50751933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:29.95, Z:-1.51 [[ 7.22341879e-01 -6.91521377e-01 4.51610139e-03 1.04352117e+02] [ 6.91510520e-01 7.22355928e-01 3.88774561e-03 2.99542619e+01] [-5.95069181e-03 3.14650150e-04 9.99982245e-01 -1.50784871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:29.97, Z:-1.51 [[ 7.24049519e-01 -6.89740243e-01 3.26975643e-03 1.04370372e+02] [ 6.89734527e-01 7.24056870e-01 2.81624555e-03 2.99742545e+01] [-4.30996750e-03 2.16162672e-04 9.99990689e-01 -1.50898673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:29.99, Z:-1.51 [[ 7.24852820e-01 -6.88899692e-01 2.36739181e-03 1.04390524e+02] [ 6.88896694e-01 7.24856669e-01 2.03823222e-03 2.99944524e+01] [-3.12015729e-03 1.53470018e-04 9.99995121e-01 -1.51001703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:30.01, Z:-1.51 [[ 7.25564507e-01 -6.88152358e-01 1.57436262e-03 1.04410550e+02] [ 6.88151031e-01 7.25566208e-01 1.35513549e-03 3.00146251e+01] [-2.07484400e-03 1.00161051e-04 9.99997842e-01 -1.51103647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:30.03, Z:-1.51 [[ 7.26071921e-01 -6.87617696e-01 1.21262964e-03 1.04430184e+02] [ 6.87616908e-01 7.26072929e-01 1.04357555e-03 3.00342138e+01] [-1.59803857e-03 7.61137421e-05 9.99998720e-01 -1.51193198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.45, Y:30.05, Z:-1.51 [[ 7.26951852e-01 -6.86686408e-01 1.66789308e-03 1.04449232e+02] [ 6.86684911e-01 7.26953759e-01 1.43743777e-03 3.00544792e+01] [-2.19955013e-03 1.00368961e-04 9.99997576e-01 -1.51186705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:30.07, Z:-1.51 [[ 7.27340442e-01 -6.86274012e-01 1.96532748e-03 1.04468987e+02] [ 6.86271924e-01 7.27343088e-01 1.69666396e-03 3.00737235e+01] [-2.59384374e-03 1.14696754e-04 9.99996629e-01 -1.51132402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:30.09, Z:-1.51 [[ 7.27638830e-01 -6.85955704e-01 2.55030404e-03 1.04489380e+02] [ 6.85952188e-01 7.27643285e-01 2.20151932e-03 3.00936604e+01] [-3.36585634e-03 1.47475696e-04 9.99994325e-01 -1.51134367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:30.11, Z:-1.51 [[ 7.27459551e-01 -6.86145831e-01 2.54962754e-03 1.04510967e+02] [ 6.86142313e-01 7.27464004e-01 2.20230212e-03 3.01124130e+01] [-3.36586268e-03 1.47321631e-04 9.99994325e-01 -1.51159551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:30.13, Z:-1.51 [[ 7.28722202e-01 -6.84801671e-01 3.25946608e-03 1.04529317e+02] [ 6.84795894e-01 7.28729470e-01 2.81842549e-03 3.01324980e+01] [-4.30533147e-03 1.78219763e-04 9.99990716e-01 -1.51141654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:30.15, Z:-1.51 [[ 7.29444429e-01 -6.84029980e-01 3.71647695e-03 1.04549242e+02] [ 6.84022457e-01 7.29453869e-01 3.21423491e-03 3.01519766e+01] [-4.90963153e-03 1.97547944e-04 9.99987928e-01 -1.51132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:30.17, Z:-1.51 [[ 7.30244883e-01 -6.83172436e-01 4.22309487e-03 1.04569027e+02] [ 6.83162694e-01 7.30257062e-01 3.65482181e-03 3.01714137e+01] [-5.58081837e-03 2.16145943e-04 9.99984404e-01 -1.51126723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:30.19, Z:-1.51 [[ 7.32763274e-01 -6.80469924e-01 4.32047961e-03 1.04588390e+02] [ 6.80459668e-01 7.32775984e-01 3.74124741e-03 3.01925742e+01] [-5.71175004e-03 1.98463414e-04 9.99983668e-01 -1.51142827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:30.21, Z:-1.51 [[ 7.34348894e-01 -6.78758932e-01 4.24429644e-03 1.04608138e+02] [ 6.78748994e-01 7.34361137e-01 3.67728197e-03 3.02122645e+01] [-5.61283434e-03 1.80403992e-04 9.99984232e-01 -1.51210395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:30.23, Z:-1.51 [[ 7.36286083e-01 -6.76658075e-01 4.08073629e-03 1.04627550e+02] [ 6.76648843e-01 7.36297375e-01 3.53818371e-03 3.02314347e+01] [-5.39877600e-03 1.56110061e-04 9.99985414e-01 -1.51292698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:30.25, Z:-1.51 [[ 7.38443370e-01 -6.74304994e-01 3.76347680e-03 1.04647657e+02] [ 6.74297111e-01 7.38452950e-01 3.26300716e-03 3.02504176e+01] [-4.97941256e-03 1.28155530e-04 9.99987594e-01 -1.51326896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:30.27, Z:-1.51 [[ 7.43194128e-01 -6.69068810e-01 3.06847899e-03 1.04667209e+02] [ 6.69063522e-01 7.43200458e-01 2.66129521e-03 3.02703021e+01] [-4.06108461e-03 7.51483835e-05 9.99991751e-01 -1.51325969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:30.29, Z:-1.51 [[ 7.45793637e-01 -6.66171139e-01 2.80449206e-03 1.04686776e+02] [ 6.66166692e-01 7.45798908e-01 2.43452120e-03 3.02893608e+01] [-3.71339487e-03 5.26087825e-05 9.99993104e-01 -1.51421112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:30.31, Z:-1.52 [[ 7.48298641e-01 -6.63358189e-01 2.24874479e-03 1.04707149e+02] [ 6.63355320e-01 7.48302019e-01 1.95107504e-03 3.03089760e+01] [-2.97700187e-03 3.17300197e-05 9.99995568e-01 -1.51510940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:30.33, Z:-1.52 [[ 7.50516726e-01 -6.60849007e-01 1.79837580e-03 1.04727411e+02] [ 6.60847164e-01 7.50518881e-01 1.56050215e-03 3.03278890e+01] [-2.38097129e-03 1.72685836e-05 9.99997165e-01 -1.51622070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:30.35, Z:-1.52 [[ 7.54485536e-01 -6.56316008e-01 9.34787242e-04 1.04747859e+02] [ 6.56315506e-01 7.54486115e-01 8.11627567e-04 3.03451730e+01] [-1.23796816e-03 1.15410310e-06 9.99999234e-01 -1.51613005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:30.36, Z:-1.52 [[ 7.55626867e-01 -6.55001963e-01 6.83076954e-04 1.04768925e+02] [ 6.55001695e-01 7.55627175e-01 5.92860579e-04 3.03628712e+01] [-9.04476353e-04 -5.64819633e-07 9.99999591e-01 -1.51629773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:30.38, Z:-1.52 [[ 7.56422146e-01 -6.54083593e-01 4.35220443e-04 1.04790684e+02] [ 6.54083485e-01 7.56422272e-01 3.75554093e-04 3.03806104e+01] [-5.74854207e-04 5.93071337e-07 9.99999835e-01 -1.51688837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:30.40, Z:-1.52 [[ 7.57076127e-01 -6.53326528e-01 -4.31280729e-04 1.04813881e+02] [ 6.53326418e-01 7.57076250e-01 -3.78933559e-04 3.03960034e+01] [ 5.74079743e-04 5.11445747e-06 9.99999835e-01 -1.51685057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:30.41, Z:-1.52 [[ 7.56915927e-01 -6.53512219e-01 -2.41739645e-04 1.04836956e+02] [ 6.53512184e-01 7.56915966e-01 -2.14004589e-04 3.04126690e+01] [ 3.22831211e-04 4.00367885e-06 9.99999948e-01 -1.51657885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:30.43, Z:-1.52 [[ 7.56669090e-01 -6.53798047e-01 -4.24302587e-05 1.04859599e+02] [ 6.53798046e-01 7.56669091e-01 -4.03081056e-05 3.04292655e+01] [ 5.84590259e-05 2.75907738e-06 9.99999998e-01 -1.51626731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:30.44, Z:-1.52 [[ 7.56023734e-01 -6.54543502e-01 9.58311451e-04 1.04884015e+02] [ 6.54542972e-01 7.56024341e-01 8.32791518e-04 3.04445191e+01] [-1.26960506e-03 -2.35412728e-06 9.99999194e-01 -1.51697371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:30.46, Z:-1.52 [[ 7.55445774e-01 -6.55209751e-01 1.36542332e-03 1.04905835e+02] [ 6.55208670e-01 7.55447008e-01 1.19016598e-03 3.04602774e+01] [-1.81131332e-03 -4.46866640e-06 9.99998360e-01 -1.51738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:30.48, Z:-1.52 [[ 7.54999046e-01 -6.55724558e-01 1.32080480e-03 1.04928657e+02] [ 6.55723550e-01 7.55000201e-01 1.15000462e-03 3.04765510e+01] [-1.75129416e-03 -2.16957501e-06 9.99998466e-01 -1.51761629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:30.49, Z:-1.52 [[ 7.54459501e-01 -6.56345538e-01 1.18161660e-03 1.04951407e+02] [ 6.56344731e-01 7.54460426e-01 1.02906985e-03 3.04927188e+01] [-1.56690837e-03 -8.43694702e-07 9.99998772e-01 -1.51826033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:30.51, Z:-1.52 [[ 7.53817286e-01 -6.57083571e-01 8.24745436e-04 1.04976690e+02] [ 6.57083179e-01 7.53817737e-01 7.17649996e-04 3.05060588e+01] [-1.09326376e-03 9.49379888e-07 9.99999402e-01 -1.51833320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:30.52, Z:-1.52 [[ 7.53357764e-01 -6.57610637e-01 5.74601283e-04 1.04999717e+02] [ 6.57610447e-01 7.53357983e-01 4.99276681e-04 3.05218040e+01] [-7.61210120e-04 1.72984245e-06 9.99999710e-01 -1.51830804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:30.54, Z:-1.52 [[ 7.53077529e-01 -6.57931405e-01 7.07972886e-04 1.05022429e+02] [ 6.57931115e-01 7.53077862e-01 6.17240767e-04 3.05374166e+01] [-9.39260792e-04 9.67238682e-07 9.99999559e-01 -1.51847740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:30.55, Z:-1.52 [[ 7.52677867e-01 -6.58388725e-01 5.61828088e-04 1.05045076e+02] [ 6.58388544e-01 7.52678076e-01 4.88600956e-04 3.05535816e+01] [-7.44565045e-04 2.14205128e-06 9.99999723e-01 -1.51842303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:30.57, Z:-1.52 [[ 7.51853530e-01 -6.59329887e-01 6.07557245e-04 1.05070282e+02] [ 6.59329675e-01 7.51853776e-01 5.28929421e-04 3.05678157e+01] [-8.05533184e-04 2.90306787e-06 9.99999676e-01 -1.51825935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:30.58, Z:-1.52 [[ 7.51307175e-01 -6.59952509e-01 4.62101147e-04 1.05092946e+02] [ 6.59952386e-01 7.51307318e-01 4.03115945e-04 3.05834891e+01] [-6.13217353e-04 2.10085200e-06 9.99999812e-01 -1.51809206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:30.60, Z:-1.52 [[ 7.50558153e-01 -6.60804375e-01 1.91926711e-04 1.05116132e+02] [ 6.60804354e-01 7.50558178e-01 1.65078150e-04 3.06001015e+01] [-2.53136526e-04 2.92525430e-06 9.99999968e-01 -1.51830081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:30.62, Z:-1.52 [[ 7.51465898e-01 -6.59771639e-01 6.22460008e-04 1.05137036e+02] [ 6.59771416e-01 7.51466156e-01 5.42815648e-04 3.06183146e+01] [-8.25892000e-04 2.77387212e-06 9.99999659e-01 -1.51820999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:30.64, Z:-1.52 [[ 7.51509047e-01 -6.59722619e-01 4.67419434e-04 1.05158122e+02] [ 6.59722494e-01 7.51509192e-01 4.07039213e-04 3.06371012e+01] [-6.19802977e-04 2.47346419e-06 9.99999808e-01 -1.51848997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:30.66, Z:-1.52 [[ 7.51193222e-01 -6.60082302e-01 3.12974488e-04 1.05178747e+02] [ 6.60082245e-01 7.51193287e-01 2.73016280e-04 3.06551039e+01] [-4.15317550e-04 1.50092371e-06 9.99999914e-01 -1.51853066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:30.67, Z:-1.52 [[ 7.50207790e-01 -6.61202057e-01 3.33669891e-04 1.05199513e+02] [ 6.61201993e-01 7.50207864e-01 2.89900841e-04 3.06736960e+01] [-4.42004809e-04 3.13732790e-06 9.99999902e-01 -1.51872237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:30.69, Z:-1.52 [[ 7.46857694e-01 -6.64983646e-01 5.80137742e-04 1.05219952e+02] [ 6.64983452e-01 7.46857919e-01 5.08025253e-04 3.06914500e+01] [-7.71108952e-04 6.35942925e-06 9.99999703e-01 -1.51781778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:30.71, Z:-1.52 [[ 7.44472468e-01 -6.67652248e-01 1.10473706e-03 1.05241150e+02] [ 6.67651546e-01 7.44473287e-01 9.68194163e-04 3.07098133e+01] [-1.46886424e-03 1.67855108e-05 9.99998921e-01 -1.51760789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:30.73, Z:-1.52 [[ 7.42273449e-01 -6.70095231e-01 1.58384502e-03 1.05261265e+02] [ 6.70093787e-01 7.42275138e-01 1.39127411e-03 3.07281062e+01] [-2.10793493e-03 2.86188755e-05 9.99997778e-01 -1.51748521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:30.75, Z:-1.52 [[ 7.36656917e-01 -6.76263951e-01 1.91189745e-03 1.05281099e+02] [ 6.76261868e-01 7.36659396e-01 1.67933556e-03 3.07478221e+01] [-2.54409132e-03 5.58491796e-05 9.99996762e-01 -1.51851339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:30.77, Z:-1.52 [[ 7.32929101e-01 -6.80302774e-01 1.75192826e-03 1.05301161e+02] [ 6.80301035e-01 7.32931192e-01 1.53937475e-03 3.07668952e+01] [-2.33128378e-03 6.35860533e-05 9.99997281e-01 -1.51934009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:30.79, Z:-1.52 [[ 7.28827243e-01 -6.84695410e-01 1.74508217e-03 1.05321333e+02] [ 6.84693695e-01 7.28829328e-01 1.53416972e-03 3.07859291e+01] [-2.32230604e-03 7.67020719e-05 9.99997301e-01 -1.51994471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:30.81, Z:-1.52 [[ 7.20808714e-01 -6.93130520e-01 2.20914904e-03 1.05340865e+02] [ 6.93127806e-01 7.20812087e-01 1.94396397e-03 3.08060775e+01] [-2.93980209e-03 1.29996461e-04 9.99995670e-01 -1.51996975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:30.82, Z:-1.52 [[ 7.17043765e-01 -6.97024287e-01 2.32012066e-03 1.05361122e+02] [ 6.97021310e-01 7.17047502e-01 2.04278390e-03 3.08248736e+01] [-3.08750672e-03 1.52408084e-04 9.99995222e-01 -1.51983172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:30.84, Z:-1.52 [[ 7.13644838e-01 -7.00504206e-01 2.21424522e-03 1.05381489e+02] [ 7.00501509e-01 7.13648255e-01 1.95048223e-03 3.08437913e+01] [-2.94651325e-03 1.59130545e-04 9.99995646e-01 -1.51955504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:30.86, Z:-1.52 [[ 7.10584935e-01 -7.03608156e-01 2.14790009e-03 1.05401842e+02] [ 7.03605629e-01 7.10588162e-01 1.89304378e-03 3.08632923e+01] [-2.85823342e-03 1.66106206e-04 9.99995901e-01 -1.51966728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:30.88, Z:-1.52 [[ 7.07056106e-01 -7.07154483e-01 2.04951305e-03 1.05420058e+02] [ 7.07152195e-01 7.07059055e-01 1.80719682e-03 3.08845500e+01] [-2.72709409e-03 1.71528109e-04 9.99996267e-01 -1.52117103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:30.91, Z:-1.53 [[ 7.03721048e-01 -7.10450718e-01 6.03845974e-03 1.05432947e+02] [ 7.10465719e-01 7.03731632e-01 -5.02990217e-04 3.09068457e+01] [-3.89210537e-03 4.64408345e-03 9.99981642e-01 -1.52763448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:30.92, Z:-1.52 [[ 7.06675529e-01 -7.07536508e-01 -1.33649821e-03 1.05460601e+02] [ 7.07533636e-01 7.06663681e-01 4.75350795e-03 3.09234063e+01] [-2.41882567e-03 -4.30480518e-03 9.99987809e-01 -1.52039817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:30.95, Z:-1.52 [[ 7.07744912e-01 -7.06465837e-01 1.77809917e-03 1.05478948e+02] [ 7.06464109e-01 7.07747130e-01 1.56939901e-03 3.09453003e+01] [-2.36717137e-03 1.45429077e-04 9.99997188e-01 -1.52323976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:30.97, Z:-1.52 [[ 7.12263834e-01 -7.01909663e-01 1.74811328e-03 1.05495469e+02] [ 7.01907974e-01 7.12265968e-01 1.54484141e-03 3.09671058e+01] [-2.32946071e-03 1.26679982e-04 9.99997279e-01 -1.52390052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:30.99, Z:-1.52 [[ 7.15432405e-01 -6.98679522e-01 1.84369765e-03 1.05514979e+02] [ 6.98677634e-01 7.15434770e-01 1.62889092e-03 3.09873124e+01] [-2.45711813e-03 1.22788967e-04 9.99996974e-01 -1.52359004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:31.01, Z:-1.52 [[ 7.22544434e-01 -6.91320278e-01 2.41104358e-03 1.05531522e+02] [ 6.91316998e-01 7.22548446e-01 2.13326187e-03 3.10088208e+01] [-3.21686298e-03 1.25418920e-04 9.99994818e-01 -1.52339580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:31.03, Z:-1.52 [[ 7.26061462e-01 -6.87624776e-01 2.63076081e-03 1.05550866e+02] [ 6.87620846e-01 7.26066218e-01 2.32768668e-03 3.10297312e+01] [-3.51068158e-03 1.18922378e-04 9.99993830e-01 -1.52362710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:31.05, Z:-1.52 [[ 7.29372876e-01 -6.84109319e-01 3.10622009e-03 1.05569680e+02] [ 6.84103800e-01 7.29379480e-01 2.75048594e-03 3.10508105e+01] [-4.14724626e-03 1.18847128e-04 9.99991393e-01 -1.52440565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:31.07, Z:-1.53 [[ 7.32608671e-01 -6.80640817e-01 3.55161315e-03 1.05588286e+02] [ 6.80633547e-01 7.32617271e-01 3.14774361e-03 3.10712904e+01] [-4.74445592e-03 1.11282793e-04 9.99988739e-01 -1.52502454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:31.09, Z:-1.53 [[ 7.35356842e-01 -6.77670089e-01 3.68320505e-03 1.05606918e+02] [ 6.77662228e-01 7.35366059e-01 3.26543760e-03 3.10913536e+01] [-4.92139337e-03 9.47070626e-05 9.99987885e-01 -1.52574947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:31.11, Z:-1.53 [[ 7.39555744e-01 -6.73083484e-01 3.99073576e-03 1.05624506e+02] [ 6.73074182e-01 7.39566508e-01 3.53931618e-03 3.11122412e+01] [-5.33366977e-03 6.85395957e-05 9.99985774e-01 -1.52688619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:31.13, Z:-1.53 [[ 7.40648220e-01 -6.71880916e-01 4.03105428e-03 1.05644585e+02] [ 6.71871404e-01 7.40659187e-01 3.57558116e-03 3.11324957e+01] [-5.38800213e-03 6.01022786e-05 9.99985483e-01 -1.52789695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:31.15, Z:-1.53 [[ 7.41582336e-01 -6.70830292e-01 6.50839138e-03 1.05662463e+02] [ 6.70851443e-01 7.41589990e-01 -1.62110344e-03 3.11531396e+01] [-3.73907260e-03 5.56834542e-03 9.99977506e-01 -1.53092204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:31.17, Z:-1.53 [[ 7.41193608e-01 -6.71291304e-01 -1.42903033e-04 1.05686882e+02] [ 6.71275252e-01 7.41174378e-01 7.07653416e-03 3.11696374e+01] [-4.64449977e-03 -5.34100916e-03 9.99974951e-01 -1.52686739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:31.19, Z:-1.53 [[ 7.40403567e-01 -6.72154925e-01 3.21167998e-03 1.05706675e+02] [ 6.72148878e-01 7.40410531e-01 2.85151565e-03 3.11900513e+01] [-4.29462197e-03 4.74547436e-05 9.99990777e-01 -1.52915822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:31.21, Z:-1.53 [[ 7.39047518e-01 -6.73646937e-01 2.92751041e-03 1.05727059e+02] [ 6.73641916e-01 7.39053315e-01 2.60140448e-03 3.12081824e+01] [-3.91601443e-03 4.95322009e-05 9.99992331e-01 -1.52984273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:31.23, Z:-1.53 [[ 7.35570716e-01 -6.77442696e-01 2.66743828e-03 1.05748876e+02] [ 6.77438554e-01 7.35575550e-01 2.36969913e-03 3.12255780e+01] [-3.56743775e-03 6.39442469e-05 9.99993635e-01 -1.53040275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:31.24, Z:-1.53 [[ 7.33352797e-01 -6.79842642e-01 2.76730519e-03 1.05770430e+02] [ 6.79838196e-01 7.33358014e-01 2.45989450e-03 3.12429924e+01] [-3.70176662e-03 7.73492531e-05 9.99993145e-01 -1.53071017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:31.26, Z:-1.53 [[ 7.31129686e-01 -6.82232700e-01 2.81538224e-03 1.05791985e+02] [ 6.82228110e-01 7.31135101e-01 2.50406980e-03 3.12604096e+01] [-3.76678307e-03 8.99331381e-05 9.99992902e-01 -1.53072168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:31.28, Z:-1.53 [[ 7.30948399e-01 -6.82426931e-01 2.81461482e-03 1.05813293e+02] [ 6.82422340e-01 7.30953812e-01 2.50493175e-03 3.12794760e+01] [-3.76678632e-03 8.97801737e-05 9.99992902e-01 -1.53096835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:31.30, Z:-1.53 [[ 7.28940276e-01 -6.84571604e-01 2.79158036e-03 1.05835756e+02] [ 6.84567098e-01 7.28945615e-01 2.48562425e-03 3.12971787e+01] [-3.73649804e-03 9.91524354e-05 9.99993014e-01 -1.53127621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:31.31, Z:-1.53 [[ 7.23950169e-01 -6.89846000e-01 2.94095800e-03 1.05858933e+02] [ 6.89841036e-01 7.23956131e-01 2.62028356e-03 3.13139939e+01] [-3.93671671e-03 1.31838785e-04 9.99992242e-01 -1.53158978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:105.88, Y:31.33, Z:-1.53 [[ 7.21347090e-01 -6.92568339e-01 2.73329578e-03 1.05880589e+02] [ 6.92564063e-01 7.21352256e-01 2.43751223e-03 3.13307385e+01] [-3.65981287e-03 1.34690075e-04 9.99993294e-01 -1.53164330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:31.35, Z:-1.53 [[ 7.18410671e-01 -6.95614378e-01 2.59717632e-03 1.05902618e+02] [ 6.95610538e-01 7.18415351e-01 2.31555491e-03 3.13479911e+01] [-3.47658462e-03 1.43103866e-04 9.99993946e-01 -1.53180581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.92, Y:31.37, Z:-1.53 [[ 7.15089101e-01 -6.99030021e-01 2.14622683e-03 1.05924180e+02] [ 6.99027413e-01 7.15092310e-01 1.91400317e-03 3.13653149e+01] [-2.87269598e-03 1.31588586e-04 9.99995865e-01 -1.53269751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.95, Y:31.38, Z:-1.53 [[ 7.09947866e-01 -7.04250763e-01 2.21163549e-03 1.05946179e+02] [ 7.04248012e-01 7.09951294e-01 1.97449804e-03 3.13809036e+01] [-2.96069522e-03 1.55749227e-04 9.99995605e-01 -1.53138813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:31.40, Z:-1.53 [[ 7.08063328e-01 -7.06124237e-01 5.90629306e-03 1.05966298e+02] [ 7.06148919e-01 7.08040517e-01 -5.68607282e-03 3.14015408e+01] [-1.66820959e-04 8.19682210e-03 9.99966392e-01 -1.53473665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:31.41, Z:-1.53 [[ 7.06144920e-01 -7.08057963e-01 -3.64311242e-03 1.05992312e+02] [ 7.08061725e-01 7.06109498e-01 7.61381173e-03 3.14146360e+01] [-2.81858374e-03 -7.95600294e-03 9.99964378e-01 -1.52747551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:31.44, Z:-1.53 [[ 7.03924874e-01 -7.10272076e-01 1.82996978e-03 1.06011455e+02] [ 7.10270212e-01 7.03927237e-01 1.63408337e-03 3.14351418e+01] [-2.44880936e-03 1.49501093e-04 9.99996990e-01 -1.53062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:31.45, Z:-1.53 [[ 7.03520606e-01 -7.10672620e-01 1.78414544e-03 1.06032298e+02] [ 7.10670848e-01 7.03522853e-01 1.59400023e-03 3.14541833e+01] [-2.38799941e-03 1.46528147e-04 9.99997138e-01 -1.53096225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:31.47, Z:-1.53 [[ 7.03497497e-01 -7.10696184e-01 1.48507311e-03 1.06053128e+02] [ 7.10694956e-01 7.03499054e-01 1.32695363e-03 3.14735964e+01] [-1.98780841e-03 1.21925414e-04 9.99998017e-01 -1.53120636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.07, Y:31.49, Z:-1.53 [[ 7.04048450e-01 -7.10150816e-01 1.26450636e-03 1.06072867e+02] [ 7.10149922e-01 7.04049578e-01 1.13121412e-03 3.14918555e+01] [-1.69360779e-03 1.01559544e-04 9.99998561e-01 -1.53120871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.09, Y:31.51, Z:-1.53 [[ 7.05201981e-01 -7.09006242e-01 5.60929539e-04 1.06093394e+02] [ 7.09006068e-01 7.05202202e-01 4.99637548e-04 3.15117337e+01] [-7.49814888e-04 4.53570581e-05 9.99999718e-01 -1.53104103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:31.53, Z:-1.53 [[ 7.06427618e-01 -7.07784037e-01 1.33336751e-03 1.06113345e+02] [ 7.07783037e-01 7.06428869e-01 1.19397779e-03 3.15306171e+01] [-1.78700772e-03 1.00276019e-04 9.99998398e-01 -1.52945521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:31.55, Z:-1.53 [[ 7.07403970e-01 -7.06807434e-01 1.69547714e-03 1.06133413e+02] [ 7.06805815e-01 7.07405991e-01 1.51808264e-03 3.15503045e+01] [-2.27238279e-03 1.24475415e-04 9.99997410e-01 -1.52899407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:31.57, Z:-1.53 [[ 7.10339257e-01 -7.03855543e-01 2.34839563e-03 1.06151734e+02] [ 7.03852409e-01 7.10343122e-01 2.10610709e-03 3.15706423e+01] [-3.15056183e-03 1.56873380e-04 9.99995025e-01 -1.52843141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:31.59, Z:-1.53 [[ 7.11924302e-01 -7.02252385e-01 2.31871077e-03 1.06171667e+02] [ 7.02249323e-01 7.11928062e-01 2.07920388e-03 3.15910919e+01] [-3.11088115e-03 1.48077301e-04 9.99995150e-01 -1.52839249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:31.61, Z:-1.53 [[ 7.13906518e-01 -7.00236099e-01 2.62459453e-03 1.06191169e+02] [ 7.00232156e-01 7.13911326e-01 2.35526177e-03 3.16109492e+01] [-3.52296708e-03 1.56388761e-04 9.99993782e-01 -1.52866658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:31.63, Z:-1.52 [[ 7.16743457e-01 -6.97333400e-01 -2.22383376e-03 1.06214982e+02] [ 6.97332444e-01 7.16723726e-01 5.87905429e-03 3.16290948e+01] [-2.50578650e-03 -5.76452513e-03 9.99980245e-01 -1.52394257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:31.65, Z:-1.53 [[ 7.20386384e-01 -6.93536959e-01 7.06718557e-03 1.06228034e+02] [ 6.93561304e-01 7.20395961e-01 -1.54167597e-03 3.16536721e+01] [-4.02196268e-03 6.01212881e-03 9.99973839e-01 -1.53073815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:31.67, Z:-1.53 [[ 7.22425927e-01 -6.91441446e-01 3.08329807e-03 1.06249464e+02] [ 6.91435905e-01 7.22432495e-01 2.77117329e-03 3.16719175e+01] [-4.14357879e-03 1.29935559e-04 9.99991407e-01 -1.52846142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:31.69, Z:-1.53 [[ 7.24432024e-01 -6.89340454e-01 2.82499723e-03 1.06268749e+02] [ 6.89335780e-01 7.24437524e-01 2.54075199e-03 3.16915888e+01] [-3.79797713e-03 1.06769564e-04 9.99992782e-01 -1.52889853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:31.71, Z:-1.53 [[ 7.28586570e-01 -6.84949641e-01 2.36621676e-03 1.06287493e+02] [ 6.84946340e-01 7.28590409e-01 2.12791593e-03 3.17124436e+01] [-3.18151809e-03 7.03605359e-05 9.99994936e-01 -1.52984594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:31.73, Z:-1.53 [[ 7.32267580e-01 -6.81015959e-01 -1.20637972e-03 1.06315196e+02] [ 6.81014380e-01 7.32258646e-01 4.08521892e-03 3.17311974e+01] [-1.89871730e-03 -3.81303531e-03 9.99990928e-01 -1.52738664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:31.75, Z:-1.53 [[ 7.32136023e-01 -6.81143528e-01 4.50976134e-03 1.06326631e+02] [ 6.81153730e-01 7.32139561e-01 -1.12194320e-03 3.17526329e+01] [-2.53757034e-03 3.89325579e-03 9.99989202e-01 -1.53220884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:31.77, Z:-1.53 [[ 7.34786133e-01 -6.78297042e-01 1.56862424e-03 1.06346730e+02] [ 6.78295571e-01 7.34787807e-01 1.41292866e-03 3.17703008e+01] [-2.11099129e-03 2.57904884e-05 9.99997772e-01 -1.53070266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:31.79, Z:-1.53 [[ 7.36975661e-01 -6.75914545e-01 2.53049969e-03 1.06371975e+02] [ 6.75916497e-01 7.36978206e-01 1.11174100e-04 3.17907814e+01] [-1.94006731e-03 1.62847388e-03 9.99996792e-01 -1.53190333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:31.81, Z:-1.53 [[ 7.36875958e-01 -6.76027732e-01 5.72049988e-04 1.06388320e+02] [ 6.76024371e-01 7.36874530e-01 2.64135881e-03 3.18088866e+01] [-2.20716088e-03 -1.55963407e-03 9.99996348e-01 -1.53053997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:31.83, Z:-1.53 [[ 7.38371794e-01 -6.74393157e-01 9.81894472e-04 1.06408805e+02] [ 6.74392578e-01 7.38372446e-01 8.83477801e-04 3.18283408e+01] [-1.32081521e-03 9.84725592e-06 9.99999128e-01 -1.53103964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:31.85, Z:-1.53 [[ 7.38733106e-01 -6.73997834e-01 5.63475498e-04 1.06429455e+02] [ 6.73997644e-01 7.38733321e-01 5.06843665e-04 3.18465415e+01] [-7.57869659e-04 5.35896312e-06 9.99999713e-01 -1.53090742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:31.86, Z:-1.53 [[ 7.38568287e-01 -6.74178552e-01 4.06064193e-04 1.06450477e+02] [ 6.74178454e-01 7.38568399e-01 3.63798792e-04 3.18644770e+01] [-5.45171524e-04 5.06947918e-06 9.99999851e-01 -1.53085304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:31.88, Z:-1.53 [[ 7.36833491e-01 -6.76074237e-01 1.81602448e-04 1.06472528e+02] [ 6.76074218e-01 7.36833513e-01 1.60942675e-04 3.18816318e+01] [-2.42619966e-04 4.18878042e-06 9.99999971e-01 -1.53082971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:31.90, Z:-1.53 [[ 7.35224026e-01 -6.77824186e-01 7.12199367e-05 1.06494390e+02] [ 6.77824183e-01 7.35224029e-01 6.11547686e-05 3.18990580e+01] [-9.38147902e-05 3.31214026e-06 9.99999996e-01 -1.53075130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:31.92, Z:-1.53 [[ 7.32975107e-01 -6.80255460e-01 2.25739362e-05 1.06516405e+02] [ 6.80255460e-01 7.32975108e-01 1.71508960e-05 3.19165702e+01] [-2.82131241e-05 2.78486353e-06 1.00000000e+00 -1.53064958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:31.93, Z:-1.53 [[ 7.30403117e-01 -6.83016264e-01 -2.62672407e-04 1.06538537e+02] [ 6.83016222e-01 7.30403165e-01 -2.41309795e-04 3.19340920e+01] [ 3.56675272e-04 -3.15608826e-06 9.99999936e-01 -1.53070250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:31.95, Z:-1.53 [[ 7.24751521e-01 -6.89009578e-01 -1.01710656e-03 1.06561754e+02] [ 6.89008961e-01 7.24752234e-01 -9.23222371e-04 3.19490603e+01] [ 1.37325931e-03 -3.16887167e-05 9.99999057e-01 -1.53109044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:31.97, Z:-1.53 [[ 7.21592670e-01 -6.92315962e-01 -1.62083516e-03 1.06584594e+02] [ 6.92314397e-01 7.21594488e-01 -1.47303359e-03 3.19663554e+01] [ 2.18939039e-03 -5.91972712e-05 9.99997602e-01 -1.53097320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:31.98, Z:-1.53 [[ 7.18173293e-01 -6.95861153e-01 -2.09223985e-03 1.06607154e+02] [ 6.95858561e-01 7.18176334e-01 -1.90164405e-03 3.19838134e+01] [ 2.82587737e-03 -9.01930417e-05 9.99996003e-01 -1.53123531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:32.00, Z:-1.53 [[ 7.12164428e-01 -7.02005940e-01 -3.08021687e-03 1.06630406e+02] [ 7.02000386e-01 7.12171069e-01 -2.79744526e-03 3.19986693e+01] [ 4.15746453e-03 -1.70072429e-04 9.99991343e-01 -1.53070372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:32.02, Z:-1.53 [[ 7.09312609e-01 -7.04888215e-01 -2.86834438e-03 1.06652629e+02] [ 7.04883411e-01 7.09318388e-01 -2.60802375e-03 3.20158093e+01] [ 3.87293462e-03 -1.71944240e-04 9.99992485e-01 -1.53105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:32.03, Z:-1.53 [[ 7.06784535e-01 -7.07422547e-01 -2.99338469e-03 1.06673611e+02] [ 7.07417341e-01 7.06790847e-01 -2.72094631e-03 3.20323312e+01] [ 4.04055567e-03 -1.94449471e-04 9.99991818e-01 -1.53059948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:32.05, Z:-1.53 [[ 7.04872449e-01 -7.09328171e-01 -2.89407471e-03 1.06695906e+02] [ 7.09323309e-01 7.04878363e-01 -2.63361740e-03 3.20501571e+01] [ 3.90806966e-03 -1.96470300e-04 9.99992344e-01 -1.53063543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:32.07, Z:-1.53 [[ 7.02102394e-01 -7.12071506e-01 -2.52964471e-03 1.06719731e+02] [ 7.12069363e-01 7.02106758e-01 -1.82300541e-03 3.20679217e+01] [ 3.07419085e-03 -5.21346038e-04 9.99995139e-01 -1.53049244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:106.74, Y:32.09, Z:-1.53 [[ 7.01794558e-01 -7.12376041e-01 -2.18517134e-03 1.06740095e+02] [ 7.12371888e-01 7.01797943e-01 -2.43738960e-03 3.20857901e+01] [ 3.26988671e-03 1.53892126e-04 9.99994642e-01 -1.53218233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:32.10, Z:-1.53 [[ 7.02107035e-01 -7.12069531e-01 -1.64175165e-03 1.06760989e+02] [ 7.12067969e-01 7.02108944e-01 -1.49593126e-03 3.21035585e+01] [ 2.21789559e-03 -1.18734905e-04 9.99997533e-01 -1.53030789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:32.12, Z:-1.53 [[ 7.02958484e-01 -7.11230012e-01 -1.11353049e-03 1.06782150e+02] [ 7.11229289e-01 7.02959361e-01 -1.01724092e-03 3.21227672e+01] [ 1.50625896e-03 -7.68973619e-05 9.99998863e-01 -1.53061678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:32.14, Z:-1.53 [[ 7.03511158e-01 -7.10683814e-01 -7.53666615e-04 1.06802886e+02] [ 7.10683481e-01 7.03511560e-01 -6.89976928e-04 3.21423578e+01] [ 1.02056861e-03 -5.02119459e-05 9.99999478e-01 -1.53110628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:32.16, Z:-1.53 [[ 7.04764431e-01 -7.09441004e-01 -7.47110569e-04 1.06823196e+02] [ 7.09440676e-01 7.04764825e-01 -6.84391332e-04 3.21616023e+01] [ 1.01207252e-03 -4.76959592e-05 9.99999487e-01 -1.53118183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:32.18, Z:-1.53 [[ 7.07924032e-01 -7.06287676e-01 -1.13262253e-03 1.06841663e+02] [ 7.06286922e-01 7.07924935e-01 -1.03467766e-03 3.21809767e+01] [ 1.53259181e-03 -6.74832956e-05 9.99998823e-01 -1.53170061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:32.20, Z:-1.53 [[ 7.09354330e-01 -7.04850678e-01 -1.39869177e-03 1.06861850e+02] [ 7.04849521e-01 7.09355704e-01 -1.27948038e-03 3.22008208e+01] [ 1.89401259e-03 -7.82622800e-05 9.99998203e-01 -1.53217059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:32.22, Z:-1.53 [[ 7.11131943e-01 -7.03056789e-01 -1.58433085e-03 1.06881208e+02] [ 7.03055304e-01 7.11133703e-01 -1.44783752e-03 3.22199967e+01] [ 2.14458306e-03 -8.42686959e-05 9.99997697e-01 -1.53227208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:32.24, Z:-1.53 [[ 7.12780875e-01 -7.01385106e-01 -1.53503617e-03 1.06899923e+02] [ 7.01383707e-01 7.12782524e-01 -1.40324565e-03 3.22389220e+01] [ 2.07836256e-03 -7.64426977e-05 9.99997837e-01 -1.53312649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:32.26, Z:-1.53 [[ 7.15643191e-01 -6.98464135e-01 -1.63570674e-03 1.06919628e+02] [ 6.98462534e-01 7.15645056e-01 -1.49747321e-03 3.22595238e+01] [ 2.21651677e-03 -7.08233660e-05 9.99997541e-01 -1.53373559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:32.28, Z:-1.53 [[ 7.16441248e-01 -6.97646344e-01 -1.23150809e-03 1.06939488e+02] [ 6.97645433e-01 7.16442305e-01 -1.12890700e-03 3.22788038e+01] [ 1.66988234e-03 -5.03604518e-05 9.99998604e-01 -1.53415117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:32.30, Z:-1.53 [[ 7.17162988e-01 -6.96904291e-01 -1.28774538e-03 1.06959963e+02] [ 6.96903292e-01 7.17164143e-01 -1.18094876e-03 3.22983650e+01] [ 1.74653307e-03 -5.05012536e-05 9.99998474e-01 -1.53428970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:32.32, Z:-1.53 [[ 7.18156028e-01 -6.95881272e-01 -1.08406661e-03 1.06979869e+02] [ 6.95880561e-01 7.18156845e-01 -9.95276910e-04 3.23188552e+01] [ 1.47112442e-03 -3.96167682e-05 9.99998917e-01 -1.53490001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:32.34, Z:-1.53 [[ 7.18614064e-01 -6.95408688e-01 -7.64218508e-04 1.07000287e+02] [ 6.95408333e-01 7.18614470e-01 -7.02981145e-04 3.23382197e+01] [ 1.03803767e-03 -2.62717810e-05 9.99999461e-01 -1.53482905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:32.36, Z:-1.53 [[ 7.19243488e-01 -6.94757861e-01 -5.65936634e-04 1.07021019e+02] [ 6.94757665e-01 7.19243710e-01 -5.21719909e-04 3.23575849e+01] [ 7.69515372e-04 -1.79451671e-05 9.99999704e-01 -1.53478054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:32.38, Z:-1.53 [[ 7.19965385e-01 -6.94009932e-01 -2.44276416e-04 1.07041131e+02] [ 6.94009894e-01 7.19965426e-01 -2.27166927e-04 3.23768473e+01] [ 3.33526677e-04 -5.97792526e-06 9.99999944e-01 -1.53462227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:32.40, Z:-1.54 [[ 7.22135011e-01 -6.91751828e-01 6.59961978e-04 1.07061004e+02] [ 6.91751566e-01 7.22135312e-01 6.01952073e-04 3.23973029e+01] [-8.92983295e-04 2.18390651e-05 9.99999601e-01 -1.53517084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:32.42, Z:-1.54 [[ 7.23330760e-01 -6.90501142e-01 8.85608364e-04 1.07080866e+02] [ 6.90500668e-01 7.23331302e-01 8.09350199e-04 3.24167039e+01] [-1.19944549e-03 2.60852721e-05 9.99999280e-01 -1.53586663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:32.44, Z:-1.54 [[ 7.24814875e-01 -6.88942901e-01 1.03774864e-03 1.07101207e+02] [ 6.88942247e-01 7.24815617e-01 9.49481564e-04 3.24365995e+01] [-1.40631500e-03 2.67505177e-05 9.99999011e-01 -1.53662405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:32.46, Z:-1.54 [[ 7.26446091e-01 -6.87222592e-01 1.08868414e-03 1.07121543e+02] [ 6.87221870e-01 7.26446907e-01 9.96801036e-04 3.24558131e+01] [-1.47589542e-03 2.40453321e-05 9.99998911e-01 -1.53724108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:32.48, Z:-1.54 [[ 7.26264791e-01 -6.87414191e-01 1.08831946e-03 1.07142553e+02] [ 6.87413468e-01 7.26265606e-01 9.97198381e-04 3.24752100e+01] [-1.47589731e-03 2.38953802e-05 9.99998911e-01 -1.53748806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:32.49, Z:-1.54 [[ 7.30312552e-01 -6.83112869e-01 6.20190076e-04 1.07162506e+02] [ 6.83112632e-01 7.30312816e-01 5.68380802e-04 3.24935978e+01] [-8.41201001e-04 8.56404088e-06 9.99999646e-01 -1.53815466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:32.52, Z:-1.56 [[ 7.29130139e-01 -6.84121396e-01 1.86321206e-02 1.07170211e+02] [ 6.84343325e-01 7.29088296e-01 -1.02211044e-02 3.25190045e+01] [-6.59198479e-03 2.02032826e-02 9.99774161e-01 -1.55575616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:107.21, Y:32.52, Z:-1.53 [[ 7.33742426e-01 -6.79275182e-01 -1.43971896e-02 1.07209580e+02] [ 6.79427291e-01 7.33601501e-01 1.44011806e-02 3.25248849e+01] [ 7.79435333e-04 -2.03486007e-02 9.99792642e-01 -1.53273769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:32.55, Z:-1.54 [[ 7.37229864e-01 -6.75640290e-01 -1.52492950e-03 1.07224944e+02] [ 6.75638826e-01 7.37231441e-01 -1.40678103e-03 3.25498208e+01] [ 2.07470392e-03 6.81940684e-06 9.99997848e-01 -1.53976026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:32.57, Z:-1.54 [[ 7.38521843e-01 -6.74227323e-01 -1.73333131e-03 1.07246213e+02] [ 6.74225425e-01 7.38523877e-01 -1.59951492e-03 3.25682567e+01] [ 2.35854322e-03 1.26206707e-05 9.99997219e-01 -1.54051864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:32.59, Z:-1.54 [[ 7.39479540e-01 -6.73176312e-01 -1.91420884e-03 1.07266783e+02] [ 6.73173997e-01 7.39482017e-01 -1.76520227e-03 3.25859231e+01] [ 2.60381537e-03 1.67353432e-05 9.99996610e-01 -1.54076714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:32.60, Z:-1.54 [[ 7.39824529e-01 -6.72797322e-01 -1.85205539e-03 1.07288315e+02] [ 6.72795148e-01 7.39826847e-01 -1.71036716e-03 3.26041359e+01] [ 2.52093074e-03 1.93177034e-05 9.99996822e-01 -1.54128456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:32.62, Z:-1.54 [[ 7.39508341e-01 -6.73145829e-01 -1.45152956e-03 1.07311565e+02] [ 6.73144492e-01 7.39509765e-01 -1.34191181e-03 3.26205522e+01] [ 1.97672262e-03 1.52658492e-05 9.99998046e-01 -1.54078248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:32.64, Z:-1.54 [[ 7.38678470e-01 -6.74057140e-01 -1.04428785e-03 1.07333857e+02] [ 6.74056446e-01 7.38679208e-01 -9.66857125e-04 3.26384344e+01] [ 1.42311067e-03 1.02875817e-05 9.99998987e-01 -1.54064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:32.66, Z:-1.54 [[ 7.37792004e-01 -6.75027712e-01 -7.39267652e-04 1.07356323e+02] [ 6.75027364e-01 7.37792374e-01 -6.85824329e-04 3.26562626e+01] [ 1.00837646e-03 6.96981218e-06 9.99999492e-01 -1.54029051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:32.67, Z:-1.54 [[ 7.35405391e-01 -6.77627403e-01 1.15452309e-04 1.07379775e+02] [ 6.77627395e-01 7.35405400e-01 1.04840579e-04 3.26710049e+01] [-1.55947101e-04 1.13332045e-06 9.99999988e-01 -1.53984133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:32.69, Z:-1.54 [[ 7.33722241e-01 -6.79449530e-01 9.91487392e-05 1.07402181e+02] [ 6.79449524e-01 7.33722247e-01 8.84147904e-05 3.26877595e+01] [-1.32821024e-04 2.49466558e-06 9.99999991e-01 -1.53952232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:32.71, Z:-1.55 [[ 7.29753391e-01 -6.83676101e-01 6.85401656e-03 1.07417632e+02] [ 6.83704902e-01 7.29751202e-01 -3.28486878e-03 3.27074085e+01] [-2.75594054e-03 7.08326885e-03 9.99971116e-01 -1.54738189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:32.72, Z:-1.54 [[ 7.27215881e-01 -6.86390465e-01 -5.01914842e-03 1.07450651e+02] [ 6.86408795e-01 7.27198196e-01 5.07436007e-03 3.27170359e+01] [ 1.66923309e-04 -7.13534285e-03 9.99974529e-01 -1.53698800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:32.74, Z:-1.54 [[ 7.24647157e-01 -6.89119925e-01 -4.75661601e-04 1.07470561e+02] [ 6.89119784e-01 7.24647313e-01 -4.41552469e-04 3.27350401e+01] [ 6.48969506e-04 -7.81807855e-06 9.99999789e-01 -1.54066777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:32.75, Z:-1.54 [[ 7.22186840e-01 -6.91697617e-01 -7.58286168e-04 1.07492938e+02] [ 6.91697258e-01 7.22187238e-01 -7.04780602e-04 3.27516307e+01] [ 1.03511966e-03 -1.55211881e-05 9.99999464e-01 -1.54059745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:32.77, Z:-1.54 [[ 7.22056656e-01 -6.91833927e-01 -5.09445367e-05 1.07512494e+02] [ 6.91833926e-01 7.22056658e-01 -4.93544762e-05 3.27696331e+01] [ 7.09299428e-05 3.91569237e-07 9.99999997e-01 -1.54050206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26762800000002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:107.53, Y:32.79, Z:-1.54 [[ 7.21797282e-01 -6.92104185e-01 -6.93705818e-04 1.07532962e+02] [ 6.92103884e-01 7.21797615e-01 -6.45585100e-04 3.27881861e+01] [ 9.47527355e-04 -1.41349205e-05 9.99999551e-01 -1.54279491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:32.81, Z:-1.54 [[ 7.21782279e-01 -6.92119745e-01 -7.74770807e-04 1.07554647e+02] [ 6.92119370e-01 7.21782694e-01 -7.21079558e-04 3.28067615e+01] [ 1.05828956e-03 -1.57714367e-05 9.99999440e-01 -1.54081588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:32.82, Z:-1.54 [[ 7.20931232e-01 -6.93006326e-01 -6.26061048e-04 1.07575161e+02] [ 6.93006081e-01 7.20931503e-01 -5.82483742e-04 3.28248380e+01] [ 8.55012051e-04 -1.39333920e-05 9.99999634e-01 -1.54090404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:32.84, Z:-1.54 [[ 7.19879510e-01 -6.94099001e-01 -2.60625791e-04 1.07596077e+02] [ 6.94098957e-01 7.19879558e-01 -2.44943317e-04 3.28442524e+01] [ 3.57634090e-04 -4.57041468e-06 9.99999936e-01 -1.54131579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:32.86, Z:-1.54 [[ 7.18559938e-01 -6.95465029e-01 9.67447024e-05 1.07615617e+02] [ 6.95465024e-01 7.18559944e-01 8.75778335e-05 3.28628577e+01] [-1.30424189e-04 4.35263417e-06 9.99999991e-01 -1.54184337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:32.88, Z:-1.54 [[ 7.15638843e-01 -6.98469738e-01 1.03478426e-03 1.07633951e+02] [ 6.98469082e-01 7.15639590e-01 9.58623078e-04 3.28827860e+01] [-1.41010180e-03 3.67369025e-05 9.99999005e-01 -1.54234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:32.90, Z:-1.54 [[ 7.13383651e-01 -7.00772260e-01 1.41642736e-03 1.07654113e+02] [ 7.00771034e-01 7.13385055e-01 1.31213632e-03 3.29025034e+01] [-1.92996684e-03 5.65346730e-05 9.99998136e-01 -1.54259645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:107.67, Y:32.92, Z:-1.54 [[ 7.10788024e-01 -7.03405107e-01 1.28078595e-03 1.07674440e+02] [ 7.03404108e-01 7.10789175e-01 1.18679056e-03 3.29216399e+01] [-1.74516333e-03 5.73535822e-05 9.99998476e-01 -1.54497103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:32.94, Z:-1.54 [[ 7.09005647e-01 -7.05199755e-01 2.07324632e-03 1.07694715e+02] [ 7.05197134e-01 7.09008672e-01 1.92515498e-03 3.29402677e+01] [-2.82756844e-03 9.71016165e-05 9.99995998e-01 -1.54150527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:32.96, Z:-1.54 [[ 7.04905920e-01 -7.09293620e-01 3.19436317e-03 1.07714905e+02] [ 7.09287434e-01 7.04913137e-01 2.96743594e-03 3.29600339e+01] [-4.35653194e-03 1.73958495e-04 9.99990495e-01 -1.54110947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:32.98, Z:-1.54 [[ 7.03188247e-01 -7.10993045e-01 3.89597353e-03 1.07733844e+02] [ 7.10983852e-01 7.03199005e-01 3.62244257e-03 3.29789366e+01] [-5.31517618e-03 2.22715220e-04 9.99985850e-01 -1.54140313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:33.00, Z:-1.54 [[ 7.01876775e-01 -7.12287740e-01 3.89457475e-03 1.07753359e+02] [ 7.12278570e-01 7.01887542e-01 3.62176289e-03 3.29987040e+01] [-5.31329080e-03 2.31990883e-04 9.99985857e-01 -1.54116578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:33.02, Z:-1.54 [[ 7.01232361e-01 -7.12923058e-01 3.72679715e-03 1.07772930e+02] [ 7.12914661e-01 7.01242229e-01 3.46751630e-03 3.30187716e+01] [-5.08545986e-03 2.25353687e-04 9.99987044e-01 -1.54170672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:33.04, Z:-1.54 [[ 7.01973031e-01 -7.12196140e-01 3.24378494e-03 1.07790081e+02] [ 7.12189762e-01 7.01980500e-01 3.02000696e-03 3.30396381e+01] [-4.42791107e-03 1.90226984e-04 9.99990179e-01 -1.54304193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:33.06, Z:-1.54 [[ 7.02912690e-01 -7.11270610e-01 2.80514968e-03 1.07809737e+02] [ 7.11265834e-01 7.02918269e-01 2.61142175e-03 3.30601720e+01] [-3.82921850e-03 1.59605637e-04 9.99992656e-01 -1.54392759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:33.08, Z:-1.54 [[ 7.04645421e-01 -7.09555047e-01 2.54274852e-03 1.07828700e+02] [ 7.09551108e-01 7.04649996e-01 2.36809611e-03 3.30794465e+01] [-3.47204228e-03 1.35541945e-04 9.99993963e-01 -1.54494567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:33.10, Z:-1.55 [[ 7.07925369e-01 -7.06285506e-01 1.56732512e-03 1.07846735e+02] [ 7.06284002e-01 7.07927100e-01 1.45926906e-03 3.31007281e+01] [-2.14021252e-03 7.39230702e-05 9.99997707e-01 -1.54569982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:33.12, Z:-1.55 [[ 7.10067034e-01 -7.04133235e-01 1.09355689e-03 1.07865287e+02] [ 7.04132499e-01 7.10067874e-01 1.01902487e-03 3.31207852e+01] [-1.49402889e-03 4.64329792e-05 9.99998883e-01 -1.54636057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:33.14, Z:-1.55 [[ 7.12117809e-01 -7.02059585e-01 7.52119251e-04 1.07883844e+02] [ 7.02059236e-01 7.12118206e-01 7.00550529e-04 3.31406939e+01] [-1.02742602e-03 2.91577584e-05 9.99999472e-01 -1.54683805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:33.16, Z:-1.55 [[ 7.15534880e-01 -6.98576674e-01 6.81903088e-04 1.07903075e+02] [ 6.98576387e-01 7.15535205e-01 6.33984131e-04 3.31619824e+01] [-9.30812192e-04 2.27236361e-05 9.99999567e-01 -1.54733919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:33.18, Z:-1.55 [[ 7.16671670e-01 -6.97410223e-01 8.35559048e-04 1.07922386e+02] [ 6.97409788e-01 7.16672157e-01 7.79116745e-04 3.31813205e+01] [-1.14218589e-03 2.43561600e-05 9.99999347e-01 -1.54788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:33.20, Z:-1.55 [[ 7.17081446e-01 -6.96988205e-01 1.28129693e-03 1.07942549e+02] [ 6.96987182e-01 7.17082590e-01 1.19492399e-03 3.32012062e+01] [-1.75164364e-03 3.61897142e-05 9.99998465e-01 -1.54846722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:33.22, Z:-1.55 [[ 7.17962893e-01 -6.96064662e-01 4.82393199e-03 1.07959896e+02] [ 6.96081298e-01 7.17942268e-01 -5.45214586e-03 3.32218547e+01] [ 3.31741390e-04 7.27228726e-03 9.99973502e-01 -1.55217280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:33.24, Z:-1.55 [[ 7.17024291e-01 -6.97040130e-01 -3.35026929e-03 1.07985848e+02] [ 6.97044305e-01 7.16995993e-01 6.78098797e-03 3.32364928e+01] [-2.32449107e-03 -7.19741922e-03 9.99971397e-01 -1.54541490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:33.26, Z:-1.55 [[ 7.16567273e-01 -6.97515771e-01 1.75875987e-03 1.08004117e+02] [ 6.97513838e-01 7.16569429e-01 1.64299151e-03 3.32575994e+01] [-2.40628604e-03 4.94454054e-05 9.99997104e-01 -1.54921997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:33.28, Z:-1.55 [[ 7.16306050e-01 -6.97784269e-01 1.66036345e-03 1.08023781e+02] [ 6.97782542e-01 7.16307973e-01 1.55282430e-03 3.32761185e+01] [-2.27286795e-03 4.62751945e-05 9.99997416e-01 -1.54956859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:33.29, Z:-1.55 [[ 7.16127325e-01 -6.97967307e-01 1.81444746e-03 1.08045025e+02] [ 6.97965247e-01 7.16129622e-01 1.69662298e-03 3.32948542e+01] [-2.48356695e-03 5.14231946e-05 9.99996915e-01 -1.54952028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:33.31, Z:-1.55 [[ 7.16127114e-01 -6.97966955e-01 2.02146259e-03 1.08065371e+02] [ 6.97964391e-01 7.16129965e-01 1.89259568e-03 3.33133080e+01] [-2.76859918e-03 5.55698202e-05 9.99996166e-01 -1.54982271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:33.33, Z:-1.55 [[ 7.16434659e-01 -6.97651713e-01 1.86199983e-03 1.08086040e+02] [ 6.97649538e-01 7.16437077e-01 1.74291469e-03 3.33316270e+01] [-2.54995313e-03 5.03388252e-05 9.99996748e-01 -1.54980430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:33.35, Z:-1.55 [[ 7.16745557e-01 -6.97332426e-01 1.81486252e-03 1.08106576e+02] [ 6.97330357e-01 7.16747853e-01 1.69938617e-03 3.33501339e+01] [-2.48583590e-03 4.75312420e-05 9.99996909e-01 -1.54991218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:33.37, Z:-1.55 [[ 7.18194442e-01 -6.95840845e-01 1.50413104e-03 1.08127790e+02] [ 6.95839420e-01 7.18196016e-01 1.40861871e-03 3.33682374e+01] [-2.06043535e-03 3.49715386e-05 9.99997877e-01 -1.54981649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:33.39, Z:-1.55 [[ 7.19006485e-01 -6.95001553e-01 1.58598825e-03 1.08147774e+02] [ 6.94999962e-01 7.19008234e-01 1.48736913e-03 3.33869096e+01] [-2.17406246e-03 3.28337173e-05 9.99997636e-01 -1.55046652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:33.41, Z:-1.55 [[ 7.19903343e-01 -6.94072867e-01 1.42558929e-03 1.08168219e+02] [ 6.94071582e-01 7.19904754e-01 1.33606686e-03 3.34059771e+01] [-1.95361626e-03 2.76220141e-05 9.99998091e-01 -1.55126809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:33.42, Z:-1.55 [[ 7.20805724e-01 -6.93136604e-01 8.69655036e-04 1.08187873e+02] [ 6.93136124e-01 7.20806249e-01 8.15484394e-04 3.34238626e+01] [-1.19209487e-03 1.49835021e-05 9.99999289e-01 -1.55201212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:33.44, Z:-1.55 [[ 7.22071970e-01 -6.91817804e-01 -4.44410154e-04 1.08209972e+02] [ 6.91817675e-01 7.22072106e-01 -4.21083631e-04 3.34411411e+01] [ 6.12209329e-04 -3.39811324e-06 9.99999813e-01 -1.55280839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:33.46, Z:-1.55 [[ 7.22191140e-01 -6.91692202e-01 -1.36217132e-03 1.08231270e+02] [ 6.91691009e-01 7.22192424e-01 -1.28480734e-03 3.34593018e+01] [ 1.87244103e-03 -1.43251815e-05 9.99998247e-01 -1.55280696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:33.48, Z:-1.55 [[ 7.22394462e-01 -6.91477938e-01 -2.12180701e-03 1.08253552e+02] [ 6.91475044e-01 7.22397578e-01 -2.00059777e-03 3.34762786e+01] [ 2.91615747e-03 -2.19558490e-05 9.99995748e-01 -1.55300432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:33.49, Z:-1.55 [[ 7.22386223e-01 -6.91486959e-01 -1.98257146e-03 1.08273996e+02] [ 6.91484434e-01 7.22388944e-01 -1.86867940e-03 3.34934836e+01] [ 2.72435514e-03 -2.10090551e-05 9.99996289e-01 -1.55288680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:33.51, Z:-1.55 [[ 7.22308367e-01 -6.91570125e-01 -1.17656466e-03 1.08295642e+02] [ 6.91569232e-01 7.22309326e-01 -1.11172313e-03 3.35116543e+01] [ 1.61867813e-03 -1.06690016e-05 9.99998690e-01 -1.55314893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:33.53, Z:-1.55 [[ 7.22117940e-01 -6.91769609e-01 -6.98507753e-04 1.08317068e+02] [ 6.91769293e-01 7.22118278e-01 -6.61652813e-04 3.35295049e+01] [ 9.62116523e-04 -5.41484782e-06 9.99999537e-01 -1.55241011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:33.55, Z:-1.55 [[ 7.21776189e-01 -6.92126499e-01 2.06657693e-04 1.08339007e+02] [ 6.92126472e-01 7.21776218e-01 1.91751185e-04 3.35477222e+01] [-2.81876684e-04 4.63182060e-06 9.99999960e-01 -1.55215132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:33.56, Z:-1.55 [[ 7.21581766e-01 -6.92327940e-01 1.33322408e-03 1.08361674e+02] [ 6.92326803e-01 7.21582998e-01 1.25495487e-03 3.35647033e+01] [-1.83087215e-03 1.74742134e-05 9.99998324e-01 -1.55090441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:33.58, Z:-1.55 [[ 7.22222664e-01 -6.91657881e-01 1.94901503e-03 1.08381142e+02] [ 6.91655440e-01 7.22225294e-01 1.83789982e-03 3.35828470e+01] [-2.67882585e-03 2.06739433e-05 9.99996412e-01 -1.55129438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:33.60, Z:-1.55 [[ 7.24505319e-01 -6.89265307e-01 2.31947039e-03 1.08401309e+02] [ 6.89261834e-01 7.24509032e-01 2.18788809e-03 3.36021743e+01] [-3.18851260e-03 1.35858558e-05 9.99994917e-01 -1.55133393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:33.62, Z:-1.55 [[ 7.25682123e-01 -6.88026079e-01 2.36037956e-03 1.08420847e+02] [ 6.88022470e-01 7.25685961e-01 2.22868771e-03 3.36213021e+01] [-3.24628957e-03 6.67534645e-06 9.99994731e-01 -1.55160284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.44, Y:33.64, Z:-1.55 [[ 7.25565404e-01 -6.88149166e-01 2.36008247e-03 1.08441549e+02] [ 6.88145556e-01 7.25569242e-01 2.22900221e-03 3.36409884e+01] [-3.24628926e-03 6.79337924e-06 9.99994731e-01 -1.55184088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:33.66, Z:-1.55 [[ 7.26170289e-01 -6.87511181e-01 2.25544190e-03 1.08461425e+02] [ 6.87507881e-01 7.26173792e-01 2.13002483e-03 3.36605140e+01] [-3.10225868e-03 3.87333114e-06 9.99995188e-01 -1.55178172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:33.68, Z:-1.55 [[ 7.25716686e-01 -6.87989343e-01 2.44050460e-03 1.08481057e+02] [ 6.87985477e-01 7.25720790e-01 2.30632119e-03 3.36809433e+01] [-3.35784933e-03 5.29594527e-06 9.99994362e-01 -1.55217453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:33.70, Z:-1.55 [[ 7.24621820e-01 -6.89141205e-01 2.75980794e-03 1.08500768e+02] [ 6.89136260e-01 7.24627076e-01 2.61075812e-03 3.36998261e+01] [-3.79901255e-03 1.00714174e-05 9.99992784e-01 -1.55233427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:33.72, Z:-1.55 [[ 7.22553650e-01 -6.91308906e-01 2.86715365e-03 1.08520940e+02] [ 6.91303584e-01 7.22559338e-01 2.71248106e-03 3.37197442e+01] [-3.94685096e-03 2.21605046e-05 9.99992211e-01 -1.55219518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:33.74, Z:-1.55 [[ 7.17297961e-01 -6.96757824e-01 3.48851034e-03 1.08540821e+02] [ 6.96749998e-01 7.17306442e-01 3.30283242e-03 3.37397128e+01] [-4.80360526e-03 6.15046130e-05 9.99988461e-01 -1.55245378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:33.76, Z:-1.55 [[ 7.14018134e-01 -7.00116475e-01 3.87639324e-03 1.08560002e+02] [ 7.00106846e-01 7.14028650e-01 3.67305418e-03 3.37583099e+01] [-5.33942158e-03 9.12621538e-05 9.99985741e-01 -1.55277536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:33.78, Z:-1.55 [[ 7.10437801e-01 -7.03751233e-01 3.51196245e-03 1.08580141e+02] [ 7.03743372e-01 7.10446473e-01 3.32799845e-03 3.37775571e+01] [-4.83714435e-03 1.07184392e-04 9.99988295e-01 -1.55249159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:33.80, Z:-1.55 [[ 7.06646150e-01 -7.07561030e-01 2.93383972e-03 1.08599917e+02] [ 7.07555569e-01 7.06652232e-01 2.78196495e-03 3.37966769e+01] [-4.04161437e-03 1.09989810e-04 9.99991827e-01 -1.55304198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:33.82, Z:-1.55 [[ 6.99337732e-01 -7.14787374e-01 2.39711970e-03 1.08617697e+02] [ 7.14783769e-01 6.99341830e-01 2.27343412e-03 3.38168528e+01] [-3.30142808e-03 1.23523989e-04 9.99994543e-01 -1.55413659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:33.84, Z:-1.55 [[ 6.95827863e-01 -7.18204999e-01 2.27233105e-03 1.08637121e+02] [ 7.18201779e-01 6.95831561e-01 2.15475421e-03 3.38368483e+01] [-3.12871491e-03 1.32654180e-04 9.99995097e-01 -1.55461644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:33.86, Z:-1.55 [[ 6.92177023e-01 -7.21724618e-01 2.13193049e-03 1.08656602e+02] [ 7.21721797e-01 6.92180292e-01 2.02257075e-03 3.38568677e+01] [-2.93541937e-03 1.38683701e-04 9.99995682e-01 -1.55490615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:33.88, Z:-1.56 [[ 6.88807932e-01 -7.24940035e-01 2.36168080e-03 1.08676492e+02] [ 7.24936588e-01 6.88811960e-01 2.24213918e-03 3.38771944e+01] [-3.25217044e-03 1.67665571e-04 9.99994698e-01 -1.55524985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:33.90, Z:-1.56 [[ 6.83610677e-01 -7.29842084e-01 2.64102068e-03 1.08695470e+02] [ 7.29837802e-01 6.83615746e-01 2.50910756e-03 3.38987192e+01] [-3.63669561e-03 2.12264009e-04 9.99993365e-01 -1.55538733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:33.92, Z:-1.56 [[ 6.81926554e-01 -7.31415151e-01 2.83767099e-03 1.08714253e+02] [ 7.31410211e-01 6.81932417e-01 2.69849812e-03 3.39182646e+01] [-3.90882225e-03 2.35324012e-04 9.99992333e-01 -1.55543428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:33.94, Z:-1.56 [[ 6.80593898e-01 -7.32655297e-01 2.85696091e-03 1.08733602e+02] [ 7.32650300e-01 6.80599851e-01 2.71695575e-03 3.39388500e+01] [-3.93503919e-03 2.44009757e-04 9.99992228e-01 -1.55600373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:33.96, Z:-1.56 [[ 6.80207811e-01 -7.33015051e-01 2.50380702e-03 1.08752671e+02] [ 7.33011212e-01 6.80212386e-01 2.38205775e-03 3.39597709e+01] [-3.44920472e-03 2.15024326e-04 9.99994028e-01 -1.55632246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:33.98, Z:-1.56 [[ 6.82239400e-01 -7.31126111e-01 2.00273668e-03 1.08769185e+02] [ 7.31123643e-01 6.82242320e-01 1.90673496e-03 3.39823691e+01] [-2.76041543e-03 1.63398423e-04 9.99996177e-01 -1.55758283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:34.00, Z:-1.56 [[ 6.84062689e-01 -7.29421214e-01 1.71160249e-03 1.08787675e+02] [ 7.29419408e-01 6.84064818e-01 1.62877282e-03 3.40038963e+01] [-2.35890849e-03 1.34293361e-04 9.99997209e-01 -1.55795217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:108.81, Y:34.03, Z:-1.56 [[ 6.86350151e-01 -7.27270665e-01 9.22527136e-04 1.08806228e+02] [ 7.27270139e-01 6.86350767e-01 8.76866955e-04 3.40254455e+01] [-1.27089682e-03 6.90886718e-05 9.99999190e-01 -1.55956379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:34.05, Z:-1.56 [[ 6.89436419e-01 -7.24345018e-01 1.31115752e-03 1.08824592e+02] [ 7.24343948e-01 6.89437660e-01 1.24834424e-03 3.40467732e+01] [-1.80819330e-03 8.90750337e-05 9.99998361e-01 -1.55860888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.247628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:108.84, Y:34.07, Z:-1.56 [[ 6.95399737e-01 -7.18622999e-01 4.36700828e-04 1.08841036e+02] [ 7.18622881e-01 6.95399874e-01 4.13868801e-04 3.40709365e+01] [-6.01097340e-04 2.60189517e-05 9.99999819e-01 -1.56151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.86, Y:34.09, Z:-1.56 [[ 6.98525137e-01 -7.15584503e-01 1.20452561e-03 1.08858667e+02] [ 7.15583583e-01 6.98526173e-01 1.14900577e-03 3.40916153e+01] [-1.66360339e-03 5.93293389e-05 9.99998614e-01 -1.56107519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.88, Y:34.11, Z:-1.56 [[ 7.01336550e-01 -7.12829113e-01 1.30331358e-03 1.08876519e+02] [ 7.12828032e-01 7.01337759e-01 1.24262740e-03 3.41130504e+01] [-1.79984401e-03 5.75384411e-05 9.99998379e-01 -1.56183794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:34.13, Z:-1.56 [[ 7.04311178e-01 -7.09888757e-01 1.92790990e-03 1.08894112e+02] [ 7.09886372e-01 7.04313813e-01 1.84172787e-03 3.41335563e+01] [-2.66527549e-03 7.14474363e-05 9.99996446e-01 -1.56109883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:34.16, Z:-1.56 [[ 7.10014858e-01 -7.04182841e-01 2.32996626e-03 1.08911721e+02] [ 7.04179325e-01 7.10018678e-01 2.22597394e-03 3.41560343e+01] [-3.22181221e-03 6.02394993e-05 9.99994808e-01 -1.56164821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:34.18, Z:-1.56 [[ 7.12579744e-01 -7.01586576e-01 2.52678390e-03 1.08930025e+02] [ 7.01582416e-01 7.12584222e-01 2.41648942e-03 3.41759845e+01] [-3.49592288e-03 5.08057452e-05 9.99993888e-01 -1.56133939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:34.20, Z:-1.56 [[ 7.14819728e-01 -6.99303333e-01 2.75761151e-03 1.08949532e+02] [ 6.99298361e-01 7.14825046e-01 2.63745731e-03 3.41967947e+01] [-3.81559246e-03 4.30866856e-05 9.99992720e-01 -1.56116848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:34.22, Z:-1.56 [[ 7.19164299e-01 -6.94833938e-01 2.91717428e-03 1.08966979e+02] [ 6.94828327e-01 7.19170215e-01 2.79256072e-03 3.42171652e+01] [-4.03831082e-03 1.86253501e-05 9.99991846e-01 -1.56063409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:34.24, Z:-1.56 [[ 7.20910063e-01 -6.93021317e-01 3.18347416e-03 1.08985860e+02] [ 6.93014615e-01 7.20917092e-01 3.04795630e-03 3.42374037e+01] [-4.40731963e-03 8.89175322e-06 9.99990288e-01 -1.56126794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:34.26, Z:-1.56 [[ 7.22414043e-01 -6.91453421e-01 3.18086661e-03 1.09004950e+02] [ 6.91446707e-01 7.22421045e-01 3.04698845e-03 3.42574162e+01] [-4.40477557e-03 -1.78749732e-06 9.99990299e-01 -1.56162394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:34.28, Z:-1.56 [[ 7.23568998e-01 -6.90244555e-01 3.21855679e-03 1.09024530e+02] [ 6.90237662e-01 7.23576156e-01 3.08490222e-03 3.42776185e+01] [-4.45820791e-03 -1.05704940e-05 9.99990062e-01 -1.56222234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:34.30, Z:-1.56 [[ 7.25275366e-01 -6.88451652e-01 3.15679999e-03 1.09043660e+02] [ 6.88444992e-01 7.25282236e-01 3.02827522e-03 3.42971898e+01] [-4.37439204e-03 -2.30502785e-05 9.99990432e-01 -1.56321352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:34.32, Z:-1.56 [[ 7.25678578e-01 -6.88027099e-01 3.05157993e-03 1.09063706e+02] [ 6.88020873e-01 7.25684994e-01 2.92710708e-03 3.43163742e+01] [-4.22841476e-03 -2.45882160e-05 9.99991060e-01 -1.56338220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:34.34, Z:-1.56 [[ 7.25699475e-01 -6.88005719e-01 2.89878428e-03 1.09083797e+02] [ 6.88000095e-01 7.25705264e-01 2.78192649e-03 3.43354333e+01] [-4.01764435e-03 -2.44787381e-05 9.99991929e-01 -1.56396290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:34.35, Z:-1.56 [[ 7.25347701e-01 -6.88377335e-01 2.71235567e-03 1.09103563e+02] [ 6.88372407e-01 7.25352772e-01 2.60488861e-03 3.43538165e+01] [-3.76056098e-03 -2.23391663e-05 9.99992929e-01 -1.56420839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:34.37, Z:-1.56 [[ 7.24011450e-01 -6.89784944e-01 2.03748251e-03 1.09124849e+02] [ 6.89782166e-01 7.24014317e-01 1.95751249e-03 3.43711300e+01] [-2.82542915e-03 -1.18423591e-05 9.99996008e-01 -1.56457387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:34.39, Z:-1.56 [[ 7.22786310e-01 -6.91069440e-01 1.72640037e-03 1.09145969e+02] [ 6.91067452e-01 7.22788371e-01 1.65752929e-03 3.43895221e+01] [-2.39328995e-03 -4.98037822e-06 9.99997136e-01 -1.56487796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:34.41, Z:-1.57 [[ 7.21350531e-01 -6.92568645e-01 1.44333216e-03 1.09166680e+02] [ 6.92567256e-01 7.21351975e-01 1.38710847e-03 3.44069887e+01] [-2.00181833e-03 -9.86838907e-07 9.99997996e-01 -1.56525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:34.42, Z:-1.57 [[ 7.17306699e-01 -6.96756562e-01 1.18012519e-03 1.09189541e+02] [ 6.96755641e-01 7.17307670e-01 1.13304040e-03 3.44239622e+01] [-1.63596618e-03 9.52141556e-06 9.99998662e-01 -1.56603682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:34.44, Z:-1.57 [[ 7.14792366e-01 -6.99336314e-01 7.70909698e-04 1.09211101e+02] [ 6.99335923e-01 7.14792781e-01 7.39468623e-04 3.44414155e+01] [-1.06817795e-03 1.05583185e-05 9.99999429e-01 -1.56637121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:34.46, Z:-1.57 [[ 7.12312053e-01 -7.01862651e-01 5.99105478e-04 1.09233256e+02] [ 7.01862416e-01 7.12312305e-01 5.74197540e-04 3.44590267e+01] [-8.29758011e-04 1.14817902e-05 9.99999656e-01 -1.56650368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:34.48, Z:-1.57 [[ 7.09420797e-01 -7.04784686e-01 8.23720682e-04 1.09254930e+02] [ 7.04784243e-01 7.09421275e-01 7.91164509e-04 3.44764611e+01] [-1.14196561e-03 1.92768006e-05 9.99999348e-01 -1.56679438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:109.28, Y:34.49, Z:-1.57 [[ 7.03795504e-01 -7.10401799e-01 1.08267450e-03 1.09278737e+02] [ 7.10401036e-01 7.03796336e-01 1.04149632e-03 3.44927225e+01] [-1.50186320e-03 3.61326548e-05 9.99998872e-01 -1.56924543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:34.51, Z:-1.57 [[ 7.01337511e-01 -7.12826407e-01 2.05141740e-03 1.09300771e+02] [ 7.12823668e-01 7.01340508e-01 1.97744080e-03 3.45101134e+01] [-2.84831414e-03 7.54454642e-05 9.99995941e-01 -1.56716164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:34.53, Z:-1.57 [[ 6.98351769e-01 -7.15751493e-01 2.14640778e-03 1.09322388e+02] [ 7.15748505e-01 6.98355061e-01 2.07031658e-03 3.45276709e+01] [-2.98078692e-03 9.04789131e-05 9.99995553e-01 -1.56755538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:34.55, Z:-1.57 [[ 6.93484814e-01 -7.20455933e-01 4.69696798e-03 1.09338980e+02] [ 7.20458995e-01 6.93496302e-01 1.30988437e-03 3.45463332e+01] [-4.20104389e-03 2.47558791e-03 9.99988111e-01 -1.57078901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:109.37, Y:34.56, Z:-1.57 [[ 6.90331570e-01 -7.23493115e-01 1.91105272e-04 1.09367512e+02] [ 7.23488275e-01 6.90327872e-01 3.48504620e-03 3.45617297e+01] [-2.65333223e-03 -2.26757499e-03 9.99993909e-01 -1.56847030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:34.58, Z:-1.57 [[ 6.88681131e-01 -7.25058498e-01 2.91103785e-03 1.09387294e+02] [ 7.25053062e-01 6.88687262e-01 2.81302595e-03 3.45795371e+01] [-4.04440306e-03 1.73379016e-04 9.99991806e-01 -1.56789872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:34.60, Z:-1.57 [[ 6.87067375e-01 -7.26587084e-01 3.10361300e-03 1.09408620e+02] [ 7.26580919e-01 6.87074357e-01 2.99946024e-03 3.45977805e+01] [-4.31178198e-03 1.94194717e-04 9.99990685e-01 -1.56755055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:34.62, Z:-1.57 [[ 6.86040415e-01 -7.27555807e-01 3.33111062e-03 1.09429558e+02] [ 7.27548707e-01 6.86048469e-01 3.22138587e-03 3.46159386e+01] [-4.62904134e-03 2.13544321e-04 9.99989263e-01 -1.56701422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:34.63, Z:-1.57 [[ 6.85317248e-01 -7.28233609e-01 4.00990057e-03 1.09449706e+02] [ 7.28223313e-01 6.85328930e-01 3.88116709e-03 3.46336745e+01] [-5.57449719e-03 2.60272327e-04 9.99984428e-01 -1.56697041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:34.65, Z:-1.57 [[ 6.85544566e-01 -7.28019709e-01 3.99394752e-03 1.09470180e+02] [ 7.28009487e-01 6.85556152e-01 3.86643038e-03 3.46531288e+01] [-5.55291281e-03 2.57021344e-04 9.99984549e-01 -1.56746038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:34.67, Z:-1.57 [[ 6.86219988e-01 -7.27383371e-01 3.94473634e-03 1.09489636e+02] [ 7.27373374e-01 6.86231281e-01 3.82142113e-03 3.46716852e+01] [-5.48663965e-03 2.46960619e-04 9.99984918e-01 -1.56795779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:34.69, Z:-1.57 [[ 6.86980900e-01 -7.26664759e-01 3.94616133e-03 1.09509579e+02] [ 7.26654739e-01 6.86992191e-01 3.82351074e-03 3.46909893e+01] [-5.48939253e-03 2.40817982e-04 9.99984904e-01 -1.56822867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:34.71, Z:-1.57 [[ 6.89852639e-01 -7.23938688e-01 4.01399875e-03 1.09528892e+02] [ 7.23928263e-01 6.89864281e-01 3.89148946e-03 3.47107323e+01] [-5.58631414e-03 2.21292863e-04 9.99984372e-01 -1.56844132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:34.73, Z:-1.57 [[ 6.91625345e-01 -7.22245770e-01 3.92825018e-03 1.09548941e+02] [ 7.22235746e-01 6.91636471e-01 3.81044780e-03 3.47309126e+01] [-5.46900089e-03 2.01720427e-04 9.99985025e-01 -1.56847731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:34.75, Z:-1.57 [[ 6.93534879e-01 -7.20414352e-01 3.54011919e-03 1.09569260e+02] [ 7.20406180e-01 6.93543894e-01 3.43558202e-03 3.47509492e+01] [-4.93027064e-03 1.67627782e-04 9.99987832e-01 -1.56843487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:34.77, Z:-1.57 [[ 6.95573183e-01 -7.18447813e-01 3.26914817e-03 1.09588847e+02] [ 7.18440815e-01 6.95580851e-01 3.17415372e-03 3.47706529e+01] [-4.55442066e-03 1.40833262e-04 9.99989619e-01 -1.56833915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:34.79, Z:-1.57 [[ 6.99638676e-01 -7.14492104e-01 2.59939033e-03 1.09607209e+02] [ 7.14487650e-01 6.99643498e-01 2.52456430e-03 3.47916776e+01] [-3.62242781e-03 9.09494665e-05 9.99993435e-01 -1.56944397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:34.81, Z:-1.57 [[ 7.01760904e-01 -7.12408410e-01 2.42712025e-03 1.09625983e+02] [ 7.12404507e-01 7.01765097e-01 2.35927887e-03 3.48112798e+01] [-3.38403838e-03 7.34417343e-05 9.99994271e-01 -1.57046966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:34.83, Z:-1.57 [[ 7.03588749e-01 -7.10604692e-01 1.96046673e-03 1.09645754e+02] [ 7.10602141e-01 7.03591478e-01 1.90498581e-03 3.48316257e+01] [-2.73305954e-03 5.27852719e-05 9.99996264e-01 -1.57086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.66, Y:34.85, Z:-1.57 [[ 7.05608230e-01 -7.08600575e-01 1.50038777e-03 1.09664716e+02] [ 7.08599074e-01 7.05609824e-01 1.45906663e-03 3.48507092e+01] [-2.09258380e-03 3.36439613e-05 9.99997810e-01 -1.57106235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:34.87, Z:-1.57 [[ 7.09533643e-01 -7.04670967e-01 9.15474819e-04 1.09683727e+02] [ 7.04670407e-01 7.09534233e-01 8.88677081e-04 3.48707500e+01] [-1.27578566e-03 1.45617271e-05 9.99999186e-01 -1.57190253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:34.89, Z:-1.57 [[ 7.09353313e-01 -7.04852495e-01 9.15149685e-04 1.09704153e+02] [ 7.04851934e-01 7.09353904e-01 8.89011160e-04 3.48907625e+01] [-1.27578674e-03 1.44220132e-05 9.99999186e-01 -1.57213962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:34.91, Z:-1.57 [[ 7.11090170e-01 -7.03100249e-01 8.99898044e-04 1.09724117e+02] [ 7.03099706e-01 7.11090739e-01 8.74299638e-04 3.49104057e+01] [-1.25462946e-03 1.10121721e-05 9.99999213e-01 -1.57236675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:34.93, Z:-1.57 [[ 7.12607634e-01 -7.01562413e-01 7.35560446e-04 1.09743187e+02] [ 7.01562048e-01 7.12608013e-01 7.15741053e-04 3.49293070e+01] [-1.02630329e-03 5.99875462e-06 9.99999473e-01 -1.57261492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:34.95, Z:-1.57 [[ 7.14945085e-01 -6.99180412e-01 5.27384714e-04 1.09763737e+02] [ 6.99180225e-01 7.14945279e-01 5.11489013e-04 3.49490488e+01] [-7.34674311e-04 3.05040743e-06 9.99999730e-01 -1.57305480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:34.97, Z:-1.57 [[ 7.15541412e-01 -6.98570076e-01 5.81151117e-04 1.09783996e+02] [ 6.98569848e-01 7.15541648e-01 5.64286590e-04 3.49685748e+01] [-8.10031553e-04 2.20422435e-06 9.99999672e-01 -1.57327709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:34.99, Z:-1.57 [[ 7.16268053e-01 -6.97824790e-01 7.98563029e-04 1.09803650e+02] [ 6.97824356e-01 7.16268498e-01 7.78350918e-04 3.49871823e+01] [-1.11513811e-03 -2.51165101e-07 9.99999378e-01 -1.57380245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:35.01, Z:-1.57 [[ 7.16757245e-01 -6.97322173e-01 9.15430612e-04 1.09824285e+02] [ 6.97321603e-01 7.16757830e-01 8.91568201e-04 3.50060774e+01] [-1.27785233e-03 -6.88425759e-07 9.99999184e-01 -1.57380266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:35.02, Z:-1.57 [[ 7.17913767e-01 -6.96131159e-01 1.11033674e-03 1.09845904e+02] [ 6.96130317e-01 7.17914625e-01 1.08268312e-03 3.50235391e+01] [-1.55081644e-03 -4.33404711e-06 9.99998797e-01 -1.57330294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:35.04, Z:-1.57 [[ 7.18347103e-01 -6.95683482e-01 1.39021922e-03 1.09866896e+02] [ 6.95682158e-01 7.18348448e-01 1.35720656e-03 3.50424014e+01] [-1.94284801e-03 -7.79469075e-06 9.99998113e-01 -1.57339161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:35.06, Z:-1.57 [[ 7.19088841e-01 -6.94917250e-01 1.11958908e-03 1.09887393e+02] [ 6.94916389e-01 7.19089713e-01 1.09418741e-03 3.50608229e+01] [-1.56545469e-03 -8.79715439e-06 9.99998775e-01 -1.57338975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:35.08, Z:-1.57 [[ 7.19546347e-01 -6.94443825e-01 9.09761910e-04 1.09907850e+02] [ 6.94443258e-01 7.19546922e-01 8.87780424e-04 3.50794324e+01] [-1.27113002e-03 -7.02113658e-06 9.99999192e-01 -1.57385240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:35.10, Z:-1.57 [[ 7.20389594e-01 -6.93569392e-01 -5.75569518e-04 1.09928823e+02] [ 6.93569161e-01 7.20389823e-01 -5.66239772e-04 3.50961405e+01] [ 8.07360998e-04 8.71597179e-06 9.99999674e-01 -1.57449812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:35.11, Z:-1.58 [[ 7.20584607e-01 -6.93364766e-01 -1.76788208e-03 1.09950053e+02] [ 6.93362592e-01 7.20586775e-01 -1.73655181e-03 3.51145989e+01] [ 2.47797628e-03 2.55491988e-05 9.99996929e-01 -1.57512785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:35.13, Z:-1.58 [[ 7.20570733e-01 -6.93375730e-01 -2.81351464e-03 1.09971314e+02] [ 6.93370224e-01 7.20576225e-01 -2.76333557e-03 3.51329011e+01] [ 3.94338157e-03 4.03714655e-05 9.99992224e-01 -1.57582486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:109.99, Y:35.15, Z:-1.58 [[ 7.20131763e-01 -6.93824521e-01 -4.21643647e-03 1.09991804e+02] [ 6.93812175e-01 7.20144104e-01 -4.13940042e-03 3.51505233e+01] [ 5.90845937e-03 5.54987614e-05 9.99982543e-01 -1.57767616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:35.17, Z:-1.58 [[ 7.19907378e-01 -6.94056734e-01 -4.31475677e-03 1.10012565e+02] [ 6.94043787e-01 7.19920306e-01 -4.23968864e-03 3.51688184e+01] [ 6.04886547e-03 5.75530021e-05 9.99981704e-01 -1.57595133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:35.19, Z:-1.58 [[ 7.19412147e-01 -6.94572755e-01 -3.85363878e-03 1.10032564e+02] [ 6.94562421e-01 7.19422467e-01 -3.78906130e-03 3.51892114e+01] [ 5.40417306e-03 4.93040410e-05 9.99985396e-01 -1.57610214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:35.21, Z:-1.58 [[ 7.18346663e-01 -6.95675264e-01 -3.74152614e-03 1.10052155e+02] [ 6.95665527e-01 7.18356405e-01 -3.68098131e-03 3.52091733e+01] [ 5.24851691e-03 4.13698912e-05 9.99986226e-01 -1.57584972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:35.23, Z:-1.57 [[ 7.14886810e-01 -6.99234581e-01 -2.80182520e-03 1.10071660e+02] [ 6.99229147e-01 7.14892300e-01 -2.75669750e-03 3.52286211e+01] [ 3.93058148e-03 1.16088413e-05 9.99992275e-01 -1.57419319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:35.25, Z:-1.57 [[ 7.12199080e-01 -7.01973921e-01 -2.25518524e-03 1.10091906e+02] [ 7.01970404e-01 7.12202650e-01 -2.22186176e-03 3.52480593e+01] [ 3.16583792e-03 -6.65392363e-07 9.99994989e-01 -1.57301041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:110.11, Y:35.27, Z:-1.57 [[ 7.08673166e-01 -7.05534035e-01 -2.01728311e-03 1.10112085e+02] [ 7.05531231e-01 7.08676037e-01 -1.98896583e-03 3.52681425e+01] [ 2.83288329e-03 -1.37295247e-05 9.99995987e-01 -1.57419599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.167628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:110.13, Y:35.29, Z:-1.58 [[ 7.05347861e-01 -7.08859992e-01 -1.38099420e-03 1.10131278e+02] [ 7.08858684e-01 7.05349213e-01 -1.36158979e-03 3.52872397e+01] [ 1.93925970e-03 -1.85352852e-05 9.99998119e-01 -1.57525855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:35.31, Z:-1.57 [[ 7.01998697e-01 -7.12178219e-01 1.18112664e-04 1.10151019e+02] [ 7.12178210e-01 7.01998706e-01 1.13112365e-04 3.53071020e+01] [-1.63471100e-04 4.71253292e-06 9.99999987e-01 -1.57319711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:35.33, Z:-1.57 [[ 6.94169302e-01 -7.19810845e-01 1.15223154e-03 1.10171083e+02] [ 7.19809955e-01 6.94170257e-01 1.13249938e-03 3.53274788e+01] [-1.61503020e-03 4.32414286e-05 9.99998695e-01 -1.57343108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:35.35, Z:-1.57 [[ 6.90084474e-01 -7.23727241e-01 1.51612847e-03 1.10190624e+02] [ 7.23725706e-01 6.90086136e-01 1.49207619e-03 3.53481309e+01] [-2.12611542e-03 6.76025348e-05 9.99997738e-01 -1.57359264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:35.37, Z:-1.57 [[ 6.86150681e-01 -7.27456669e-01 2.00949283e-03 1.10208902e+02] [ 7.27453979e-01 6.86153616e-01 1.98077961e-03 3.53674762e+01] [-2.81975211e-03 1.02700284e-04 9.99996019e-01 -1.57398364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:35.39, Z:-1.57 [[ 6.82058610e-01 -7.31296190e-01 1.39113189e-03 1.10228318e+02] [ 7.31294912e-01 6.82060024e-01 1.36992980e-03 3.53878359e+01] [-1.95065989e-03 8.29552544e-05 9.99998094e-01 -1.57402558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34762800000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:110.25, Y:35.41, Z:-1.58 [[ 6.74513612e-01 -7.38262396e-01 -1.49468274e-04 1.10245863e+02] [ 7.38262381e-01 6.74513628e-01 -1.49901043e-04 3.54086515e+01] [ 2.11484691e-04 -9.23650997e-06 9.99999978e-01 -1.57737268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:35.43, Z:-1.58 [[ 6.71983830e-01 -7.40565688e-01 -4.40362115e-04 1.10265262e+02] [ 7.40565559e-01 6.71983974e-01 -4.38479773e-04 3.54295183e+01] [ 6.20639359e-04 -3.14656985e-05 9.99999807e-01 -1.57597184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:35.45, Z:-1.58 [[ 6.70034026e-01 -7.42329474e-01 -1.16478891e-03 1.10283758e+02] [ 7.42328584e-01 6.70035032e-01 -1.15317332e-03 3.54492830e+01] [ 1.63648391e-03 -9.19907370e-05 9.99998657e-01 -1.57622495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:35.47, Z:-1.58 [[ 6.68511735e-01 -7.43700043e-01 -1.51837041e-03 1.10302811e+02] [ 7.43698531e-01 6.68513448e-01 -1.50496434e-03 3.54703664e+01] [ 2.13429309e-03 -1.23123516e-04 9.99997715e-01 -1.57612170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:110.32, Y:35.49, Z:-1.58 [[ 6.67934364e-01 -7.44218491e-01 -1.58835915e-03 1.10319339e+02] [ 7.44216835e-01 6.67936240e-01 -1.57503233e-03 3.54939335e+01] [ 2.23309083e-03 -1.30065403e-04 9.99997498e-01 -1.57939734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:35.52, Z:-1.58 [[ 6.69535144e-01 -7.42779803e-01 -9.25417585e-04 1.10337547e+02] [ 7.42779237e-01 6.69535779e-01 -9.19542046e-04 3.55160599e+01] [ 1.30261744e-03 -7.17152514e-05 9.99999149e-01 -1.57752906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:35.54, Z:-1.58 [[ 6.71560689e-01 -7.40949408e-01 -4.63423917e-04 1.10354496e+02] [ 7.40949265e-01 6.71560849e-01 -4.61242076e-04 3.55373335e+01] [ 6.52974402e-04 -3.36215644e-05 9.99999786e-01 -1.57781173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:35.56, Z:-1.58 [[ 6.77440557e-01 -7.35577327e-01 5.36917767e-04 1.10369795e+02] [ 7.35577138e-01 6.77440769e-01 5.28881880e-04 3.55615605e+01] [-7.52763505e-04 3.66583991e-05 9.99999716e-01 -1.57725234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:35.58, Z:-1.58 [[ 6.80689067e-01 -7.32571392e-01 1.24492244e-03 1.10387651e+02] [ 7.32570361e-01 6.80690201e-01 1.23118824e-03 3.55839966e+01] [-1.74933979e-03 7.39369064e-05 9.99998467e-01 -1.57707560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:35.61, Z:-1.58 [[ 6.83894530e-01 -7.29578622e-01 1.81821992e-03 1.10405306e+02] [ 7.29576406e-01 6.83896941e-01 1.80060687e-03 3.56060964e+01] [-2.55715932e-03 9.51051613e-05 9.99996726e-01 -1.57681232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:35.63, Z:-1.58 [[ 6.87190590e-01 -7.26474252e-01 2.06267002e-03 1.10423103e+02] [ 7.26471382e-01 6.87193679e-01 2.04430317e-03 3.56279511e+01] [-2.90258741e-03 9.36448369e-05 9.99995783e-01 -1.57670026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:35.65, Z:-1.58 [[ 6.90565814e-01 -7.23265316e-01 2.47778743e-03 1.10440234e+02] [ 7.23261143e-01 6.90570252e-01 2.45864461e-03 3.56486255e+01] [-3.48933866e-03 9.42314596e-05 9.99993908e-01 -1.57650209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:35.67, Z:-1.58 [[ 6.96910531e-01 -7.17151500e-01 3.07205022e-03 1.10456619e+02] [ 7.17145023e-01 6.96917298e-01 3.04901628e-03 3.56724523e+01] [-4.32757153e-03 7.82139728e-05 9.99990633e-01 -1.57692433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:35.69, Z:-1.58 [[ 6.99556680e-01 -7.14570580e-01 3.05560408e-03 1.10474626e+02] [ 7.14564140e-01 6.99563351e-01 3.03437173e-03 3.56948618e+01] [-4.30586140e-03 6.07100834e-05 9.99990728e-01 -1.57758556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:35.72, Z:-1.58 [[ 7.02079539e-01 -7.12092519e-01 2.92666388e-03 1.10492376e+02] [ 7.12086583e-01 7.02085638e-01 2.90778105e-03 3.57163324e+01] [-4.12537781e-03 4.25445014e-05 9.99991490e-01 -1.57829061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:35.74, Z:-1.58 [[ 7.04308942e-01 -7.09888128e-01 2.78549432e-03 1.10510590e+02] [ 7.09882729e-01 7.04314450e-01 2.76888308e-03 3.57378751e+01] [-3.92746113e-03 2.72251941e-05 9.99992287e-01 -1.57909236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:35.76, Z:-1.58 [[ 7.07713306e-01 -7.06493853e-01 2.88307968e-03 1.10527776e+02] [ 7.06488033e-01 7.07719179e-01 2.86761412e-03 3.57599470e+01] [-4.06636253e-03 7.41261807e-06 9.99991732e-01 -1.57973022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:35.78, Z:-1.58 [[ 7.08757379e-01 -7.05446879e-01 2.77090667e-03 1.10546677e+02] [ 7.05441490e-01 7.08762796e-01 2.75749435e-03 3.57803918e+01] [-3.90918134e-03 3.18063630e-07 9.99992359e-01 -1.57959612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:35.80, Z:-1.58 [[ 7.09679652e-01 -7.04518171e-01 2.98960575e-03 1.10565040e+02] [ 7.04511878e-01 7.09685949e-01 2.97783408e-03 3.57997375e+01] [-4.21961941e-03 -7.09549239e-06 9.99991097e-01 -1.58037201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:35.82, Z:-1.58 [[ 7.10255213e-01 -7.03937983e-01 2.97448292e-03 1.10584292e+02] [ 7.03931744e-01 7.10261442e-01 2.96371412e-03 3.58193008e+01] [-4.19893147e-03 -1.11604555e-05 9.99991184e-01 -1.58064859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:35.84, Z:-1.58 [[ 7.10288350e-01 -7.03905047e-01 2.85385736e-03 1.10604153e+02] [ 7.03899304e-01 7.10294083e-01 2.84357432e-03 3.58388819e+01] [-4.02868431e-03 -1.09295013e-05 9.99991885e-01 -1.58136985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:35.86, Z:-1.58 [[ 7.09917767e-01 -7.04279514e-01 2.67003372e-03 1.10623476e+02] [ 7.04274482e-01 7.09922788e-01 2.66250349e-03 3.58576017e+01] [-3.77066445e-03 -9.72191830e-06 9.99992891e-01 -1.58191505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:35.88, Z:-1.58 [[ 7.09079633e-01 -7.05122493e-01 2.88845346e-03 1.10644176e+02] [ 7.05116609e-01 7.09085516e-01 2.88060871e-03 3.58770170e+01] [-4.07934251e-03 -5.88445319e-06 9.99991679e-01 -1.58245360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:35.89, Z:-1.58 [[ 7.06606939e-01 -7.07599471e-01 3.10199074e-03 1.10666692e+02] [ 7.07592700e-01 7.06613748e-01 3.09553552e-03 3.58946579e+01] [-4.38230860e-03 7.61912210e-06 9.99990398e-01 -1.58193828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:35.91, Z:-1.58 [[ 7.04895745e-01 -7.09303033e-01 3.34623625e-03 1.10687896e+02] [ 7.09295162e-01 7.04903687e-01 3.34140866e-03 3.59135018e+01] [-4.72884556e-03 1.81244381e-05 9.99988819e-01 -1.58182865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:35.93, Z:-1.58 [[ 7.03253030e-01 -7.10930985e-01 3.50871722e-03 1.10709329e+02] [ 7.10922341e-01 7.03261782e-01 3.50578459e-03 3.59323764e+01] [-4.95991761e-03 2.89718217e-05 9.99987699e-01 -1.58148771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:35.95, Z:-1.58 [[ 7.01286004e-01 -7.12870006e-01 3.78087887e-03 1.10729847e+02] [ 7.12859982e-01 7.01296195e-01 3.78061331e-03 3.59505818e+01] [-5.34660179e-03 4.39460432e-05 9.99985706e-01 -1.58167958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:35.97, Z:-1.58 [[ 6.97808208e-01 -7.16276403e-01 3.43802355e-03 1.10751946e+02] [ 7.16268154e-01 6.97816674e-01 3.43804988e-03 3.59677122e+01] [-4.86170416e-03 6.34473637e-05 9.99988180e-01 -1.58159002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:35.99, Z:-1.58 [[ 6.96395984e-01 -7.17650874e-01 3.13939459e-03 1.10772270e+02] [ 7.17644001e-01 6.96403058e-01 3.14159694e-03 3.59859890e+01] [-4.44085378e-03 6.51722020e-05 9.99990137e-01 -1.58213458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:36.00, Z:-1.58 [[ 6.94787115e-01 -7.19208759e-01 3.10242244e-03 1.10792785e+02] [ 7.19202061e-01 6.94794038e-01 3.10482392e-03 3.60047295e+01] [-4.38856117e-03 7.40769546e-05 9.99990367e-01 -1.58309768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:36.02, Z:-1.58 [[ 6.93551257e-01 -7.20402432e-01 2.64374205e-03 1.10813423e+02] [ 7.20397570e-01 6.93556293e-01 2.64762631e-03 3.60228421e+01] [-3.74094037e-03 6.82807939e-05 9.99993000e-01 -1.58324654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:36.04, Z:-1.58 [[ 6.90769921e-01 -7.23070631e-01 2.40398236e-03 1.10835975e+02] [ 7.23066628e-01 6.90774100e-01 2.40720481e-03 3.60402761e+01] [-3.40118785e-03 7.54147440e-05 9.99994213e-01 -1.58362041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:36.06, Z:-1.58 [[ 6.89741482e-01 -7.24051642e-01 2.43046704e-03 1.10855675e+02] [ 7.24047549e-01 6.89745760e-01 2.43604656e-03 3.60581772e+01] [-3.44022785e-03 7.95313372e-05 9.99994079e-01 -1.58349633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:36.08, Z:-1.58 [[ 6.89043560e-01 -7.24716192e-01 2.32667552e-03 1.10875572e+02] [ 7.24712442e-01 6.89047484e-01 2.33268954e-03 3.60762747e+01] [-3.29372780e-03 7.88459895e-05 9.99994573e-01 -1.58341071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:36.09, Z:-1.58 [[ 6.88043693e-01 -7.25666126e-01 2.13302011e-03 1.10896411e+02] [ 7.25662978e-01 6.88046995e-01 2.13880178e-03 3.60936794e+01] [-3.01967408e-03 7.62646498e-05 9.99995438e-01 -1.58302283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:36.11, Z:-1.58 [[ 6.87475295e-01 -7.26205085e-01 1.97320337e-03 1.10916979e+02] [ 7.26202393e-01 6.87478123e-01 1.97846628e-03 3.61126951e+01] [-2.79330642e-03 7.27983208e-05 9.99996096e-01 -1.58286099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:36.13, Z:-1.58 [[ 6.87351937e-01 -7.26321847e-01 1.97225983e-03 1.10937071e+02] [ 7.26319153e-01 6.87354762e-01 1.97940588e-03 3.61329952e+01] [-2.79332793e-03 7.19416254e-05 9.99996096e-01 -1.58309782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:36.15, Z:-1.58 [[ 6.86848723e-01 -7.26796947e-01 2.24248493e-03 1.10957671e+02] [ 7.26793467e-01 6.86852379e-01 2.25087755e-03 3.61520978e+01] [-3.17618705e-03 8.38110260e-05 9.99994952e-01 -1.58325010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:36.17, Z:-1.58 [[ 6.86569012e-01 -7.27060049e-01 2.58389515e-03 1.10977104e+02] [ 7.27055420e-01 6.86573868e-01 2.59630657e-03 3.61702538e+01] [-3.66170567e-03 9.60913344e-05 9.99993291e-01 -1.58335334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:36.19, Z:-1.58 [[ 6.86466324e-01 -7.27156348e-01 2.76252935e-03 1.10997768e+02] [ 7.27151056e-01 6.86471875e-01 2.77598455e-03 3.61899318e+01] [-3.91497349e-03 1.03156219e-04 9.99992331e-01 -1.58333902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:36.21, Z:-1.58 [[ 6.87798733e-01 -7.25894690e-01 3.13072877e-03 1.11018306e+02] [ 7.25887868e-01 6.87805850e-01 3.14885236e-03 3.62083235e+01] [-4.43906877e-03 1.06781368e-04 9.99990142e-01 -1.58324582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:36.23, Z:-1.58 [[ 6.88639253e-01 -7.25097574e-01 3.08022033e-03 1.11038196e+02] [ 7.25090962e-01 6.88646134e-01 3.09826668e-03 3.62276213e+01] [-4.36772748e-03 9.98518720e-05 9.99990456e-01 -1.58363915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:36.25, Z:-1.58 [[ 6.89857337e-01 -7.23939477e-01 2.91326790e-03 1.11057080e+02] [ 7.23933543e-01 6.89863483e-01 2.93254994e-03 3.62463813e+01] [-4.13274581e-03 8.59712584e-05 9.99991456e-01 -1.58417322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:36.27, Z:-1.58 [[ 6.91459773e-01 -7.22409378e-01 2.84147492e-03 1.11076595e+02] [ 7.22403716e-01 6.91465607e-01 2.86113052e-03 3.62653497e+01] [-4.03168970e-03 7.43353797e-05 9.99991870e-01 -1.58469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:36.28, Z:-1.59 [[ 6.94568434e-01 -7.19422417e-01 2.46491732e-03 1.11096610e+02] [ 7.19418139e-01 6.94572806e-01 2.48161172e-03 3.62844621e+01] [-3.49739165e-03 4.96570635e-05 9.99993883e-01 -1.58534713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:36.30, Z:-1.59 [[ 6.96315482e-01 -7.17733058e-01 2.00178500e-03 1.11117064e+02] [ 7.17730228e-01 6.96318358e-01 2.01584755e-03 3.63039947e+01] [-2.84072007e-03 3.30757484e-05 9.99995965e-01 -1.58569254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:36.32, Z:-1.59 [[ 6.97935728e-01 -7.16158204e-01 1.77377729e-03 1.11137677e+02] [ 7.16155975e-01 6.97937982e-01 1.78688083e-03 3.63237918e+01] [-2.51767591e-03 2.31732347e-05 9.99996830e-01 -1.58605632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:36.34, Z:-1.59 [[ 6.99322145e-01 -7.14804361e-01 1.80624722e-03 1.11157036e+02] [ 7.14802041e-01 6.99324477e-01 1.82140673e-03 3.63421480e+01] [-2.56510237e-03 1.73591390e-05 9.99996710e-01 -1.58612378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:36.36, Z:-1.59 [[ 7.01746073e-01 -7.12425130e-01 1.69805748e-03 1.11178019e+02] [ 7.12423073e-01 7.01748127e-01 1.71212440e-03 3.63609070e+01] [-2.41136911e-03 8.25875326e-06 9.99997093e-01 -1.58586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:36.38, Z:-1.59 [[ 7.02741590e-01 -7.11442851e-01 1.82399533e-03 1.11198318e+02] [ 7.11440471e-01 7.02743957e-01 1.84030361e-03 3.63804760e+01] [-2.59107255e-03 4.40620931e-06 9.99996643e-01 -1.58632882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:36.40, Z:-1.59 [[ 7.03708571e-01 -7.10486891e-01 1.61997077e-03 1.11217916e+02] [ 7.10485008e-01 7.03710436e-01 1.63577056e-03 3.63987942e+01] [-2.30218388e-03 -1.40816744e-07 9.99997350e-01 -1.58666445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:36.42, Z:-1.59 [[ 7.04505779e-01 -7.09696642e-01 1.51149984e-03 1.11238846e+02] [ 7.09695001e-01 7.04507400e-01 1.52590888e-03 3.64182486e+01] [-2.14779523e-03 -2.30774630e-06 9.99997693e-01 -1.58705984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:36.44, Z:-1.59 [[ 7.05933921e-01 -7.08277128e-01 8.99442606e-04 1.11260622e+02] [ 7.08276547e-01 7.05934494e-01 9.07159729e-04 3.64368691e+01] [-1.27746805e-03 -3.34072062e-06 9.99999184e-01 -1.58800600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:36.46, Z:-1.59 [[ 7.06403776e-01 -7.07808171e-01 1.14001938e-03 1.11281258e+02] [ 7.07807234e-01 7.06404695e-01 1.15132605e-03 3.64561423e+01] [-1.62023303e-03 -6.38710708e-06 9.99998687e-01 -1.58868077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:36.48, Z:-1.59 [[ 7.06798319e-01 -7.07413735e-01 1.39448683e-03 1.11301808e+02] [ 7.07412330e-01 7.06799694e-01 1.40987382e-03 3.64750846e+01] [-1.98298697e-03 -1.00192705e-05 9.99998034e-01 -1.58891821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:36.49, Z:-1.59 [[ 7.07383985e-01 -7.06827335e-01 1.73710115e-03 1.11323196e+02] [ 7.06825146e-01 7.07386117e-01 1.75911196e-03 3.64918925e+01] [-2.47218965e-03 -1.65408559e-05 9.99996944e-01 -1.58848701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:36.51, Z:-1.59 [[ 7.07524973e-01 -7.06686063e-01 1.79451693e-03 1.11344481e+02] [ 7.06683728e-01 7.07527249e-01 1.81683941e-03 3.65106293e+01] [-2.55360472e-03 -1.73033429e-05 9.99996739e-01 -1.58858548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:36.53, Z:-1.59 [[ 7.07339732e-01 -7.06870353e-01 2.19238337e-03 1.11365440e+02] [ 7.06866862e-01 7.07343130e-01 2.22163792e-03 3.65296411e+01] [-3.12117730e-03 -2.17296121e-05 9.99995129e-01 -1.58905058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:36.55, Z:-1.59 [[ 7.07659219e-01 -7.06551277e-01 1.92945646e-03 1.11387431e+02] [ 7.06548567e-01 7.07661849e-01 1.95692575e-03 3.65462023e+01] [-2.74807111e-03 -2.15818554e-05 9.99996224e-01 -1.58847276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:36.57, Z:-1.59 [[ 7.08103225e-01 -7.06106339e-01 1.91325898e-03 1.11407626e+02] [ 7.06103674e-01 7.08105809e-01 1.94018012e-03 3.65662108e+01] [-2.72476328e-03 -2.28886014e-05 9.99996288e-01 -1.58829538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:36.59, Z:-1.59 [[ 7.07956938e-01 -7.06253795e-01 1.59685482e-03 1.11427347e+02] [ 7.06251939e-01 7.07958739e-01 1.61957918e-03 3.65866226e+01] [-2.27434127e-03 -1.88105048e-05 9.99997414e-01 -1.58891889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:36.61, Z:-1.59 [[ 7.07507074e-01 -7.06705336e-01 1.14396912e-03 1.11446480e+02] [ 7.06704384e-01 7.07507999e-01 1.15994447e-03 3.66066742e+01] [-1.62910625e-03 -1.22209303e-05 9.99998673e-01 -1.58958329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:36.63, Z:-1.59 [[ 7.07012048e-01 -7.07201135e-01 7.20655259e-04 1.11465304e+02] [ 7.07200758e-01 7.07012415e-01 7.29858707e-04 3.66272289e+01] [-1.02566912e-03 -6.37095349e-06 9.99999474e-01 -1.59042795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:36.65, Z:-1.59 [[ 7.06799070e-01 -7.07414359e-01 1.81843578e-05 1.11484141e+02] [ 7.07414359e-01 7.06799070e-01 1.51561139e-05 3.66479484e+01] [-2.35743399e-05 2.15154866e-06 1.00000000e+00 -1.59135670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:36.67, Z:-1.59 [[ 7.05996466e-01 -7.08215034e-01 -6.75027018e-04 1.11503147e+02] [ 7.08214697e-01 7.05996788e-01 -6.90956469e-04 3.66690076e+01] [ 9.65912666e-04 9.74876996e-06 9.99999533e-01 -1.59245801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:36.69, Z:-1.59 [[ 7.05574307e-01 -7.08635296e-01 -9.55903288e-04 1.11523044e+02] [ 7.08634622e-01 7.05574955e-01 -9.77585823e-04 3.66890929e+01] [ 1.36721324e-03 1.23732751e-05 9.99999065e-01 -1.59226082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:36.71, Z:-1.59 [[ 7.05003290e-01 -7.09203457e-01 -9.03777739e-04 1.11541723e+02] [ 7.09202856e-01 7.05003870e-01 -9.23250905e-04 3.67081725e+01] [ 1.29193954e-03 9.93317212e-06 9.99999165e-01 -1.59210202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:36.73, Z:-1.59 [[ 7.04692541e-01 -7.09512326e-01 -8.25852060e-04 1.11561545e+02] [ 7.09511822e-01 7.04693024e-01 -8.45734387e-04 3.67285463e+01] [ 1.18203116e-03 1.00309137e-05 9.99999301e-01 -1.59216483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:36.75, Z:-1.59 [[ 7.03986220e-01 -7.10213548e-01 -3.44582352e-04 1.11580752e+02] [ 7.10213459e-01 7.03986304e-01 -3.55062936e-04 3.67489212e+01] [ 4.94751764e-04 5.23238967e-06 9.99999878e-01 -1.59215058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:36.77, Z:-1.59 [[ 7.02300652e-01 -7.11880120e-01 6.99230631e-04 1.11599642e+02] [ 7.11879764e-01 7.02301000e-01 7.12037592e-04 3.67681686e+01] [-9.97955778e-04 -2.29632871e-06 9.99999502e-01 -1.59147466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:36.79, Z:-1.59 [[ 7.00709533e-01 -7.13445383e-01 1.35505198e-03 1.11619626e+02] [ 7.13444046e-01 7.00710843e-01 1.38093550e-03 3.67884116e+01] [-1.93472167e-03 -8.80901937e-07 9.99998128e-01 -1.59127922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:36.81, Z:-1.59 [[ 6.96481933e-01 -7.17571135e-01 2.14071816e-03 1.11639187e+02] [ 7.17567810e-01 6.96485223e-01 2.18472758e-03 3.68079418e+01] [-3.05867602e-03 1.44871498e-05 9.99995322e-01 -1.59112712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:36.83, Z:-1.59 [[ 6.93843995e-01 -7.20121464e-01 2.36383023e-03 1.11659217e+02] [ 7.20117418e-01 6.93848021e-01 2.41407945e-03 3.68275520e+01] [-3.37856935e-03 2.72407991e-05 9.99994292e-01 -1.59126917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:36.85, Z:-1.59 [[ 6.90500759e-01 -7.23326598e-01 -2.70829052e-03 1.11680368e+02] [ 7.23328230e-01 6.90481093e-01 5.66846364e-03 3.68451164e+01] [-2.23012712e-03 -5.87306143e-03 9.99980267e-01 -1.58609420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:36.87, Z:-1.59 [[ 6.88034962e-01 -7.25643477e-01 7.03104807e-03 1.11698417e+02] [ 7.25667065e-01 6.88044793e-01 -1.29373725e-03 3.68685989e+01] [-3.89888402e-03 5.99233647e-03 9.99974445e-01 -1.59379960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:36.89, Z:-1.59 [[ 6.82088366e-01 -7.31263009e-01 3.14206754e-03 1.11719239e+02] [ 7.31255952e-01 6.82095595e-01 3.21433607e-03 3.68860585e+01] [-4.49371550e-03 1.05194352e-04 9.99989898e-01 -1.59162829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:36.91, Z:-1.59 [[ 6.79240438e-01 -7.33908013e-01 3.38473728e-03 1.11737804e+02] [ 7.33899854e-01 6.79248858e-01 3.46320268e-03 3.69069206e+01] [-4.84075113e-03 1.31710894e-04 9.99988275e-01 -1.59267217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:36.93, Z:-1.59 [[ 6.76478526e-01 -7.36454835e-01 3.32878529e-03 1.11756927e+02] [ 7.36446965e-01 6.76486700e-01 3.40772490e-03 3.69281670e+01] [-4.76151446e-03 1.46221107e-04 9.99988653e-01 -1.59370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:36.95, Z:-1.59 [[ 6.73593000e-01 -7.39097118e-01 2.81432572e-03 1.11775290e+02] [ 7.39091508e-01 6.73598865e-01 2.88297350e-03 3.69475204e+01] [-4.02652402e-03 1.38093466e-04 9.99991884e-01 -1.59412845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:36.97, Z:-1.59 [[ 6.67664179e-01 -7.44459978e-01 1.97119654e-03 1.11794369e+02] [ 7.44457252e-01 6.67667078e-01 2.01835513e-03 3.69678189e+01] [-2.81868765e-03 1.19888142e-04 9.99996020e-01 -1.59390843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:36.99, Z:-1.59 [[ 6.65052261e-01 -7.46794379e-01 1.90937470e-03 1.11813392e+02] [ 7.46791827e-01 6.65054991e-01 1.95605012e-03 3.69878617e+01] [-2.73060640e-03 1.25029865e-04 9.99996264e-01 -1.59386131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:37.01, Z:-1.59 [[ 6.62779051e-01 -7.48812847e-01 1.80246987e-03 1.11832032e+02] [ 7.48810576e-01 6.62781490e-01 1.84844015e-03 3.70077013e+01] [-2.57877940e-03 1.24601092e-04 9.99996667e-01 -1.59362200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:37.03, Z:-1.59 [[ 6.60795711e-01 -7.50563321e-01 1.93148168e-03 1.11851181e+02] [ 7.50560721e-01 6.60798518e-01 1.98052983e-03 3.70288433e+01] [-2.76283328e-03 1.40968663e-04 9.99996173e-01 -1.59412123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:37.05, Z:-1.59 [[ 6.59426510e-01 -7.51766288e-01 2.03118080e-03 1.11869143e+02] [ 7.51763415e-01 6.59429621e-01 2.08408849e-03 3.70504818e+01] [-2.90616826e-03 1.52664212e-04 9.99995765e-01 -1.59457012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:37.07, Z:-1.60 [[ 6.59128755e-01 -7.52026904e-01 2.19535582e-03 1.11885728e+02] [ 7.52023544e-01 6.59132391e-01 2.25407246e-03 3.70740856e+01] [-3.14215327e-03 1.65235286e-04 9.99995050e-01 -1.59581343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:37.10, Z:-1.60 [[ 6.59894257e-01 -7.51355182e-01 2.22720438e-03 1.11904010e+02] [ 7.51351716e-01 6.59897995e-01 2.28808061e-03 3.70959376e+01] [-3.18888893e-03 1.63522582e-04 9.99994902e-01 -1.59560977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:37.12, Z:-1.60 [[ 6.61362898e-01 -7.50061124e-01 2.72526283e-03 1.11922415e+02] [ 7.50055915e-01 6.61368485e-01 2.80206238e-03 3.71175824e+01] [-3.90412101e-03 1.90919410e-04 9.99992361e-01 -1.59546953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:37.14, Z:-1.60 [[ 6.63298773e-01 -7.48348186e-01 3.11933900e-03 1.11940129e+02] [ 7.48341332e-01 6.63306076e-01 3.20954240e-03 3.71392184e+01] [-4.47093175e-03 2.05444762e-04 9.99989984e-01 -1.59544316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:37.16, Z:-1.60 [[ 6.68395877e-01 -7.43797209e-01 3.55856517e-03 1.11955063e+02] [ 7.43788207e-01 6.68405321e-01 3.66461829e-03 3.71624102e+01] [-5.10429675e-03 1.97403055e-04 9.99986954e-01 -1.59589476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:37.18, Z:-1.60 [[ 6.71591065e-01 -7.40913746e-01 3.50161101e-03 1.11973190e+02] [ 7.40904989e-01 6.71600172e-01 3.60645923e-03 3.71844663e+01] [-5.02375778e-03 1.72295268e-04 9.99987366e-01 -1.59603034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:37.21, Z:-1.60 [[ 6.74873636e-01 -7.37925391e-01 3.41965255e-03 1.11991018e+02] [ 7.37916991e-01 6.74882284e-01 3.52390202e-03 3.72064122e+01] [-4.90823970e-03 1.45231145e-04 9.99987944e-01 -1.59642279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:37.23, Z:-1.60 [[ 6.78479816e-01 -7.34611852e-01 3.25060413e-03 1.12008006e+02] [ 7.34604212e-01 6.78487593e-01 3.35216343e-03 3.72276369e+01] [-4.66803355e-03 1.13532257e-04 9.99989098e-01 -1.59693633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:37.25, Z:-1.60 [[ 6.85983283e-01 -7.27612656e-01 2.59942274e-03 1.12024218e+02] [ 7.27607722e-01 6.85988206e-01 2.68031384e-03 3.72515054e+01] [-3.73340362e-03 5.27095747e-05 9.99993029e-01 -1.59739746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:37.27, Z:-1.60 [[ 6.89509449e-01 -7.24273086e-01 2.28369891e-03 1.12041858e+02] [ 7.24269256e-01 6.89513231e-01 2.35566109e-03 3.72728794e+01] [-3.28078254e-03 2.97623308e-05 9.99994618e-01 -1.59812835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:37.29, Z:-1.60 [[ 6.92660304e-01 -7.21261028e-01 2.05708675e-03 1.12059990e+02] [ 7.21257905e-01 6.92663359e-01 2.12275741e-03 3.72945419e+01] [-2.95593081e-03 1.33402824e-05 9.99995631e-01 -1.59893455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:37.32, Z:-1.60 [[ 6.98004480e-01 -7.16091857e-01 1.48242397e-03 1.12077694e+02] [ 7.16090224e-01 6.98006054e-01 1.52965068e-03 3.73171433e+01] [-2.13011130e-03 -6.15371748e-06 9.99997731e-01 -1.59989153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:37.34, Z:-1.60 [[ 6.99818369e-01 -7.14318610e-01 1.78176888e-03 1.12095550e+02] [ 7.14316237e-01 6.99820637e-01 1.84131965e-03 3.73371094e+01] [-2.56220752e-03 -1.58428740e-05 9.99996717e-01 -1.60051223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:37.36, Z:-1.60 [[ 7.01157825e-01 -7.13002805e-01 2.16903541e-03 1.12115216e+02] [ 7.12999281e-01 7.01161180e-01 2.24171978e-03 3.73578538e+01] [-3.11919592e-03 -2.52786765e-05 9.99995135e-01 -1.60060229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:37.38, Z:-1.60 [[ 7.01642050e-01 -7.12525042e-01 2.54903931e-03 1.12134594e+02] [ 7.12520165e-01 7.01646680e-01 2.63649200e-03 3.73781598e+01] [-3.66709154e-03 -3.36317444e-05 9.99993276e-01 -1.60094350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:37.40, Z:-1.60 [[ 7.01893118e-01 -7.12276408e-01 2.89319021e-03 1.12153560e+02] [ 7.12270111e-01 7.01899079e-01 2.99517646e-03 3.73974178e+01] [-4.16412107e-03 -4.15608337e-05 9.99991329e-01 -1.60085730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:37.42, Z:-1.60 [[ 7.01705968e-01 -7.12460782e-01 2.89281847e-03 1.12173362e+02] [ 7.12454486e-01 7.01711930e-01 2.99553546e-03 3.74180433e+01] [-4.16412677e-03 -4.09836150e-05 9.99991329e-01 -1.60109620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:37.44, Z:-1.60 [[ 7.00223384e-01 -7.13915629e-01 3.41851387e-03 1.12193699e+02] [ 7.13906842e-01 7.00231728e-01 3.54225546e-03 3.74370019e+01] [-4.92262340e-03 -3.98696652e-05 9.99987883e-01 -1.60181634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:37.46, Z:-1.60 [[ 6.98834682e-01 -7.15275509e-01 3.32161969e-03 1.12213292e+02] [ 7.15267217e-01 6.98842575e-01 3.44432799e-03 3.74555181e+01] [-4.78493271e-03 -3.11701826e-05 9.99988552e-01 -1.60228621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:37.47, Z:-1.60 [[ 6.97015922e-01 -7.17048191e-01 3.27055471e-03 1.12233638e+02] [ 7.17040169e-01 6.97023595e-01 3.39174918e-03 3.74749075e+01] [-4.71170141e-03 -1.89840770e-05 9.99988900e-01 -1.60298454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:37.49, Z:-1.60 [[ 6.95329456e-01 -7.18684341e-01 3.12516405e-03 1.12253403e+02] [ 7.18677022e-01 6.95336479e-01 3.24330444e-03 3.74931288e+01] [-4.50395268e-03 -9.18151327e-06 9.99989857e-01 -1.60335416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:37.51, Z:-1.60 [[ 6.92159416e-01 -7.21739389e-01 2.75647034e-03 1.12275068e+02] [ 7.21733720e-01 6.92164904e-01 2.86056745e-03 3.75108874e+01] [-3.97251623e-03 9.46890303e-06 9.99992109e-01 -1.60444726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:37.53, Z:-1.61 [[ 6.90441929e-01 -7.23383244e-01 2.57398442e-03 1.12295873e+02] [ 7.23378308e-01 6.90446726e-01 2.67242798e-03 3.75301433e+01] [-3.71038874e-03 1.68081622e-05 9.99993116e-01 -1.60503295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:37.55, Z:-1.61 [[ 6.88751755e-01 -7.24993680e-01 2.27673997e-03 1.12315895e+02] [ 7.24989821e-01 6.88755518e-01 2.36561894e-03 3.75483770e+01] [-3.28317599e-03 2.12891044e-05 9.99994610e-01 -1.60511669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:37.57, Z:-1.61 [[ 6.86887295e-01 -7.26760871e-01 2.11674084e-03 1.12336565e+02] [ 7.26757545e-01 6.86890556e-01 2.19900393e-03 3.75672217e+01] [-3.05211930e-03 2.78895158e-05 9.99995342e-01 -1.60561409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:37.58, Z:-1.61 [[ 6.83048973e-01 -7.30370507e-01 1.73847259e-03 1.12357803e+02] [ 7.30368271e-01 6.83051185e-01 1.80743806e-03 3.75840430e+01] [-2.50756521e-03 3.51565072e-05 9.99996855e-01 -1.60572572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:37.60, Z:-1.61 [[ 6.80734711e-01 -7.32528793e-01 1.34944945e-03 1.12378556e+02] [ 7.32527452e-01 6.80736048e-01 1.40178222e-03 3.76031524e+01] [-1.94546472e-03 3.42669534e-05 9.99998107e-01 -1.60592866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:37.62, Z:-1.61 [[ 6.78143682e-01 -7.34928894e-01 8.16490188e-04 1.12399288e+02] [ 7.34928406e-01 6.78144173e-01 8.47250181e-04 3.76215566e+01] [-1.17636670e-03 2.55044747e-05 9.99999308e-01 -1.60606413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:37.64, Z:-1.61 [[ 6.72411865e-01 -7.40177182e-01 1.50416907e-04 1.12421764e+02] [ 7.40177166e-01 6.72411882e-01 1.53396257e-04 3.76387241e+01] [-2.14682525e-04 8.18969689e-06 9.99999977e-01 -1.60625735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:37.66, Z:-1.61 [[ 6.69457485e-01 -7.42850365e-01 1.06359273e-04 1.12443077e+02] [ 7.42850357e-01 6.69457493e-01 1.07453825e-04 3.76576250e+01] [-1.51025126e-04 7.07325697e-06 9.99999989e-01 -1.60639893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:37.68, Z:-1.61 [[ 6.66573917e-01 -7.45438897e-01 2.51388745e-04 1.12463583e+02] [ 7.45438852e-01 6.66573964e-01 2.59948813e-04 3.76761291e+01] [-3.61345149e-04 1.41198384e-05 9.99999935e-01 -1.60663080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:37.70, Z:-1.61 [[ 6.64194209e-01 -7.47559880e-01 5.28774270e-04 1.12484234e+02] [ 7.47559679e-01 6.64194418e-01 5.48619397e-04 3.76958935e+01] [-7.61334769e-04 3.09004973e-05 9.99999710e-01 -1.60654698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:37.72, Z:-1.61 [[ 6.62305255e-01 -7.49232903e-01 1.34392468e-03 1.12503500e+02] [ 7.49231598e-01 6.62306614e-01 1.40051437e-03 3.77157878e+01] [-1.93940165e-03 7.93428074e-05 9.99998116e-01 -1.60682461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:37.74, Z:-1.61 [[ 6.59510487e-01 -7.51690866e-01 2.60006958e-03 1.12523399e+02] [ 7.51685983e-01 6.59515592e-01 2.71429033e-03 3.77361173e+01] [-3.75509367e-03 1.64332920e-04 9.99992936e-01 -1.60690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:37.76, Z:-1.61 [[ 6.58199237e-01 -7.52836943e-01 3.20980954e-03 1.12542513e+02] [ 7.52829502e-01 6.58207030e-01 3.35350781e-03 3.77561178e+01] [-4.63736377e-03 2.09163038e-04 9.99989225e-01 -1.60689214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:37.78, Z:-1.61 [[ 6.57257680e-01 -7.53657857e-01 3.48946232e-03 1.12561149e+02] [ 7.53649061e-01 6.57266902e-01 3.64864721e-03 3.77758249e+01] [-5.04333972e-03 2.31728600e-04 9.99987255e-01 -1.60683818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:37.80, Z:-1.61 [[ 6.56022465e-01 -7.54730300e-01 4.08651753e-03 1.12579908e+02] [ 7.54718250e-01 6.56035132e-01 4.27415981e-03 3.77967801e+01] [-5.90673699e-03 2.80224505e-04 9.99982516e-01 -1.60719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:37.82, Z:-1.61 [[ 6.55268763e-01 -7.55383044e-01 4.39370870e-03 1.12598209e+02] [ 7.55369110e-01 6.55283422e-01 4.59829736e-03 3.78176441e+01] [-6.35260033e-03 3.05751200e-04 9.99979775e-01 -1.60794192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:37.84, Z:-1.61 [[ 6.54748916e-01 -7.55831720e-01 4.71890669e-03 1.12615462e+02] [ 7.55815636e-01 6.54765837e-01 4.94188228e-03 3.78384354e+01] [-6.82501027e-03 3.30931400e-04 9.99976655e-01 -1.60868445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:37.86, Z:-1.61 [[ 6.54283867e-01 -7.56234802e-01 4.64171004e-03 1.12633412e+02] [ 7.56219240e-01 6.54300249e-01 4.86264332e-03 3.78599930e+01] [-6.71437215e-03 3.28601366e-04 9.99977404e-01 -1.60932569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:37.88, Z:-1.61 [[ 6.53744292e-01 -7.56700765e-01 4.72775620e-03 1.12648843e+02] [ 7.56684611e-01 6.53761300e-01 4.95593105e-03 3.78828673e+01] [-6.84098086e-03 3.37508723e-04 9.99976543e-01 -1.61073237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:37.90, Z:-1.61 [[ 6.53491737e-01 -7.56918307e-01 4.81941610e-03 1.12666270e+02] [ 7.56901515e-01 6.53509417e-01 5.05363989e-03 3.79041922e+01] [-6.97472635e-03 3.45311436e-04 9.99975617e-01 -1.61102893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:37.93, Z:-1.61 [[ 6.53215302e-01 -7.57156519e-01 4.87604194e-03 1.12683934e+02] [ 7.57139327e-01 6.53233406e-01 5.11438018e-03 3.79255782e+01] [-7.05757978e-03 3.51051718e-04 9.99975033e-01 -1.61099285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:37.94, Z:-1.61 [[ 6.51040654e-01 -7.59039095e-01 -2.39149600e-03 1.12700819e+02] [ 7.59015528e-01 6.50987240e-01 1.05376632e-02 3.79446241e+01] [-6.44166495e-03 -8.67562974e-03 9.99941617e-01 -1.60510736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:37.97, Z:-1.62 [[ 6.52565487e-01 -7.57643083e-01 1.16294846e-02 1.12715189e+02] [ 7.57700173e-01 6.52602331e-01 -8.03124155e-04 3.79729777e+01] [-6.98094733e-03 9.33575363e-03 9.99932053e-01 -1.61511437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:37.99, Z:-1.61 [[ 6.51961202e-01 -7.58235833e-01 5.00133242e-03 1.12735550e+02] [ 7.58217732e-01 6.51980281e-01 5.25206747e-03 3.79928776e+01] [-7.24307587e-03 3.67954707e-04 9.99973701e-01 -1.61156429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:38.01, Z:-1.61 [[ 6.51793903e-01 -7.58380141e-01 4.92637940e-03 1.12752025e+02] [ 7.58362561e-01 6.51812420e-01 5.17642799e-03 3.80142184e+01] [-7.13677546e-03 3.62017493e-04 9.99974467e-01 -1.61252686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:38.04, Z:-1.61 [[ 6.51675797e-01 -7.58484686e-01 4.43137081e-03 1.12769415e+02] [ 7.58470458e-01 6.51690782e-01 4.65717100e-03 3.80366601e+01] [-6.42027639e-03 3.26098220e-04 9.99979337e-01 -1.61321982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:38.06, Z:-1.61 [[ 6.52658922e-01 -7.57641330e-01 3.99324978e-03 1.12784573e+02] [ 7.57629747e-01 6.52671076e-01 4.19922627e-03 3.80594034e+01] [-5.78778601e-03 2.84742324e-04 9.99983210e-01 -1.61381607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:38.08, Z:-1.61 [[ 6.53739192e-01 -7.56710845e-01 3.71030369e-03 1.12802624e+02] [ 7.56700827e-01 6.53749670e-01 3.90220801e-03 3.80812853e+01] [-5.37845293e-03 2.56563558e-04 9.99985503e-01 -1.61402198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:38.10, Z:-1.61 [[ 6.55007781e-01 -7.55614171e-01 3.46853047e-03 1.12820060e+02] [ 7.55605392e-01 6.55016924e-01 3.64971335e-03 3.81035865e+01] [-5.02972130e-03 2.30249681e-04 9.99987324e-01 -1.61433912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:38.13, Z:-1.61 [[ 6.56761664e-01 -7.54091548e-01 3.17075669e-03 1.12837148e+02] [ 7.54084186e-01 6.56769288e-01 3.33796582e-03 3.81258652e+01] [-4.59958743e-03 1.98769495e-04 9.99989402e-01 -1.61496038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:38.15, Z:-1.62 [[ 6.61623920e-01 -7.49832102e-01 2.36799138e-03 1.12852572e+02] [ 7.49827967e-01 6.61628145e-01 2.49338214e-03 3.81497097e+01] [-3.43634771e-03 1.25904899e-04 9.99994088e-01 -1.61566458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:38.17, Z:-1.62 [[ 6.64557993e-01 -7.47232815e-01 2.40714849e-03 1.12869882e+02] [ 7.47228517e-01 6.64562343e-01 2.53702600e-03 3.81712151e+01] [-3.49544932e-03 1.12689091e-04 9.99993885e-01 -1.61622664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:38.19, Z:-1.62 [[ 6.67407710e-01 -7.44689565e-01 2.09759696e-03 1.12887371e+02] [ 7.44686290e-01 6.67411001e-01 2.21025486e-03 3.81931183e+01] [-3.04591302e-03 8.69105582e-05 9.99995357e-01 -1.61675121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:38.22, Z:-1.62 [[ 6.70610818e-01 -7.41806720e-01 1.98029184e-03 1.12905428e+02] [ 7.41803786e-01 6.70613738e-01 2.08758979e-03 3.82150420e+01] [-2.87659905e-03 6.90276887e-05 9.99995860e-01 -1.61676025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:38.24, Z:-1.62 [[ 6.78753890e-01 -7.34364306e-01 1.49106168e-03 1.12921710e+02] [ 7.34362622e-01 6.78755527e-01 1.57304236e-03 3.82375160e+01] [-2.16725252e-03 2.72713433e-05 9.99997651e-01 -1.61656677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:38.26, Z:-1.62 [[ 6.82778298e-01 -7.30624772e-01 1.11274191e-03 1.12939194e+02] [ 7.30623831e-01 6.82779204e-01 1.17258163e-03 3.82590441e+01] [-1.61647422e-03 1.23824657e-05 9.99998693e-01 -1.61700736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:38.28, Z:-1.62 [[ 6.86757276e-01 -7.26886168e-01 9.70879589e-04 1.12956135e+02] [ 7.26885446e-01 6.86757962e-01 1.02450393e-03 3.82797051e+01] [-1.41145702e-03 2.13271746e-06 9.99999004e-01 -1.61717665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:38.30, Z:-1.62 [[ 6.93780787e-01 -7.20185948e-01 6.47658835e-04 1.12973534e+02] [ 7.20185626e-01 6.93781089e-01 6.81596699e-04 3.83015457e+01] [-9.40209817e-04 -6.44411138e-06 9.99999558e-01 -1.61734104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:38.32, Z:-1.62 [[ 6.96463339e-01 -7.17592260e-01 4.07595755e-04 1.12991701e+02] [ 7.17592131e-01 6.96463458e-01 4.29354764e-04 3.83218556e+01] [-5.91977205e-04 -6.54234603e-06 9.99999825e-01 -1.61716430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:38.34, Z:-1.62 [[ 6.98089391e-01 -7.16010168e-01 8.01415094e-04 1.13010524e+02] [ 7.16009669e-01 6.98089851e-01 8.45026932e-04 3.83425301e+01] [-1.16450762e-03 -1.60833799e-05 9.99999322e-01 -1.61742513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:38.36, Z:-1.62 [[ 6.98888787e-01 -7.15230173e-01 5.13110356e-04 1.13030545e+02] [ 7.15229969e-01 6.98888975e-01 5.40070082e-04 3.83624401e+01] [-7.44881589e-04 -1.04570198e-05 9.99999723e-01 -1.61759017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:38.38, Z:-1.62 [[ 6.98043540e-01 -7.16055216e-01 3.78884180e-04 1.13050176e+02] [ 7.16055105e-01 6.98043643e-01 3.98131035e-04 3.83819436e+01] [-5.49561498e-04 -6.61084521e-06 9.99999849e-01 -1.61812023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:38.40, Z:-1.62 [[ 6.96755676e-01 -7.17308428e-01 3.83728302e-04 1.13070674e+02] [ 7.17308314e-01 6.96755782e-01 4.03395114e-04 3.84018323e+01] [-5.56723628e-04 -5.81633402e-06 9.99999845e-01 -1.61892764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:38.42, Z:-1.62 [[ 6.95228257e-01 -7.18788989e-01 2.44758987e-04 1.13090388e+02] [ 7.18788943e-01 6.95228300e-01 2.57689465e-04 3.84201071e+01] [-3.55387725e-04 -3.22294399e-06 9.99999937e-01 -1.61924407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:38.44, Z:-1.62 [[ 6.93288967e-01 -7.20659677e-01 1.96152987e-04 1.13111577e+02] [ 7.20659648e-01 6.93288994e-01 2.04801991e-04 3.84389650e+01] [-2.83583244e-04 -6.27417878e-07 9.99999960e-01 -1.61915788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:38.46, Z:-1.62 [[ 6.88896866e-01 -7.24859176e-01 -5.31232492e-04 1.13134417e+02] [ 7.24858954e-01 6.88897071e-01 -5.67594392e-04 3.84555425e+01] [ 7.77390511e-04 5.94536971e-06 9.99999698e-01 -1.61926500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:38.47, Z:-1.62 [[ 6.86631582e-01 -7.27004907e-01 -9.67740867e-04 1.13155643e+02] [ 7.27004175e-01 6.86632263e-01 -1.03189961e-03 3.84744366e+01] [ 1.41467819e-03 4.98321386e-06 9.99998999e-01 -1.62003488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:38.49, Z:-1.62 [[ 6.84239602e-01 -7.29255356e-01 -1.67110313e-03 1.13175790e+02] [ 7.29253188e-01 6.84241643e-01 -1.77831317e-03 3.84921688e+01] [ 2.44028275e-03 -1.86498764e-06 9.99997023e-01 -1.62021241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:38.51, Z:-1.62 [[ 6.81702286e-01 -7.31626254e-01 -2.24027268e-03 1.13197418e+02] [ 7.31622362e-01 6.81705967e-01 -2.38624363e-03 3.85105337e+01] [ 3.27304575e-03 -1.23258545e-05 9.99994643e-01 -1.62056830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:38.53, Z:-1.62 [[ 6.79234850e-01 -7.33917367e-01 -2.30583908e-03 1.13219059e+02] [ 7.33913253e-01 6.79238764e-01 -2.45734604e-03 3.85282774e+01] [ 3.36970422e-03 -2.31707909e-05 9.99994322e-01 -1.62069295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:38.54, Z:-1.62 [[ 6.74413424e-01 -7.38350957e-01 -2.09726550e-03 1.13243682e+02] [ 7.38347570e-01 6.74416683e-01 -2.23666102e-03 3.85435301e+01] [ 3.06587165e-03 -4.00766697e-05 9.99995299e-01 -1.62004890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:38.56, Z:-1.62 [[ 6.71953869e-01 -7.40591454e-01 -1.51538642e-03 1.13264752e+02] [ 7.40589692e-01 6.71955577e-01 -1.61602052e-03 3.85608500e+01] [ 2.21508334e-03 -3.63883258e-05 9.99997546e-01 -1.62019190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:38.58, Z:-1.62 [[ 6.69555579e-01 -7.42760947e-01 -1.22587103e-03 1.13285624e+02] [ 7.42759796e-01 6.69556700e-01 -1.30803352e-03 3.85781274e+01] [ 1.79234638e-03 -3.47265707e-05 9.99998393e-01 -1.61986689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:38.59, Z:-1.62 [[ 6.65312089e-01 -7.46565189e-01 -4.91735187e-04 1.13309585e+02] [ 7.46565003e-01 6.65312271e-01 -5.27724151e-04 3.85945490e+01] [ 7.21137935e-04 -1.60110245e-05 9.99999740e-01 -1.62035445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:38.61, Z:-1.62 [[ 6.63155630e-01 -7.48481334e-01 -5.49788608e-04 1.13330350e+02] [ 7.48481104e-01 6.63155858e-01 -5.88237800e-04 3.86118487e+01] [ 8.04880549e-04 -2.14131752e-05 9.99999676e-01 -1.62024415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:38.63, Z:-1.62 [[ 6.60868445e-01 -7.50501646e-01 -4.21300007e-04 1.13351946e+02] [ 7.50501510e-01 6.60868579e-01 -4.53065255e-04 3.86298122e+01] [ 6.18450157e-04 -1.67697608e-05 9.99999809e-01 -1.62034939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:38.65, Z:-1.62 [[ 6.60667532e-01 -7.50678516e-01 -4.21290777e-04 1.13371458e+02] [ 7.50678379e-01 6.60667667e-01 -4.53073460e-04 3.86507229e+01] [ 6.18445707e-04 -1.69229531e-05 9.99999809e-01 -1.62058995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:38.67, Z:-1.62 [[ 6.58329654e-01 -7.52729496e-01 -6.10109721e-04 1.13392670e+02] [ 7.52729213e-01 6.58329936e-01 -6.53496229e-04 3.86685097e+01] [ 8.93559381e-04 -2.90314644e-05 9.99999600e-01 -1.62041876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:38.68, Z:-1.62 [[ 6.54564107e-01 -7.56006182e-01 -6.94597586e-04 1.13416319e+02] [ 7.56005815e-01 6.54564475e-01 -7.45699435e-04 3.86844102e+01] [ 1.01841229e-03 -3.70117294e-05 9.99999481e-01 -1.62020176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:38.70, Z:-1.62 [[ 6.53698530e-01 -7.56754931e-01 -4.54830281e-04 1.13436488e+02] [ 7.56754772e-01 6.53698688e-01 -4.89832101e-04 3.87041447e+01] [ 6.68004815e-04 -2.39924611e-05 9.99999777e-01 -1.62022456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:38.72, Z:-1.62 [[ 6.54444250e-01 -7.56110251e-01 -1.11624208e-04 1.13455024e+02] [ 7.56110241e-01 6.54444259e-01 -1.21345717e-04 3.87240785e+01] [ 1.64802563e-04 -4.98619970e-06 9.99999986e-01 -1.62026809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:38.74, Z:-1.62 [[ 6.55375205e-01 -7.55303475e-01 -5.64675167e-06 1.13473525e+02] [ 7.55303475e-01 6.55375205e-01 -9.52758171e-06 3.87448462e+01] [ 1.08969565e-05 1.97912966e-06 1.00000000e+00 -1.62006480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:38.76, Z:-1.62 [[ 6.58759181e-01 -7.52353705e-01 -4.93416447e-04 1.13491880e+02] [ 7.52353519e-01 6.58759366e-01 -5.30100772e-04 3.87647697e+01] [ 7.23865985e-04 -2.20148492e-05 9.99999738e-01 -1.62002989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:38.79, Z:-1.62 [[ 6.60392140e-01 -7.50920375e-01 -9.00970389e-04 1.13510761e+02] [ 7.50919751e-01 6.60392754e-01 -9.68413469e-04 3.87850254e+01] [ 1.32219572e-03 -3.70238164e-05 9.99999125e-01 -1.62020117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:38.81, Z:-1.62 [[ 6.62003913e-01 -7.49499019e-01 -1.42797475e-03 1.13529888e+02] [ 7.49497452e-01 6.62005451e-01 -1.53373281e-03 3.88057630e+01] [ 2.09485830e-03 -5.49263133e-05 9.99997804e-01 -1.62025879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:38.83, Z:-1.62 [[ 6.63573888e-01 -7.48109899e-01 -1.12879016e-03 1.13548837e+02] [ 7.48108915e-01 6.63574847e-01 -1.21380513e-03 3.88266855e+01] [ 1.65709640e-03 -3.90085918e-05 9.99998626e-01 -1.62081107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:38.85, Z:-1.62 [[ 6.64841373e-01 -7.46983996e-01 -9.26548944e-04 1.13566324e+02] [ 7.46983333e-01 6.64842018e-01 -9.95711781e-04 3.88470114e+01] [ 1.35978943e-03 -3.01262299e-05 9.99999075e-01 -1.62103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:38.87, Z:-1.62 [[ 6.66967034e-01 -7.45087212e-01 1.49840988e-04 1.13583409e+02] [ 7.45087196e-01 6.66967050e-01 1.57362849e-04 3.88699067e+01] [-2.17188048e-04 6.68876844e-06 9.99999976e-01 -1.62186867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:38.89, Z:-1.62 [[ 6.67609053e-01 -7.44511639e-01 7.56515754e-04 1.13601929e+02] [ 7.44511200e-01 6.67609481e-01 8.08765491e-04 3.88916477e+01] [-1.10719241e-03 2.32952876e-05 9.99999387e-01 -1.62220411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:38.91, Z:-1.62 [[ 6.68569699e-01 -7.43648492e-01 1.21526988e-03 1.13619919e+02] [ 7.43647351e-01 6.68570803e-01 1.30337544e-03 3.89124096e+01] [-1.78174714e-03 3.23349018e-05 9.99998412e-01 -1.62223801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:38.93, Z:-1.62 [[ 6.69673702e-01 -7.42654131e-01 1.40554620e-03 1.13638840e+02] [ 7.42652602e-01 6.69675176e-01 1.50717398e-03 3.89331912e+01] [-2.06056838e-03 3.45177651e-05 9.99997876e-01 -1.62199259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:38.95, Z:-1.62 [[ 6.72153938e-01 -7.40410489e-01 1.17962076e-03 1.13657944e+02] [ 7.40409409e-01 6.72154973e-01 1.26499068e-03 3.89533726e+01] [-1.72950033e-03 2.31338401e-05 9.99998504e-01 -1.62096167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:38.97, Z:-1.62 [[ 6.73416933e-01 -7.39262188e-01 1.02541137e-03 1.13676038e+02] [ 7.39261369e-01 6.73417713e-01 1.10107060e-03 3.89729002e+01] [-1.50451004e-03 1.65674256e-05 9.99998868e-01 -1.62135694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:38.99, Z:-1.62 [[ 6.74426588e-01 -7.38341639e-01 6.33255535e-04 1.13694781e+02] [ 7.38341328e-01 6.74426885e-01 6.78055289e-04 3.89938174e+01] [-9.27721011e-04 1.02602173e-05 9.99999570e-01 -1.62225558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:39.01, Z:-1.62 [[ 6.75715539e-01 -7.37162459e-01 1.39698870e-04 1.13713800e+02] [ 7.37162444e-01 6.75715554e-01 1.46934633e-04 3.90146993e+01] [-2.02711395e-04 3.69474569e-06 9.99999979e-01 -1.62338286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:39.03, Z:-1.63 [[ 6.78437204e-01 -7.34658012e-01 -7.52488910e-04 1.13731838e+02] [ 7.34657562e-01 6.78437621e-01 -8.12529173e-04 3.90342763e+01] [ 1.10744785e-03 -1.57164846e-06 9.99999387e-01 -1.62506815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:39.05, Z:-1.63 [[ 6.79635284e-01 -7.33549935e-01 -6.10631612e-04 1.13750766e+02] [ 7.33549638e-01 6.79635559e-01 -6.59863899e-04 3.90539592e+01] [ 8.99050077e-04 5.38190693e-07 9.99999596e-01 -1.62592622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:39.07, Z:-1.63 [[ 6.80756804e-01 -7.32509091e-01 -7.78228921e-04 1.13770106e+02] [ 7.32508607e-01 6.80757248e-01 -8.42537666e-04 3.90737993e+01] [ 1.14695148e-03 3.50386566e-06 9.99999342e-01 -1.62568429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:39.09, Z:-1.63 [[ 6.83020652e-01 -7.30398671e-01 -7.54426527e-04 1.13790164e+02] [ 7.30398216e-01 6.83021069e-01 -8.15571551e-04 3.90921264e+01] [ 1.11098159e-03 6.02042336e-06 9.99999383e-01 -1.62503538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:39.11, Z:-1.62 [[ 6.84090753e-01 -7.29396622e-01 -6.40061479e-04 1.13809015e+02] [ 7.29396293e-01 6.84091052e-01 -6.92377766e-04 3.91109701e+01] [ 9.42878334e-04 6.79075719e-06 9.99999555e-01 -1.62489558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:39.13, Z:-1.63 [[ 6.85021532e-01 -7.28522639e-01 -5.15753933e-04 1.13828616e+02] [ 7.28522423e-01 6.85021726e-01 -5.60282384e-04 3.91309137e+01] [ 7.61481050e-04 8.06719234e-06 9.99999710e-01 -1.62511168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:39.15, Z:-1.63 [[ 6.85977282e-01 -7.27622807e-01 -4.68260766e-04 1.13847955e+02] [ 7.27622628e-01 6.85977442e-01 -5.09327879e-04 3.91510297e+01] [ 6.91814904e-04 8.67022507e-06 9.99999761e-01 -1.62533044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:39.17, Z:-1.63 [[ 6.88620867e-01 -7.25121533e-01 -2.52795320e-04 1.13865748e+02] [ 7.25121481e-01 6.88620913e-01 -2.75094347e-04 3.91708519e+01] [ 3.73556979e-04 6.12839117e-06 9.99999930e-01 -1.62539371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:39.19, Z:-1.63 [[ 6.89851878e-01 -7.23950480e-01 -2.96807361e-04 1.13884437e+02] [ 7.23950408e-01 6.89851942e-01 -3.24393079e-04 3.91913329e+01] [ 4.39597659e-04 8.90936482e-06 9.99999903e-01 -1.62574015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:39.21, Z:-1.63 [[ 6.90610588e-01 -7.23226760e-01 -2.63155070e-04 1.13903337e+02] [ 7.23226703e-01 6.90610638e-01 -2.88188100e-04 3.92121327e+01] [ 3.90163037e-04 8.70497965e-06 9.99999924e-01 -1.62606690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:39.23, Z:-1.63 [[ 6.91189120e-01 -7.22673711e-01 -5.55048371e-04 1.13922059e+02] [ 7.22673459e-01 6.91189343e-01 -6.03001484e-04 3.92322127e+01] [ 8.19416839e-04 1.56693391e-05 9.99999664e-01 -1.62646516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:39.25, Z:-1.63 [[ 6.90646594e-01 -7.23192091e-01 -6.94290985e-04 1.13941363e+02] [ 7.23191697e-01 6.90646942e-01 -7.55198993e-04 3.92526311e+01] [ 1.02566388e-03 1.94701368e-05 9.99999474e-01 -1.62653020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:39.27, Z:-1.63 [[ 6.89804405e-01 -7.23994874e-01 -1.14237032e-03 1.13960519e+02] [ 7.23993811e-01 6.89805350e-01 -1.24105069e-03 3.92730534e+01] [ 1.68652749e-03 2.90131906e-05 9.99998577e-01 -1.62645661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:39.29, Z:-1.63 [[ 6.88831049e-01 -7.24920287e-01 -1.53769066e-03 1.13978923e+02] [ 7.24918368e-01 6.88832764e-01 -1.66822785e-03 3.92931050e+01] [ 2.26854392e-03 3.44269390e-05 9.99997426e-01 -1.62666846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:39.31, Z:-1.63 [[ 6.85763661e-01 -7.27821854e-01 -1.88431158e-03 1.13998021e+02] [ 7.27818977e-01 6.85766249e-01 -2.04651684e-03 3.93138761e+01] [ 2.78169697e-03 3.19891540e-05 9.99996131e-01 -1.62707665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:39.33, Z:-1.63 [[ 6.83636202e-01 -7.29820927e-01 -1.71995641e-03 1.14017177e+02] [ 7.29818533e-01 6.83638365e-01 -1.86932522e-03 3.93348896e+01] [ 2.54010085e-03 2.26823261e-05 9.99996774e-01 -1.62725461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:39.36, Z:-1.63 [[ 6.81762286e-01 -7.31572535e-01 -1.34604573e-03 1.14034922e+02] [ 7.31571073e-01 6.81763615e-01 -1.46259851e-03 3.93553006e+01] [ 1.98768190e-03 1.24163827e-05 9.99998024e-01 -1.62718768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:39.38, Z:-1.63 [[ 6.79352502e-01 -7.33811673e-01 -7.78917570e-04 1.14053993e+02] [ 7.33811181e-01 6.79352949e-01 -8.49212632e-04 3.93765814e+01] [ 1.15232209e-03 5.33630403e-06 9.99999336e-01 -1.62690270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:39.40, Z:-1.63 [[ 6.76336962e-01 -7.36592072e-01 -6.58300941e-04 1.14072030e+02] [ 7.36591723e-01 6.76337282e-01 -7.16909047e-04 3.93965848e+01] [ 9.73302990e-04 -2.69382300e-08 9.99999526e-01 -1.62603618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:39.42, Z:-1.63 [[ 6.68050781e-01 -7.44115552e-01 -4.46571664e-04 1.14091098e+02] [ 7.44115392e-01 6.68050931e-01 -4.87055381e-04 3.94164153e+01] [ 6.60758099e-04 -6.92312098e-06 9.99999782e-01 -1.62595371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:39.43, Z:-1.62 [[ 6.60392252e-01 -7.50852656e-01 -1.01174039e-02 1.14108335e+02] [ 7.50917453e-01 6.60369679e-01 5.90474753e-03 3.94332367e+01] [ 2.24763138e-03 -1.14967847e-02 9.99931384e-01 -1.61898332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:39.46, Z:-1.63 [[ 6.54647865e-01 -7.55883983e-01 8.69356665e-03 1.14119782e+02] [ 7.55933789e-01 6.54612461e-01 -6.82885626e-03 3.94604898e+01] [-5.29093992e-04 1.10422569e-02 9.99938892e-01 -1.63267944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:39.48, Z:-1.63 [[ 6.52005043e-01 -7.58212168e-01 1.93205277e-03 1.14148891e+02] [ 7.58212609e-01 6.52007071e-01 6.46868852e-04 3.94787053e+01] [-1.75017590e-03 1.04314502e-03 9.99997924e-01 -1.62715721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:39.50, Z:-1.63 [[ 6.46992266e-01 -7.62493212e-01 2.26053110e-03 1.14166856e+02] [ 7.62489269e-01 6.46996201e-01 2.45570194e-03 3.94990065e+01] [-3.33501109e-03 1.34810542e-04 9.99994430e-01 -1.62695455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:39.52, Z:-1.63 [[ 6.39199063e-01 -7.69033763e-01 3.41024796e-03 1.14183652e+02] [ 7.69024874e-01 6.39208110e-01 3.70616757e-03 3.95215762e+01] [-5.03002615e-03 2.53586668e-04 9.99987317e-01 -1.62676806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:39.54, Z:-1.63 [[ 6.36405019e-01 -7.71346882e-01 3.55524474e-03 1.14201586e+02] [ 7.71337244e-01 6.36414887e-01 3.86609369e-03 3.95433607e+01] [-5.24470999e-03 2.81891251e-04 9.99986207e-01 -1.62711431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:39.57, Z:-1.63 [[ 6.33897328e-01 -7.73413711e-01 2.32585719e-03 1.14218625e+02] [ 7.73409599e-01 6.33901565e-01 2.52940561e-03 3.95652982e+01] [-3.43064149e-03 1.95456818e-04 9.99994096e-01 -1.62674592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:39.59, Z:-1.63 [[ 6.33964006e-01 -7.73361339e-01 1.37057666e-03 1.14236778e+02] [ 7.73359912e-01 6.33965477e-01 1.48988924e-03 3.95874602e+01] [-2.02112102e-03 1.15412892e-04 9.99997951e-01 -1.62687118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:39.61, Z:-1.63 [[ 6.34799797e-01 -7.72676457e-01 5.57407214e-04 1.14253381e+02] [ 7.72676221e-01 6.34800040e-01 6.05586507e-04 3.96088376e+01] [-8.21764559e-04 4.62691081e-05 9.99999661e-01 -1.62714360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.26, Y:39.64, Z:-1.64 [[ 6.32360936e-01 -7.74520737e-01 1.54037168e-02 1.14257272e+02] [ 7.74664134e-01 6.32327773e-01 -7.55423165e-03 3.96359394e+01] [-3.88928887e-03 1.67097079e-02 9.99852819e-01 -1.64074251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:39.65, Z:-1.62 [[ 6.39105968e-01 -7.69015754e-01 -1.25829938e-02 1.14289243e+02] [ 7.69118600e-01 6.39012386e-01 1.09430331e-02 3.96524029e+01] [-3.74675994e-04 -1.66715724e-02 9.99860949e-01 -1.62198069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:39.68, Z:-1.63 [[ 6.40746410e-01 -7.67752452e-01 -4.59358794e-04 1.14299793e+02] [ 7.67752288e-01 6.40746574e-01 -5.02892669e-04 3.96787840e+01] [ 6.80429653e-04 -3.04470926e-05 9.99999768e-01 -1.62907081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:39.70, Z:-1.63 [[ 6.42274835e-01 -7.66474400e-01 -1.75347395e-04 1.14317411e+02] [ 7.66474375e-01 6.42274859e-01 -1.94776766e-04 3.97010989e+01] [ 2.61912628e-04 -9.29906945e-06 9.99999966e-01 -1.62903939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:39.73, Z:-1.64 [[ 6.41409122e-01 -7.67141336e-01 9.40791540e-03 1.14327260e+02] [ 7.67192396e-01 6.41406318e-01 -3.70978570e-03 3.97254804e+01] [-3.18836642e-03 9.59717155e-03 9.99948863e-01 -1.63672207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:39.74, Z:-1.62 [[ 6.45579805e-01 -7.63676969e-01 -4.91970549e-03 1.14354126e+02] [ 7.63685431e-01 6.45531838e-01 8.55625127e-03 3.97428751e+01] [-3.35838551e-03 -9.28085043e-03 9.99951292e-01 -1.62263104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:39.77, Z:-1.63 [[ 6.46534889e-01 -7.62880765e-01 2.36134955e-03 1.14367792e+02] [ 7.62876424e-01 6.46539187e-01 2.57703933e-03 3.97668832e+01] [-3.49267876e-03 1.35272065e-04 9.99993891e-01 -1.62627614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:39.79, Z:-1.63 [[ 6.47229322e-01 -7.62289410e-01 3.00999663e-03 1.14384611e+02] [ 7.62282344e-01 6.47236300e-01 3.28638204e-03 3.97892379e+01] [-4.45335330e-03 1.67424463e-04 9.99990070e-01 -1.62660801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:39.81, Z:-1.63 [[ 6.48033625e-01 -7.61604190e-01 3.38801826e-03 1.14400819e+02] [ 7.61595212e-01 6.48042457e-01 3.70228769e-03 3.98108538e+01] [-5.01525749e-03 1.81091574e-04 9.99987407e-01 -1.62685148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:39.83, Z:-1.63 [[ 6.49365312e-01 -7.60463882e-01 4.40184485e-03 1.14416331e+02] [ 7.60448690e-01 6.49380193e-01 4.81189299e-03 3.98345435e+01] [-6.51774168e-03 2.22700759e-04 9.99978734e-01 -1.62750989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:39.86, Z:-1.63 [[ 6.50022445e-01 -7.59903738e-01 4.13896797e-03 1.14434218e+02] [ 7.59890281e-01 6.50035590e-01 4.52684463e-03 3.98565955e+01] [-6.13044264e-03 2.02610923e-04 9.99981188e-01 -1.62726829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:39.88, Z:-1.63 [[ 6.50948368e-01 -7.59111024e-01 4.08357299e-03 1.14451708e+02] [ 7.59097895e-01 6.50961149e-01 4.46869402e-03 3.98782943e+01] [-6.05048226e-03 1.90942582e-04 9.99981677e-01 -1.62734299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:39.90, Z:-1.63 [[ 6.53564192e-01 -7.56861893e-01 3.73114164e-03 1.14467802e+02] [ 7.56850885e-01 6.53574824e-01 4.08498387e-03 3.99017711e+01] [-5.53034887e-03 1.54118672e-04 9.99984696e-01 -1.62862822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:39.92, Z:-1.63 [[ 6.53680830e-01 -7.56760851e-01 3.79293061e-03 1.14481807e+02] [ 7.56754101e-01 6.53691430e-01 3.27814419e-03 3.99236876e+01] [-4.96017742e-03 7.27455774e-04 9.99987434e-01 -1.63021139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:39.95, Z:-1.63 [[ 6.56648156e-01 -7.54193150e-01 2.42743271e-03 1.14502394e+02] [ 7.54184802e-01 6.56652433e-01 3.58704052e-03 3.99450865e+01] [-4.29930099e-03 -5.24690688e-04 9.99990620e-01 -1.62914206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:39.97, Z:-1.63 [[ 6.58100256e-01 -7.52925250e-01 2.76079204e-03 1.14519736e+02] [ 7.52919176e-01 6.58106041e-01 3.02546287e-03 3.99674504e+01] [-4.09484131e-03 8.75953742e-05 9.99991612e-01 -1.62966334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:39.99, Z:-1.63 [[ 6.61052258e-01 -7.50335092e-01 2.67632026e-03 1.14536931e+02] [ 7.50329357e-01 6.61057672e-01 2.93443113e-03 3.99901983e+01] [-3.97100869e-03 6.83093419e-05 9.99992113e-01 -1.62971799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:40.01, Z:-1.63 [[ 6.60920881e-01 -7.50450820e-01 2.67514697e-03 1.14556104e+02] [ 7.50445082e-01 6.60926291e-01 2.93550003e-03 4.00113630e+01] [-3.97102337e-03 6.74176237e-05 9.99992113e-01 -1.62995822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:40.03, Z:-1.63 [[ 6.61973861e-01 -7.49522707e-01 2.51372378e-03 1.14574331e+02] [ 7.49517634e-01 6.61978631e-01 2.75846444e-03 4.00328915e+01] [-3.73156316e-03 5.80489394e-05 9.99993036e-01 -1.62996748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:40.05, Z:-1.63 [[ 6.63218316e-01 -7.48422253e-01 2.36566172e-03 1.14591804e+02] [ 7.48417744e-01 6.63222534e-01 2.59816366e-03 4.00532662e+01] [-3.51348366e-03 4.73534800e-05 9.99993827e-01 -1.63053377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:40.07, Z:-1.63 [[ 6.64141771e-01 -7.47604133e-01 1.94123323e-03 1.14609640e+02] [ 7.47601096e-01 6.64144607e-01 2.13132917e-03 4.00745021e+01] [-2.88265008e-03 3.57633618e-05 9.99995845e-01 -1.63081108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:40.10, Z:-1.63 [[ 6.65843172e-01 -7.46089762e-01 1.71401246e-03 1.14627280e+02] [ 7.46087388e-01 6.65845377e-01 1.88247138e-03 4.00963404e+01] [-2.54575990e-03 2.53723688e-05 9.99996759e-01 -1.63187414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:40.12, Z:-1.63 [[ 6.66281419e-01 -7.45698867e-01 1.50671952e-03 1.14646242e+02] [ 7.45697030e-01 6.66283123e-01 1.65532880e-03 4.01176906e+01] [-2.23827860e-03 2.06414489e-05 9.99997495e-01 -1.63235577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:40.14, Z:-1.63 [[ 6.66395450e-01 -7.45597350e-01 1.30210295e-03 1.14664893e+02] [ 7.45595977e-01 6.66396722e-01 1.43087365e-03 4.01383880e+01] [-1.93457273e-03 1.73150323e-05 9.99998129e-01 -1.63267284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:40.16, Z:-1.63 [[ 6.66709298e-01 -7.45317383e-01 8.43079728e-04 1.14684443e+02] [ 7.45316808e-01 6.66709831e-01 9.25699904e-04 4.01590508e+01] [-1.25202977e-03 1.11887593e-05 9.99999216e-01 -1.63271455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:40.18, Z:-1.63 [[ 6.66684645e-01 -7.45339565e-01 7.19182207e-04 1.14703008e+02] [ 7.45339146e-01 6.66685032e-01 7.90968813e-04 4.01788668e+01] [-1.06900836e-03 8.70788976e-06 9.99999429e-01 -1.63302311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:40.20, Z:-1.63 [[ 6.66632227e-01 -7.45386670e-01 4.32480118e-04 1.14721858e+02] [ 7.45386518e-01 6.66632367e-01 4.75058827e-04 4.01987268e+01] [-6.42407762e-04 5.67532523e-06 9.99999794e-01 -1.63290489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:40.22, Z:-1.63 [[ 6.66603446e-01 -7.45412348e-01 5.26495314e-04 1.14740940e+02] [ 7.45412124e-01 6.66603654e-01 5.77540963e-04 4.02187064e+01] [-7.81469866e-04 7.46519384e-06 9.99999695e-01 -1.63351073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:40.24, Z:-1.63 [[ 6.66939472e-01 -7.45111898e-01 -1.91244516e-05 1.14760470e+02] [ 7.45111898e-01 6.66939472e-01 -2.47396284e-05 4.02385026e+01] [ 3.11886430e-05 2.24997821e-06 1.00000000e+00 -1.63368889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:40.26, Z:-1.63 [[ 6.67024897e-01 -7.45035292e-01 -4.47806514e-04 1.14779202e+02] [ 7.45035127e-01 6.67025047e-01 -4.96600213e-04 4.02584249e+01] [ 6.68682846e-04 -2.38687650e-06 9.99999776e-01 -1.63372364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:40.28, Z:-1.63 [[ 6.67294341e-01 -7.44793843e-01 -6.27740328e-04 1.14798844e+02] [ 7.44793517e-01 6.67294636e-01 -6.97210479e-04 4.02784106e+01] [ 9.38165825e-04 -2.29231989e-06 9.99999560e-01 -1.63407116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:40.30, Z:-1.63 [[ 6.68027589e-01 -7.44135769e-01 -1.04745120e-03 1.14820211e+02] [ 7.44134862e-01 6.68028410e-01 -1.16171061e-03 4.02972544e+01] [ 1.56419758e-03 -3.39021768e-06 9.99998777e-01 -1.63338649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:40.32, Z:-1.63 [[ 6.68269891e-01 -7.43918373e-01 -8.98354289e-04 1.14840216e+02] [ 7.43917704e-01 6.68270495e-01 -9.97408008e-04 4.03171063e+01] [ 1.34233381e-03 -1.76391899e-06 9.99999099e-01 -1.63325625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:40.34, Z:-1.63 [[ 6.68586738e-01 -7.43633684e-01 -8.46906300e-04 1.14860275e+02] [ 7.43633089e-01 6.68587275e-01 -9.41042332e-04 4.03372174e+01] [ 1.26602155e-03 -6.19124690e-07 9.99999199e-01 -1.63311496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:40.36, Z:-1.63 [[ 6.68686300e-01 -7.43544070e-01 -9.20266655e-04 1.14879366e+02] [ 7.43543369e-01 6.68686934e-01 -1.02098475e-03 4.03568312e+01] [ 1.37451745e-03 -1.53965194e-06 9.99999055e-01 -1.63324084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:40.38, Z:-1.63 [[ 6.68947230e-01 -7.43309041e-01 -1.12824831e-03 1.14900326e+02] [ 7.43307984e-01 6.68948182e-01 -1.25356493e-03 4.03757081e+01] [ 1.68652580e-03 -6.71855742e-08 9.99998578e-01 -1.63355234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:40.40, Z:-1.63 [[ 6.68859567e-01 -7.43388186e-01 -9.40988187e-04 1.14920388e+02] [ 7.43387449e-01 6.68860229e-01 -1.04669436e-03 4.03952798e+01] [ 1.40748980e-03 5.72729519e-07 9.99999009e-01 -1.63381451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:40.41, Z:-1.63 [[ 6.68940123e-01 -7.43316078e-01 -5.66400244e-04 1.14940045e+02] [ 7.43315810e-01 6.68940363e-01 -6.30052036e-04 4.04134709e+01] [ 8.47215792e-04 4.52830208e-07 9.99999641e-01 -1.63370629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:40.43, Z:-1.63 [[ 6.69030481e-01 -7.43234898e-01 -3.19621360e-04 1.14961321e+02] [ 7.43234812e-01 6.69030557e-01 -3.56908095e-04 4.04300906e+01] [ 4.79103008e-04 1.22867325e-06 9.99999885e-01 -1.63308591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:40.45, Z:-1.63 [[ 6.68970711e-01 -7.43288760e-01 -8.19140580e-05 1.14981598e+02] [ 7.43288754e-01 6.68970716e-01 -9.44001178e-05 4.04490484e+01] [ 1.24964652e-04 2.26511577e-06 9.99999992e-01 -1.63297494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:40.47, Z:-1.63 [[ 6.68834390e-01 -7.43411433e-01 1.54235764e-06 1.15001409e+02] [ 7.43411433e-01 6.68834390e-01 -2.08188427e-07 4.04680867e+01] [-8.76812285e-07 1.28584988e-06 1.00000000e+00 -1.63326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:40.49, Z:-1.63 [[ 6.67981169e-01 -7.44178077e-01 -3.85470419e-04 1.15023341e+02] [ 7.44177951e-01 6.67981280e-01 -4.31633484e-04 4.04864538e+01] [ 5.78699200e-04 1.46445258e-06 9.99999833e-01 -1.63410021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:40.51, Z:-1.63 [[ 6.67100550e-01 -7.44967447e-01 -5.99757317e-04 1.15042657e+02] [ 7.44967146e-01 6.67100820e-01 -6.68833292e-04 4.05051064e+01] [ 8.98357628e-04 -6.20440109e-07 9.99999596e-01 -1.63477884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:40.52, Z:-1.63 [[ 6.66030323e-01 -7.45924131e-01 -8.94413964e-04 1.15063140e+02] [ 7.45923464e-01 6.66030923e-01 -9.97872736e-04 4.05243871e+01] [ 1.34004471e-03 -2.55086181e-06 9.99999102e-01 -1.63497904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:40.54, Z:-1.64 [[ 6.64652567e-01 -7.47152192e-01 -7.53567313e-04 1.15083389e+02] [ 7.47151718e-01 6.64652994e-01 -8.41322565e-04 4.05430082e+01] [ 1.12945677e-03 -3.84190985e-06 9.99999362e-01 -1.63531236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:40.56, Z:-1.64 [[ 6.62905977e-01 -7.48702333e-01 -6.95196635e-04 1.15104199e+02] [ 7.48701929e-01 6.62906341e-01 -7.77276044e-04 4.05620601e+01] [ 1.04279865e-03 -5.23412700e-06 9.99999456e-01 -1.63540567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:40.58, Z:-1.64 [[ 6.58578964e-01 -7.52511618e-01 -1.13467717e-04 1.15126619e+02] [ 7.52511606e-01 6.58578974e-01 -1.30000398e-04 4.05792398e+01] [ 1.72554262e-04 2.29753045e-07 9.99999985e-01 -1.63560460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:40.60, Z:-1.64 [[ 6.56053717e-01 -7.54713960e-01 5.98560024e-04 1.15146694e+02] [ 7.54713668e-01 6.56053990e-01 6.64817637e-04 4.05972213e+01] [-8.94434844e-04 1.55853491e-05 9.99999600e-01 -1.63620514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:40.62, Z:-1.64 [[ 6.53176331e-01 -7.57205157e-01 1.01568558e-03 1.15167686e+02] [ 7.57204316e-01 6.53177120e-01 1.12860362e-03 4.06165005e+01] [-1.51800706e-03 3.19043355e-05 9.99998847e-01 -1.63622578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:40.63, Z:-1.64 [[ 6.50649035e-01 -7.59377064e-01 1.51906485e-03 1.15188211e+02] [ 7.59375181e-01 6.50650806e-01 1.69183592e-03 4.06347695e+01] [-2.27312216e-03 5.27487405e-05 9.99997415e-01 -1.63593496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:40.65, Z:-1.64 [[ 6.46691814e-01 -7.62746063e-01 2.85305611e-03 1.15211347e+02] [ 7.62739446e-01 6.46698097e-01 3.17949785e-03 4.06522759e+01] [-4.27021542e-03 1.19983200e-04 9.99990875e-01 -1.63595818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:40.67, Z:-1.64 [[ 6.45139093e-01 -7.64058317e-01 3.23085679e-03 1.15232210e+02] [ 7.64049835e-01 6.45147167e-01 3.60301613e-03 4.06719609e+01] [-4.83729255e-03 1.44089041e-04 9.99988290e-01 -1.63613429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:40.69, Z:-1.64 [[ 6.44228859e-01 -7.64824149e-01 3.63294286e-03 1.15252575e+02] [ 7.64813422e-01 6.44239081e-01 4.05412766e-03 4.06914731e+01] [-5.44117851e-03 1.66737420e-04 9.99985183e-01 -1.63699038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:40.71, Z:-1.64 [[ 6.44128680e-01 -7.64909621e-01 3.39329416e-03 1.15271679e+02] [ 7.64900251e-01 6.44137600e-01 3.78925422e-03 4.07100852e+01] [-5.08418537e-03 1.54764235e-04 9.99987063e-01 -1.63699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:40.73, Z:-1.64 [[ 6.46342371e-01 -7.63040151e-01 3.35677047e-03 1.15291928e+02] [ 7.63030953e-01 6.46351073e-01 3.74899174e-03 4.07295179e+01] [-5.03028341e-03 1.38187565e-04 9.99987338e-01 -1.63845890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:40.75, Z:-1.64 [[ 6.48729313e-01 -7.61011574e-01 3.41510260e-03 1.15310193e+02] [ 7.61002012e-01 6.48738290e-01 3.81695859e-03 4.07500419e+01] [-5.12025748e-03 1.22727023e-04 9.99986884e-01 -1.63890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:40.77, Z:-1.64 [[ 6.51342646e-01 -7.58774830e-01 3.67614130e-03 1.15328744e+02] [ 7.58763710e-01 6.51353011e-01 4.10959590e-03 4.07710407e+01] [-5.51272363e-03 1.12567542e-04 9.99984798e-01 -1.63954663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:40.79, Z:-1.64 [[ 6.54640236e-01 -7.55932331e-01 3.53176328e-03 1.15347061e+02] [ 7.55922011e-01 6.54649757e-01 3.95067753e-03 4.07913702e+01] [-5.29851284e-03 8.34651307e-05 9.99985959e-01 -1.63996865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:40.81, Z:-1.64 [[ 6.60458600e-01 -7.50855711e-01 3.18419980e-03 1.15366143e+02] [ 7.50847261e-01 6.60466275e-01 3.56249921e-03 4.08125277e+01] [-4.77797946e-03 3.79644579e-05 9.99988585e-01 -1.64039422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:40.83, Z:-1.64 [[ 6.62808072e-01 -7.48782058e-01 3.29988883e-03 1.15385124e+02] [ 7.48772945e-01 6.62816286e-01 3.69413623e-03 4.08337896e+01] [-4.95332299e-03 2.23641609e-05 9.99987732e-01 -1.64132839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:40.85, Z:-1.64 [[ 6.64912089e-01 -7.46915395e-01 3.05068848e-03 1.15403256e+02] [ 7.46907577e-01 6.64919087e-01 3.41756035e-03 4.08540138e+01] [-4.58108944e-03 6.20514398e-06 9.99989507e-01 -1.64160280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:40.88, Z:-1.64 [[ 6.66921269e-01 -7.45121599e-01 3.13429665e-03 1.15420820e+02] [ 7.45113323e-01 6.66928634e-01 3.51179837e-03 4.08761988e+01] [-4.70706900e-03 -6.68683080e-06 9.99988922e-01 -1.64249257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:40.90, Z:-1.64 [[ 6.67237195e-01 -7.44838596e-01 3.16083393e-03 1.15438704e+02] [ 7.44830168e-01 6.67244682e-01 3.54330768e-03 4.08980813e+01] [-4.74824195e-03 -9.94220982e-06 9.99988727e-01 -1.64341425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:40.92, Z:-1.64 [[ 6.67549925e-01 -7.44558490e-01 3.12296568e-03 1.15456879e+02] [ 7.44550251e-01 6.67557229e-01 3.50278118e-03 4.09198284e+01] [-4.69278378e-03 -1.30764316e-05 9.99988989e-01 -1.64417877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:40.94, Z:-1.65 [[ 6.67607799e-01 -7.44506496e-01 3.14723874e-03 1.15474362e+02] [ 7.44498118e-01 6.67615217e-01 3.53200728e-03 4.09413057e+01] [-4.73074684e-03 -1.48822878e-05 9.99988810e-01 -1.64520754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:40.96, Z:-1.65 [[ 6.67967149e-01 -7.44185064e-01 2.91186991e-03 1.15491189e+02] [ 7.44177880e-01 6.67973495e-01 3.26992669e-03 4.09621362e+01] [-4.37848252e-03 -1.72544304e-05 9.99990414e-01 -1.64550142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:40.98, Z:-1.65 [[ 6.68036578e-01 -7.44122181e-01 3.05122074e-03 1.15509869e+02] [ 7.44114288e-01 6.68043546e-01 3.42731827e-03 4.09834470e+01] [-4.58869187e-03 -1.91170205e-05 9.99989472e-01 -1.64580084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:41.00, Z:-1.65 [[ 6.68215295e-01 -7.43960324e-01 3.36977569e-03 1.15527809e+02] [ 7.43950683e-01 6.68223791e-01 3.78767314e-03 4.10041633e+01] [-5.06964283e-03 -2.40341992e-05 9.99987149e-01 -1.64612694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:41.03, Z:-1.65 [[ 6.68216489e-01 -7.43958470e-01 3.53829036e-03 1.15545614e+02] [ 7.43947829e-01 6.68225856e-01 3.97905012e-03 4.10253171e+01] [-5.32462515e-03 -2.65634677e-05 9.99985824e-01 -1.64645313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:41.05, Z:-1.65 [[ 6.68061256e-01 -7.44094469e-01 4.19285799e-03 1.15563595e+02] [ 7.44079510e-01 6.68074413e-01 4.71828791e-03 4.10472105e+01] [-6.31199307e-03 -3.22856283e-05 9.99980079e-01 -1.64793691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:41.07, Z:-1.65 [[ 6.67629706e-01 -7.44480856e-01 4.33942463e-03 1.15581344e+02] [ 7.44464824e-01 6.67643807e-01 4.88599033e-03 4.10673693e+01] [-6.53471625e-03 -3.14832970e-05 9.99978648e-01 -1.64868792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:41.09, Z:-1.65 [[ 6.67011063e-01 -7.45034390e-01 4.47210555e-03 1.15599714e+02] [ 7.45017358e-01 6.67026054e-01 5.03780862e-03 4.10881536e+01] [-6.73635159e-03 -2.84778181e-05 9.99977310e-01 -1.64928503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:41.11, Z:-1.65 [[ 6.66429548e-01 -7.45554985e-01 4.40705358e-03 1.15618654e+02] [ 7.45538439e-01 6.66444119e-01 4.96707049e-03 4.11091541e+01] [-6.64027911e-03 -2.45746968e-05 9.99977953e-01 -1.64961133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:41.13, Z:-1.65 [[ 6.65588862e-01 -7.46306741e-01 4.20886058e-03 1.15637179e+02] [ 7.46291651e-01 6.65602169e-01 4.74600441e-03 4.11298621e+01] [-6.34340182e-03 -1.78501669e-05 9.99979880e-01 -1.65001019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:41.15, Z:-1.65 [[ 6.64198977e-01 -7.47547657e-01 3.49565977e-03 1.15655953e+02] [ 7.47537254e-01 6.64208176e-01 3.94365747e-03 4.11499688e+01] [-5.26991770e-03 -6.23734661e-06 9.99986114e-01 -1.64992380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:41.17, Z:-1.65 [[ 6.63391766e-01 -7.48266399e-01 2.95987899e-03 1.15673808e+02] [ 7.48258946e-01 6.63398370e-01 3.33972275e-03 4.11700085e+01] [-4.46258121e-03 -7.88639240e-07 9.99990043e-01 -1.65002982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:41.19, Z:-1.65 [[ 6.62387258e-01 -7.49157259e-01 2.55388796e-03 1.15692218e+02] [ 7.49151714e-01 6.62392181e-01 2.88240036e-03 4.11913520e+01] [-3.85104656e-03 3.98427192e-06 9.99992585e-01 -1.65023406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:41.21, Z:-1.65 [[ 6.60294660e-01 -7.51003524e-01 2.16088982e-03 1.15709411e+02] [ 7.50999561e-01 6.60298195e-01 2.43978592e-03 4.12126020e+01] [-3.25911947e-03 1.18496929e-05 9.99994689e-01 -1.65068948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:41.23, Z:-1.65 [[ 6.58771926e-01 -7.52339745e-01 2.11128586e-03 1.15727327e+02] [ 7.52335966e-01 6.58775309e-01 2.38462078e-03 4.12343652e+01] [-3.18490799e-03 1.74750656e-05 9.99994928e-01 -1.65068429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:41.26, Z:-1.65 [[ 6.58598400e-01 -7.52491657e-01 2.11063835e-03 1.15746175e+02] [ 7.52487877e-01 6.58601781e-01 2.38519351e-03 4.12558584e+01] [-3.18490839e-03 1.73451423e-05 9.99994928e-01 -1.65092476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:41.28, Z:-1.65 [[ 6.56847911e-01 -7.54019490e-01 2.33037276e-03 1.15764072e+02] [ 7.54014887e-01 6.56852044e-01 2.63493907e-03 4.12774211e+01] [-3.51750552e-03 2.63815263e-05 9.99993813e-01 -1.65081008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:41.30, Z:-1.65 [[ 6.54484899e-01 -7.56070095e-01 2.74367695e-03 1.15782273e+02] [ 7.56063724e-01 6.54490649e-01 3.10435116e-03 4.12988643e+01] [-4.14281798e-03 4.26436518e-05 9.99991418e-01 -1.65078489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:41.32, Z:-1.65 [[ 6.48165065e-01 -7.61493936e-01 3.00563331e-03 1.15800460e+02] [ 7.61486339e-01 6.48172028e-01 3.40263050e-03 4.13195660e+01] [-4.53924993e-03 8.32824832e-05 9.99989694e-01 -1.65007415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:41.34, Z:-1.65 [[ 6.44095427e-01 -7.64939249e-01 3.00443513e-03 1.15819543e+02] [ 7.64931686e-01 6.44102426e-01 3.40307324e-03 4.13405227e+01] [-4.53830824e-03 1.06283722e-04 9.99989696e-01 -1.64960087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:41.36, Z:-1.65 [[ 6.40256151e-01 -7.68154169e-01 3.35164014e-03 1.15837326e+02] [ 7.68144789e-01 6.40264908e-01 3.79875807e-03 4.13607752e+01] [-5.06396942e-03 1.42366692e-04 9.99987168e-01 -1.64951902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:41.38, Z:-1.65 [[ 6.36653209e-01 -7.71143288e-01 3.27425007e-03 1.15855226e+02] [ 7.71134368e-01 6.36661608e-01 3.71258984e-03 4.13823848e+01] [-4.94752805e-03 1.61254525e-04 9.99987748e-01 -1.64936647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:41.40, Z:-1.65 [[ 6.30310484e-01 -7.76338195e-01 2.77505268e-03 1.15871465e+02] [ 7.76331833e-01 6.30316570e-01 3.14752086e-03 4.14044913e+01] [-4.19270235e-03 1.70446334e-04 9.99991196e-01 -1.64946102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:41.43, Z:-1.65 [[ 6.27372321e-01 -7.78715440e-01 2.49691167e-03 1.15888595e+02] [ 7.78710304e-01 6.27377268e-01 2.83317024e-03 4.14259857e+01] [-3.77273903e-03 1.66918250e-04 9.99992869e-01 -1.65000129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:41.45, Z:-1.65 [[ 6.24810254e-01 -7.80773671e-01 2.14982169e-03 1.15906224e+02] [ 7.80769874e-01 6.24813933e-01 2.43981327e-03 4.14479262e+01] [-3.24818051e-03 1.54095659e-04 9.99994713e-01 -1.65045343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:41.47, Z:-1.65 [[ 6.21859540e-01 -7.83126520e-01 1.88842164e-03 1.15922161e+02] [ 7.83123599e-01 6.21862390e-01 2.14391203e-03 4.14710022e+01] [-2.85329276e-03 1.45655401e-04 9.99995919e-01 -1.65067921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:41.49, Z:-1.65 [[ 6.21396374e-01 -7.83493839e-01 1.98772769e-03 1.15938673e+02] [ 7.83490598e-01 6.21399534e-01 2.25890797e-03 4.14923698e+01] [-3.00501353e-03 1.53688732e-04 9.99995473e-01 -1.65074861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:41.51, Z:-1.65 [[ 6.21254641e-01 -7.83606514e-01 1.87150857e-03 1.15955770e+02] [ 7.83603641e-01 6.21257443e-01 2.12679709e-03 4.15146399e+01] [-2.82926068e-03 1.45238362e-04 9.99995987e-01 -1.65011584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:41.54, Z:-1.65 [[ 6.21855638e-01 -7.83129555e-01 1.91458644e-03 1.15973135e+02] [ 7.83126542e-01 6.21858568e-01 2.17701294e-03 4.15371021e+01] [-2.89548516e-03 1.45575687e-04 9.99995797e-01 -1.64991193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:41.56, Z:-1.65 [[ 6.24118706e-01 -7.81326901e-01 2.02830570e-03 1.15988936e+02] [ 7.81323506e-01 6.24121985e-01 2.30787715e-03 4.15608851e+01] [-3.06911669e-03 1.44373618e-04 9.99995280e-01 -1.64927417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:41.58, Z:-1.65 [[ 6.25499265e-01 -7.80221769e-01 2.15897337e-03 1.16004983e+02] [ 7.80217907e-01 6.25502974e-01 2.45919279e-03 4.15824200e+01] [-3.26916001e-03 1.46246400e-04 9.99994646e-01 -1.64923172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:41.60, Z:-1.65 [[ 6.26934052e-01 -7.79069374e-01 2.14598386e-03 1.16021899e+02] [ 7.79065552e-01 6.26937709e-01 2.44423662e-03 4.16048261e+01] [-3.24962810e-03 1.39486930e-04 9.99994710e-01 -1.64927571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:41.63, Z:-1.65 [[ 6.28119064e-01 -7.78114532e-01 2.05322483e-03 1.16038364e+02] [ 7.78111026e-01 6.28122407e-01 2.33962861e-03 4.16272328e+01] [-3.11017555e-03 1.28071546e-04 9.99995155e-01 -1.64953828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:41.65, Z:-1.65 [[ 6.30887555e-01 -7.75871007e-01 2.25235667e-03 1.16052884e+02] [ 7.75866763e-01 6.30891563e-01 2.56935380e-03 4.16509416e+01] [-3.41447995e-03 1.26555342e-04 9.99994163e-01 -1.64967391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:41.67, Z:-1.65 [[ 6.31809283e-01 -7.75119941e-01 2.47138816e-03 1.16069553e+02] [ 7.75114825e-01 6.31814102e-01 2.81945580e-03 4.16736570e+01] [-3.74687430e-03 1.34251258e-04 9.99992971e-01 -1.64940599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:41.70, Z:-1.65 [[ 6.32643293e-01 -7.74437468e-01 3.01192442e-03 1.16085918e+02] [ 7.74429846e-01 6.32650443e-01 3.43957843e-03 4.16957585e+01] [-4.56923373e-03 1.56497940e-04 9.99989549e-01 -1.64954062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:41.72, Z:-1.65 [[ 6.33284877e-01 -7.73911528e-01 3.34828714e-03 1.16102990e+02] [ 7.73902097e-01 6.33293706e-01 3.82444710e-03 4.17184238e+01] [-5.08023287e-03 1.69281931e-04 9.99987081e-01 -1.64910250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:41.74, Z:-1.65 [[ 6.33716401e-01 -7.73556625e-01 3.69754949e-03 1.16120127e+02] [ 7.73545102e-01 6.33727161e-01 4.22618267e-03 4.17411751e+01] [-5.61242915e-03 1.82020028e-04 9.99984234e-01 -1.64913294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:41.76, Z:-1.65 [[ 6.34078413e-01 -7.73259469e-01 3.78931299e-03 1.16136439e+02] [ 7.73247345e-01 6.34089710e-01 4.33399644e-03 4.17629899e+01] [-5.75406816e-03 1.81982623e-04 9.99983429e-01 -1.64901096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:41.79, Z:-1.65 [[ 6.34780459e-01 -7.72685968e-01 3.18800417e-03 1.16152096e+02] [ 7.72677376e-01 6.34788447e-01 3.64679701e-03 4.17867040e+01] [-4.84153710e-03 1.48383220e-04 9.99988269e-01 -1.64944022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:41.81, Z:-1.65 [[ 6.35173404e-01 -7.72365359e-01 2.54919751e-03 1.16169193e+02] [ 7.72359860e-01 6.35178509e-01 2.91697132e-03 4.18094566e+01] [-3.87216308e-03 1.16115230e-04 9.99992496e-01 -1.65006828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:41.83, Z:-1.65 [[ 6.35938453e-01 -7.71737367e-01 1.92895655e-03 1.16185260e+02] [ 7.71734212e-01 6.35941373e-01 2.20837994e-03 4.18310896e+01] [-2.93099260e-03 8.42480415e-05 9.99995701e-01 -1.65075665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:41.86, Z:-1.66 [[ 6.37583104e-01 -7.70363265e-01 5.31285977e-03 1.16198458e+02] [ 7.70378706e-01 6.37584413e-01 -1.66306814e-03 4.18563845e+01] [-2.10622998e-03 5.15325818e-03 9.99984504e-01 -1.65672438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:116.21, Y:41.88, Z:-1.67 [[ 6.37650832e-01 -7.70229702e-01 1.21500321e-02 1.16211229e+02] [ 7.70315473e-01 6.37643772e-01 -4.94892999e-03 4.18807292e+01] [-3.93557940e-03 1.25150470e-02 9.99913939e-01 -1.66643933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:41.90, Z:-1.66 [[ 6.40354102e-01 -7.68075784e-01 -2.49272724e-03 1.16235723e+02] [ 7.68076560e-01 6.40338537e-01 4.99561623e-03 4.18983112e+01] [-2.24082254e-03 -5.11356872e-03 9.99984415e-01 -1.65570827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.25, Y:41.92, Z:-1.66 [[ 6.43174904e-01 -7.65715190e-01 -2.50820803e-03 1.16251766e+02] [ 7.65718125e-01 6.43164735e-01 3.85700423e-03 4.19205399e+01] [-1.34017577e-03 -4.40130867e-03 9.99989416e-01 -1.65593182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:41.94, Z:-1.65 [[ 6.46396840e-01 -7.62971641e-01 -6.73795005e-03 1.16273434e+02] [ 7.63000468e-01 6.46384600e-01 4.15140573e-03 4.19405685e+01] [ 1.18790231e-03 -7.82451459e-03 9.99968682e-01 -1.65005816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:41.96, Z:-1.65 [[ 6.47670164e-01 -7.61920250e-01 -9.44333517e-04 1.16288448e+02] [ 7.61919476e-01 6.47670852e-01 -1.08588788e-03 4.19629040e+01] [ 1.43897726e-03 -1.62089161e-05 9.99998965e-01 -1.65336678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:41.98, Z:-1.65 [[ 6.48728272e-01 -7.61019774e-01 -7.30326018e-04 1.16307173e+02] [ 7.61019308e-01 6.48728683e-01 -8.42241531e-04 4.19839256e+01] [ 1.11474590e-03 -9.40630783e-06 9.99999379e-01 -1.65337045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:42.00, Z:-1.65 [[ 6.51426578e-01 -7.58711484e-01 -5.46225536e-04 1.16326395e+02] [ 7.58711221e-01 6.51426807e-01 -6.31160443e-04 4.20045311e+01] [ 8.34694633e-04 -3.27275669e-06 9.99999652e-01 -1.65274987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:42.03, Z:-1.65 [[ 6.52611731e-01 -7.57692484e-01 -1.68887141e-04 1.16344992e+02] [ 7.57692458e-01 6.52611752e-01 -1.97571934e-04 4.20256580e+01] [ 2.59916502e-04 9.73248280e-07 9.99999966e-01 -1.65320613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:42.05, Z:-1.65 [[ 6.53776919e-01 -7.56687329e-01 1.64071854e-04 1.16362833e+02] [ 7.56687306e-01 6.53776939e-01 1.86890563e-04 4.20456267e+01] [-2.48684115e-04 1.96635270e-06 9.99999969e-01 -1.65346955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:42.07, Z:-1.65 [[ 6.54471271e-01 -7.56086788e-01 3.52315908e-04 1.16381916e+02] [ 7.56086681e-01 6.54471366e-01 4.02197737e-04 4.20665514e+01] [-5.34677069e-04 3.15450153e-06 9.99999857e-01 -1.65319045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:42.09, Z:-1.65 [[ 6.55086814e-01 -7.55553056e-01 9.20070767e-04 1.16400237e+02] [ 7.55552316e-01 6.55087460e-01 1.05749585e-03 4.20858094e+01] [-1.40172104e-03 2.41001424e-06 9.99999018e-01 -1.65332305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:42.11, Z:-1.65 [[ 6.55222762e-01 -7.55434908e-01 1.10987204e-03 1.16419845e+02] [ 7.55433832e-01 6.55223702e-01 1.27515433e-03 4.21066364e+01] [-1.69051056e-03 2.92474384e-06 9.99998571e-01 -1.65331350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:42.13, Z:-1.65 [[ 6.54701702e-01 -7.55886923e-01 8.00997495e-04 1.16440840e+02] [ 7.55886363e-01 6.54702192e-01 9.19880033e-04 4.21258757e+01] [-1.21974010e-03 3.21606040e-06 9.99999256e-01 -1.65282440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:42.15, Z:-1.65 [[ 6.53772790e-01 -7.56690656e-01 6.24918729e-04 1.16459876e+02] [ 7.56690314e-01 6.53773089e-01 7.18674650e-04 4.21455014e+01] [-9.52369440e-04 3.02001832e-06 9.99999546e-01 -1.65320312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:42.17, Z:-1.65 [[ 6.52375348e-01 -7.57895846e-01 5.40457652e-04 1.16479737e+02] [ 7.57895592e-01 6.52375572e-01 6.20234539e-04 4.21661019e+01] [-8.22654551e-04 4.98474905e-06 9.99999662e-01 -1.65363742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:42.19, Z:-1.65 [[ 6.50477816e-01 -7.59525037e-01 5.73537911e-04 1.16498944e+02] [ 7.59524751e-01 6.50478069e-01 6.58657884e-04 4.21863496e+01] [-8.73340987e-04 7.17389669e-06 9.99999619e-01 -1.65423586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:42.21, Z:-1.65 [[ 6.45941475e-01 -7.63386607e-01 7.06454626e-04 1.16519091e+02] [ 7.63386173e-01 6.45941862e-01 8.13876852e-04 4.22050313e+01] [-1.07763130e-03 1.35808784e-05 9.99999419e-01 -1.65462826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:42.23, Z:-1.65 [[ 6.43289698e-01 -7.65622151e-01 1.04231623e-03 1.16539152e+02] [ 7.65621209e-01 6.43290542e-01 1.20104514e-03 4.22251366e+01] [-1.59005893e-03 2.53994518e-05 9.99998736e-01 -1.65455273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:42.24, Z:-1.65 [[ 6.38031486e-01 -7.70008744e-01 1.53515301e-03 1.16560349e+02] [ 7.70006708e-01 6.38033331e-01 1.77134266e-03 4.22437969e+01] [-2.34342812e-03 5.19057245e-05 9.99997253e-01 -1.65341197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:42.26, Z:-1.65 [[ 6.35466749e-01 -7.72125814e-01 1.93320918e-03 1.16580198e+02] [ 7.72122590e-01 6.35469686e-01 2.23274774e-03 4.22640868e+01] [-2.95245799e-03 7.38375287e-05 9.99995639e-01 -1.65343247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:42.28, Z:-1.65 [[ 6.33242733e-01 -7.73949982e-01 2.25085441e-03 1.16598823e+02] [ 7.73945612e-01 6.33246727e-01 2.60247275e-03 4.22831739e+01] [-3.43952993e-03 9.40419323e-05 9.99994080e-01 -1.65327487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:42.30, Z:-1.65 [[ 6.31168055e-01 -7.75643026e-01 2.18680093e-03 1.16618108e+02] [ 7.75638912e-01 6.31171835e-01 2.52833580e-03 4.23034489e+01] [-3.34133319e-03 1.00363105e-04 9.99994413e-01 -1.65331024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:42.32, Z:-1.65 [[ 6.29448622e-01 -7.77038743e-01 2.28576990e-03 1.16636997e+02] [ 7.77034251e-01 6.29452762e-01 2.64437588e-03 4.23237800e+01] [-3.49356669e-03 1.11622750e-04 9.99993891e-01 -1.65359085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:42.34, Z:-1.65 [[ 6.27112152e-01 -7.78925027e-01 2.48026326e-03 1.16656069e+02] [ 7.78919745e-01 6.27117043e-01 2.87142868e-03 4.23431213e+01] [-3.79204303e-03 1.31218207e-04 9.99992802e-01 -1.65444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:42.36, Z:-1.65 [[ 6.25892256e-01 -7.79906189e-01 2.28474994e-03 1.16674941e+02] [ 7.79901710e-01 6.25896414e-01 2.64598843e-03 4.23636524e+01] [-3.49363955e-03 1.25776713e-04 9.99993889e-01 -1.65431206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:42.38, Z:-1.65 [[ 6.24813585e-01 -7.80771151e-01 2.09604153e-03 1.16694260e+02] [ 7.80767384e-01 6.24817089e-01 2.42846096e-03 4.23842603e+01] [-3.20571483e-03 1.19185461e-04 9.99994855e-01 -1.65410462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:42.40, Z:-1.65 [[ 6.23869635e-01 -7.81526413e-01 1.77321934e-03 1.16712406e+02] [ 7.81523716e-01 6.23872147e-01 2.05579948e-03 4.24041166e+01] [-2.71292374e-03 1.03262096e-04 9.99996315e-01 -1.65378213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:42.43, Z:-1.65 [[ 6.22560081e-01 -7.82571136e-01 1.16743975e-03 1.16730531e+02] [ 7.82569971e-01 6.22561171e-01 1.35241484e-03 4.24253769e+01] [-1.78516347e-03 7.16437955e-05 9.99998404e-01 -1.65436889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:42.45, Z:-1.65 [[ 6.22161313e-01 -7.82888527e-01 9.25199426e-04 1.16748468e+02] [ 7.82887795e-01 6.22161998e-01 1.07168336e-03 4.24465060e+01] [-1.41463253e-03 5.75674155e-05 9.99998998e-01 -1.65478829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:42.47, Z:-1.65 [[ 6.21653304e-01 -7.83292405e-01 4.20782316e-04 1.16766686e+02] [ 7.83292255e-01 6.21653446e-01 4.85842819e-04 4.24679467e+01] [-6.42137768e-04 2.75697354e-05 9.99999793e-01 -1.65491527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:42.49, Z:-1.65 [[ 6.21035005e-01 -7.83782744e-01 3.65652480e-04 1.16784976e+02] [ 7.83782631e-01 6.21035112e-01 4.21973196e-04 4.24893150e+01] [-5.57818338e-04 2.45319369e-05 9.99999844e-01 -1.65478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:42.51, Z:-1.66 [[ 6.20447440e-01 -7.84247694e-01 7.27165256e-04 1.16803145e+02] [ 7.84247242e-01 6.20447864e-01 8.43003396e-04 4.25107253e+01] [-1.11229160e-03 4.72380470e-05 9.99999380e-01 -1.65528788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:42.53, Z:-1.65 [[ 6.18932061e-01 -7.85443512e-01 1.26245143e-03 1.16820950e+02] [ 7.85442146e-01 6.18933343e-01 1.46687860e-03 4.25327471e+01] [-1.93352356e-03 8.36843714e-05 9.99998127e-01 -1.65499814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:42.55, Z:-1.65 [[ 6.17887848e-01 -7.86264259e-01 1.76690074e-03 1.16838425e+02] [ 7.86261581e-01 6.17890363e-01 2.05557915e-03 4.25548873e+01] [-2.70797936e-03 1.19128791e-04 9.99996326e-01 -1.65495537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:42.58, Z:-1.65 [[ 6.17011654e-01 -7.86950207e-01 2.44756777e-03 1.16855919e+02] [ 7.86945063e-01 6.17016485e-01 2.85041145e-03 4.25768511e+01] [-3.75332154e-03 1.67364290e-04 9.99992942e-01 -1.65499273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:42.60, Z:-1.66 [[ 6.14946850e-01 -7.88560393e-01 3.58864700e-03 1.16871486e+02] [ 7.88549336e-01 6.14957268e-01 4.18372943e-03 4.25986232e+01] [-5.50598788e-03 2.57053969e-04 9.99984809e-01 -1.65557426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:42.62, Z:-1.66 [[ 6.13758623e-01 -7.89484333e-01 3.85222154e-03 1.16889047e+02] [ 7.89471604e-01 6.13770647e-01 4.49222802e-03 4.26202083e+01] [-5.91092415e-03 2.84075831e-04 9.99982490e-01 -1.65523617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:42.64, Z:-1.66 [[ 6.13622041e-01 -7.89590503e-01 3.85082368e-03 1.16907572e+02] [ 7.89577768e-01 6.13634058e-01 4.49342588e-03 4.26419480e+01] [-5.91096296e-03 2.83259605e-04 9.99982490e-01 -1.65545800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:42.66, Z:-1.66 [[ 6.09213436e-01 -7.92981195e-01 6.30987666e-03 1.16918107e+02] [ 7.92966793e-01 6.09243224e-01 5.13408762e-03 4.26632749e+01] [-7.91548454e-03 1.87576750e-03 9.99966913e-01 -1.65865126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:42.69, Z:-1.65 [[ 6.11420724e-01 -7.91301611e-01 2.54158957e-03 1.16943486e+02] [ 7.91284249e-01 6.11424647e-01 5.39803664e-03 4.26854083e+01] [-5.82546560e-03 -1.28935168e-03 9.99982201e-01 -1.65490144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:42.71, Z:-1.66 [[ 6.09723016e-01 -7.92608075e-01 3.20666931e-03 1.16958348e+02] [ 7.92599281e-01 6.09731393e-01 3.74268459e-03 4.27097158e+01] [-4.92168897e-03 2.59602855e-04 9.99987855e-01 -1.65639428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:42.73, Z:-1.66 [[ 6.09248416e-01 -7.92973850e-01 2.97344250e-03 1.16974412e+02] [ 7.92966285e-01 6.09255623e-01 3.47228584e-03 4.27322023e+01] [-4.56501844e-03 2.42355003e-04 9.99989551e-01 -1.65746715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:42.76, Z:-1.66 [[ 6.08986880e-01 -7.93176152e-01 2.56352320e-03 1.16990729e+02] [ 7.93170527e-01 6.08992239e-01 2.99453336e-03 4.27554918e+01] [-3.93635819e-03 2.09679519e-04 9.99992231e-01 -1.65826284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:42.78, Z:-1.66 [[ 6.09018601e-01 -7.93152515e-01 2.33070903e-03 1.17007058e+02] [ 7.93147861e-01 6.09023031e-01 2.72364349e-03 4.27784641e+01] [-3.57972016e-03 1.89847333e-04 9.99993575e-01 -1.65938746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:42.80, Z:-1.66 [[ 6.09881292e-01 -7.92490591e-01 1.86345086e-03 1.17021233e+02] [ 7.92487609e-01 6.09884121e-01 2.17915083e-03 4.28018442e+01] [-2.86344562e-03 1.47738399e-04 9.99995889e-01 -1.65995409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:42.82, Z:-1.66 [[ 6.10448973e-01 -7.92054009e-01 1.58065858e-03 1.17037899e+02] [ 7.92051863e-01 6.10451007e-01 1.84790643e-03 4.28239848e+01] [-2.42855632e-03 1.23910985e-04 9.99997043e-01 -1.66021802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:42.85, Z:-1.66 [[ 6.10757677e-01 -7.91816610e-01 1.23173149e-03 1.17054249e+02] [ 7.91815306e-01 6.10758911e-01 1.44007158e-03 4.28465422e+01] [-1.89256358e-03 9.57690755e-05 9.99998205e-01 -1.66055859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:42.87, Z:-1.66 [[ 6.12565916e-01 -7.90419183e-01 7.17243943e-04 1.17067907e+02] [ 7.90418740e-01 6.12566333e-01 8.37975572e-04 4.28701757e+01] [-1.10171146e-03 5.36077798e-05 9.99999392e-01 -1.66209428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:42.89, Z:-1.66 [[ 6.13660116e-01 -7.89570061e-01 6.17152093e-04 1.17084330e+02] [ 7.89569733e-01 6.13660425e-01 7.20526843e-04 4.28934871e+01] [-9.47628239e-04 4.51260271e-05 9.99999550e-01 -1.66276209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:42.92, Z:-1.66 [[ 6.14973281e-01 -7.88547633e-01 7.02751973e-04 1.17100837e+02] [ 7.88547207e-01 6.14973681e-01 8.21294186e-04 4.29159410e+01] [-1.07980355e-03 4.90791247e-05 9.99999416e-01 -1.66322081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:42.94, Z:-1.66 [[ 6.18506092e-01 -7.85779242e-01 1.09386119e-03 1.17116086e+02] [ 7.85778199e-01 6.18507056e-01 1.28223848e-03 4.29390081e+01] [-1.68411724e-03 6.64599692e-05 9.99998580e-01 -1.66237374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:42.96, Z:-1.66 [[ 6.20547892e-01 -7.84167655e-01 1.18393308e-03 1.17132921e+02] [ 7.84166431e-01 6.20549018e-01 1.38734590e-03 4.29616538e+01] [-1.82260029e-03 6.74860070e-05 9.99998337e-01 -1.66217166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:42.98, Z:-1.66 [[ 6.22803460e-01 -7.82377223e-01 1.31576176e-03 1.17149164e+02] [ 7.82375705e-01 6.22804846e-01 1.54300925e-03 4.29843459e+01] [-2.02667809e-03 6.84285315e-05 9.99997944e-01 -1.66243600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:43.01, Z:-1.66 [[ 6.25320605e-01 -7.80366353e-01 1.57967042e-03 1.17165177e+02] [ 7.80364154e-01 6.25322596e-01 1.85423867e-03 4.30070354e+01] [-2.43478908e-03 7.32245250e-05 9.99997033e-01 -1.66277358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:43.03, Z:-1.66 [[ 6.31357737e-01 -7.75488886e-01 2.09657984e-03 1.17179482e+02] [ 7.75484976e-01 6.31361214e-01 2.46347908e-03 4.30319109e+01] [-3.23409984e-03 7.05295938e-05 9.99994768e-01 -1.66339207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:43.05, Z:-1.66 [[ 6.34517125e-01 -7.72904994e-01 2.42672993e-03 1.17196288e+02] [ 7.72899729e-01 6.34521762e-01 2.85355999e-03 4.30549895e+01] [-3.74534372e-03 6.49862188e-05 9.99992984e-01 -1.66397575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:43.08, Z:-1.66 [[ 6.37571520e-01 -7.70386088e-01 2.79852701e-03 1.17213311e+02] [ 7.70379052e-01 6.37577660e-01 3.29311129e-03 4.30778687e+01] [-4.32124542e-03 5.63326121e-05 9.99990662e-01 -1.66439372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:43.10, Z:-1.66 [[ 6.40553942e-01 -7.67907640e-01 2.91622127e-03 1.17229662e+02] [ 7.67899961e-01 6.40560579e-01 3.43432461e-03 4.30992615e+01] [-4.50526049e-03 3.94960354e-05 9.99989850e-01 -1.66445589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:43.12, Z:-1.67 [[ 6.45941409e-01 -7.63382921e-01 2.49252324e-03 1.17245882e+02] [ 7.63377278e-01 6.45946218e-01 2.93525849e-03 4.31221118e+01] [-3.85076216e-03 6.73060197e-06 9.99992586e-01 -1.66506125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:43.14, Z:-1.67 [[ 6.48204321e-01 -7.61463099e-01 2.26000311e-03 1.17263132e+02] [ 7.61458444e-01 6.48208260e-01 2.66260487e-03 4.31440151e+01] [-3.49242803e-03 -5.01353040e-06 9.99993901e-01 -1.66600040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:43.17, Z:-1.67 [[ 6.50062670e-01 -7.59878747e-01 1.67787710e-03 1.17280718e+02] [ 7.59876175e-01 6.50064835e-01 1.97697342e-03 4.31659020e+01] [-2.59298899e-03 -1.01777876e-05 9.99996638e-01 -1.66679320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:43.19, Z:-1.67 [[ 6.51614717e-01 -7.58548837e-01 1.38660790e-03 1.17297711e+02] [ 7.58547074e-01 6.51616192e-01 1.63524471e-03 4.31864898e+01] [-2.14394914e-03 -1.37421556e-05 9.99997702e-01 -1.66756013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:43.21, Z:-1.67 [[ 6.52645261e-01 -7.57662553e-01 1.27212240e-03 1.17316241e+02] [ 7.57661070e-01 6.52646501e-01 1.49938452e-03 4.32078939e+01] [-1.96627373e-03 -1.47285810e-05 9.99998067e-01 -1.66837822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:43.23, Z:-1.67 [[ 6.53337792e-01 -7.57065281e-01 1.37507699e-03 1.17334117e+02] [ 7.57063541e-01 6.53339238e-01 1.62307963e-03 4.32277037e+01] [-2.12716899e-03 -1.93986071e-05 9.99997737e-01 -1.66863114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:43.25, Z:-1.67 [[ 6.53928723e-01 -7.56555190e-01 1.21268019e-03 1.17354934e+02] [ 7.56553838e-01 6.53929847e-01 1.43051410e-03 4.32467959e+01] [-1.87527064e-03 -1.79964021e-05 9.99998242e-01 -1.66877382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:43.27, Z:-1.67 [[ 6.53834720e-01 -7.56636728e-01 1.01039609e-03 1.17374646e+02] [ 7.56635789e-01 6.53835500e-01 1.19200776e-03 4.32665692e+01] [-1.56254968e-03 -1.48742181e-05 9.99998779e-01 -1.66921205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:43.29, Z:-1.67 [[ 6.53502179e-01 -7.56924127e-01 8.76468513e-04 1.17394721e+02] [ 7.56923421e-01 6.53502766e-01 1.03413253e-03 4.32864781e+01] [-1.35553446e-03 -1.23883169e-05 9.99999081e-01 -1.66965314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:43.30, Z:-1.67 [[ 6.52621502e-01 -7.57683977e-01 4.06242063e-04 1.17416735e+02] [ 7.57683827e-01 6.52621629e-01 4.77775040e-04 4.33049110e+01] [-6.27124850e-04 -4.00322348e-06 9.99999803e-01 -1.67043055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:43.32, Z:-1.67 [[ 6.52045365e-01 -7.58179892e-01 3.04817303e-04 1.17437082e+02] [ 7.58179808e-01 6.52045436e-01 3.57869989e-04 4.33249870e+01] [-4.70084561e-04 -2.24114385e-06 9.99999890e-01 -1.67116458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:43.34, Z:-1.67 [[ 6.51189111e-01 -7.58915458e-01 2.64218520e-04 1.17457233e+02] [ 7.58915395e-01 6.51189164e-01 3.09924430e-04 4.33443100e+01] [-4.07262678e-04 -1.29991153e-06 9.99999917e-01 -1.67140445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:43.36, Z:-1.67 [[ 6.49658379e-01 -7.60226144e-01 4.47427047e-04 1.17480048e+02] [ 7.60225961e-01 6.49658533e-01 5.27484703e-04 4.33613646e+01] [-6.91682462e-04 -2.53920035e-06 9.99999761e-01 -1.67134379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:43.38, Z:-1.67 [[ 6.48519020e-01 -7.61198308e-01 4.66193866e-04 1.17500762e+02] [ 7.61198109e-01 6.48519187e-01 5.50071272e-04 4.33807368e+01] [-7.21048989e-04 -1.86579249e-06 9.99999740e-01 -1.67107086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:43.40, Z:-1.67 [[ 6.47312837e-01 -7.62224027e-01 7.89233267e-04 1.17521984e+02] [ 7.62223455e-01 6.47313318e-01 9.34080981e-04 4.34001191e+01] [-1.22286017e-03 -3.07050199e-06 9.99999252e-01 -1.67094583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:43.42, Z:-1.67 [[ 6.46041415e-01 -7.63301496e-01 1.14710288e-03 1.17542167e+02] [ 7.63300283e-01 6.46042433e-01 1.36110712e-03 4.34187925e+01] [-1.78001223e-03 -3.74761624e-06 9.99998416e-01 -1.67062652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:43.44, Z:-1.67 [[ 6.44716406e-01 -7.64420402e-01 1.48458720e-03 1.17562713e+02] [ 7.64418373e-01 6.44718115e-01 1.76160203e-03 4.34379402e+01] [-2.30374480e-03 -8.87996813e-07 9.99997346e-01 -1.67111348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:43.45, Z:-1.67 [[ 6.41642999e-01 -7.67001600e-01 1.67540764e-03 1.17585321e+02] [ 7.66999018e-01 6.41645187e-01 1.99030861e-03 4.34546436e+01] [-2.60158713e-03 7.96842600e-06 9.99996616e-01 -1.67201964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:43.47, Z:-1.67 [[ 6.39557460e-01 -7.68741937e-01 1.44548273e-03 1.17606188e+02] [ 7.68740020e-01 6.39559093e-01 1.71678524e-03 4.34736402e+01] [-2.24423643e-03 1.32176146e-05 9.99997482e-01 -1.67201154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:43.49, Z:-1.67 [[ 6.37591678e-01 -7.70373075e-01 1.47527681e-03 1.17627052e+02] [ 7.70371080e-01 6.37593385e-01 1.75345915e-03 4.34919669e+01] [-2.29144446e-03 1.85196272e-05 9.99997374e-01 -1.67214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:43.51, Z:-1.67 [[ 6.35286843e-01 -7.72275155e-01 1.30832120e-03 1.17648249e+02] [ 7.72273589e-01 6.35288190e-01 1.55522137e-03 4.35110117e+01] [-2.03221983e-03 2.23702360e-05 9.99997935e-01 -1.67181263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:43.53, Z:-1.67 [[ 6.30542443e-01 -7.76154640e-01 4.50024001e-04 1.17671350e+02] [ 7.76154457e-01 6.30542603e-01 5.33386664e-04 4.35265655e+01] [-6.97749839e-04 1.29652047e-05 9.99999756e-01 -1.67192832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:43.54, Z:-1.67 [[ 6.27863017e-01 -7.78323852e-01 1.16633073e-04 1.17691692e+02] [ 7.78323840e-01 6.27863028e-01 1.36181877e-04 4.35448426e+01] [-1.79223198e-04 5.27473684e-06 9.99999984e-01 -1.67216661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:43.56, Z:-1.67 [[ 6.24687419e-01 -7.80874909e-01 7.65282087e-05 1.17712264e+02] [ 7.80874904e-01 6.24687423e-01 8.80783358e-05 4.35638212e+01] [-1.16584372e-04 4.73752937e-06 9.99999993e-01 -1.67250946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:43.58, Z:-1.67 [[ 6.21514039e-01 -7.83402977e-01 -2.74961957e-04 1.17733137e+02] [ 7.83402907e-01 6.21514100e-01 -3.31450499e-04 4.35831550e+01] [ 4.30552040e-04 -9.40485760e-06 9.99999907e-01 -1.67273523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:43.60, Z:-1.67 [[ 6.14516605e-01 -7.88903608e-01 -6.62959932e-04 1.17756012e+02] [ 7.88903208e-01 6.14516962e-01 -7.94662418e-04 4.35989608e+01] [ 1.03431217e-03 -3.46779662e-05 9.99999464e-01 -1.67270971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:43.62, Z:-1.67 [[ 6.12678651e-01 -7.90332117e-01 -1.26435236e-04 1.17774881e+02] [ 7.90332102e-01 6.12678664e-01 -1.54236366e-04 4.36197423e+01] [ 1.99362125e-04 -5.42849740e-06 9.99999980e-01 -1.67223398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:43.64, Z:-1.67 [[ 6.11700322e-01 -7.91089213e-01 7.57274451e-04 1.17792439e+02] [ 7.91088700e-01 6.11700789e-01 9.02208888e-04 4.36412610e+01] [-1.17695310e-03 4.71897935e-05 9.99999306e-01 -1.67271623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:43.66, Z:-1.67 [[ 6.10737761e-01 -7.91832727e-01 5.65373964e-04 1.17809982e+02] [ 7.91832442e-01 6.10738021e-01 6.73425012e-04 4.36617750e+01] [-8.78535340e-04 3.63953626e-05 9.99999613e-01 -1.67240269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:43.68, Z:-1.67 [[ 6.09099554e-01 -7.93093536e-01 6.14411626e-04 1.17827019e+02] [ 7.93093198e-01 6.09099862e-01 7.33049760e-04 4.36826514e+01] [-9.55615063e-04 4.07854000e-05 9.99999543e-01 -1.67251986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49762800000002 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:117.84, Y:43.71, Z:-1.68 [[ 6.07643111e-01 -7.94205360e-01 2.77398795e-03 1.17843899e+02] [ 7.94209306e-01 6.07633463e-01 -3.62668778e-03 4.37068631e+01] [ 1.19476697e-03 4.40685889e-03 9.99989576e-01 -1.67635261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:43.73, Z:-1.67 [[ 6.06830257e-01 -7.94826974e-01 -2.66861413e-03 1.17863392e+02] [ 7.94830287e-01 6.06820193e-01 3.75081865e-03 4.37260603e+01] [-1.36188290e-03 -4.39720559e-03 9.99989405e-01 -1.67113018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:43.75, Z:-1.67 [[ 6.05281966e-01 -7.96010819e-01 7.19663383e-04 1.17879541e+02] [ 7.96010358e-01 6.05282391e-01 8.58831119e-04 4.37491305e+01] [-1.11923844e-03 5.30245191e-05 9.99999372e-01 -1.67337501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:43.77, Z:-1.67 [[ 6.02272963e-01 -7.98290025e-01 5.61208392e-04 1.17895039e+02] [ 7.98289744e-01 6.02273223e-01 6.70725912e-04 4.37718970e+01] [-8.73434592e-04 4.40468209e-05 9.99999618e-01 -1.67430210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:43.79, Z:-1.68 [[ 6.00671137e-01 -7.99495846e-01 7.60097677e-04 1.17911268e+02] [ 7.99495332e-01 6.00671615e-01 9.08089783e-04 4.37945084e+01] [-1.18258311e-03 6.22312226e-05 9.99999299e-01 -1.67524040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:43.82, Z:-1.68 [[ 5.99438138e-01 -8.00420826e-01 6.48530792e-04 1.17927139e+02] [ 8.00420452e-01 5.99438486e-01 7.76086922e-04 4.38169721e+01] [-1.00995045e-03 5.38812101e-05 9.99999489e-01 -1.67548401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:43.84, Z:-1.68 [[ 5.98937577e-01 -8.00795120e-01 9.77467099e-04 1.17942203e+02] [ 8.00794269e-01 5.98938369e-01 1.16980852e-03 4.38403794e+01] [-1.52221950e-03 8.21077714e-05 9.99998838e-01 -1.67582119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:43.86, Z:-1.67 [[ 5.99535565e-01 -8.00347526e-01 9.71632340e-04 1.17959068e+02] [ 8.00346684e-01 5.99536347e-01 1.16347082e-03 4.38624009e+01] [-1.51370990e-03 8.01005846e-05 9.99998851e-01 -1.67498762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:43.88, Z:-1.67 [[ 6.00803808e-01 -7.99395671e-01 1.16030913e-03 1.17975273e+02] [ 7.99394464e-01 6.00804921e-01 1.39205019e-03 4.38836693e+01] [-1.80991833e-03 9.11956417e-05 9.99998358e-01 -1.67448760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:43.91, Z:-1.67 [[ 6.02070669e-01 -7.98442104e-01 1.05615436e-03 1.17992049e+02] [ 7.98441105e-01 6.02071590e-01 1.26611782e-03 4.39062267e+01] [-1.64680231e-03 8.09846490e-05 9.99998641e-01 -1.67451388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:43.93, Z:-1.68 [[ 6.05285876e-01 -7.96007278e-01 1.19252828e-03 1.18005882e+02] [ 7.96005994e-01 6.05287045e-01 1.43202984e-03 4.39302992e+01] [-1.86172809e-03 8.24722274e-05 9.99998264e-01 -1.67602222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:43.95, Z:-1.68 [[ 6.06175707e-01 -7.95329496e-01 1.41614920e-03 1.18021449e+02] [ 7.95327684e-01 6.06177354e-01 1.70039401e-03 4.39534983e+01] [-2.21081109e-03 9.55651226e-05 9.99997552e-01 -1.67725787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:43.98, Z:-1.68 [[ 6.06036639e-01 -7.95435472e-01 1.41522025e-03 1.18039648e+02] [ 7.95433658e-01 6.06038284e-01 1.70116624e-03 4.39755148e+01] [-2.21084562e-03 9.47447532e-05 9.99997552e-01 -1.67747867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:44.00, Z:-1.68 [[ 6.06362622e-01 -7.95186625e-01 1.61299983e-03 1.18055755e+02] [ 7.95184268e-01 6.06364758e-01 1.93903177e-03 4.39983502e+01] [-2.51995837e-03 1.06875699e-04 9.99996819e-01 -1.67845468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:44.02, Z:-1.68 [[ 6.06053444e-01 -7.95422180e-01 1.66712445e-03 1.18072493e+02] [ 7.95419660e-01 6.06055726e-01 2.00536432e-03 4.40209287e+01] [-2.60548158e-03 1.10705606e-04 9.99996600e-01 -1.67889007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:44.04, Z:-1.68 [[ 6.05976714e-01 -7.95481390e-01 1.25691087e-03 1.18089554e+02] [ 7.95479956e-01 6.05978012e-01 1.51275816e-03 4.40420527e+01] [-1.96503131e-03 8.31511828e-05 9.99998066e-01 -1.67842946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:44.06, Z:-1.68 [[ 6.06046249e-01 -7.95428887e-01 9.11115276e-04 1.18107209e+02] [ 7.95428135e-01 6.06046931e-01 1.09540425e-03 4.40641842e+01] [-1.42349480e-03 6.08610870e-05 9.99998985e-01 -1.67828602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:44.09, Z:-1.68 [[ 6.06354814e-01 -7.95193902e-01 7.04955069e-04 1.18124232e+02] [ 7.95193452e-01 6.06355222e-01 8.47266778e-04 4.40863373e+01] [-1.10119456e-03 4.68313653e-05 9.99999393e-01 -1.67851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:44.11, Z:-1.68 [[ 6.08505654e-01 -7.93549446e-01 3.82234342e-04 1.18139773e+02] [ 7.93549314e-01 6.08505773e-01 4.59103791e-04 4.41089516e+01] [-5.96913363e-04 2.39545470e-05 9.99999822e-01 -1.67960857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:44.13, Z:-1.68 [[ 6.09542210e-01 -7.92753521e-01 3.86535413e-04 1.18156693e+02] [ 7.92753386e-01 6.09542332e-01 4.63476211e-04 4.41319208e+01] [-6.03032095e-04 2.39189438e-05 9.99999818e-01 -1.68027156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:44.15, Z:-1.68 [[ 6.10865201e-01 -7.91734507e-01 4.19774309e-04 1.18173088e+02] [ 7.91734346e-01 6.10865345e-01 5.05327494e-04 4.41537694e+01] [-6.56510793e-04 2.36627568e-05 9.99999784e-01 -1.68075182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:44.18, Z:-1.68 [[ 6.13308239e-01 -7.89843649e-01 1.20128419e-04 1.18189920e+02] [ 7.89843636e-01 6.13308251e-01 1.41725597e-04 4.41764983e+01] [-1.85616813e-04 7.96119069e-06 9.99999983e-01 -1.68115976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:44.20, Z:-1.68 [[ 6.14647145e-01 -7.88802183e-01 -6.38641469e-05 1.18206881e+02] [ 7.88802179e-01 6.14647148e-01 -7.91853172e-05 4.41976814e+01] [ 1.01715467e-04 -1.70514909e-06 9.99999995e-01 -1.68133915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:44.22, Z:-1.68 [[ 6.16057725e-01 -7.87700898e-01 -4.17837042e-04 1.18223798e+02] [ 7.87700735e-01 6.16057866e-01 -5.07407791e-04 4.42192320e+01] [ 6.57097369e-04 -1.65380554e-05 9.99999784e-01 -1.68129127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:44.24, Z:-1.68 [[ 6.19566031e-01 -7.84943967e-01 -9.50253784e-04 1.18240217e+02] [ 7.84943119e-01 6.19566759e-01 -1.15372563e-03 4.42417128e+01] [ 1.49435563e-03 -3.10859637e-05 9.99998883e-01 -1.68196999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:44.26, Z:-1.68 [[ 6.21218193e-01 -7.83637067e-01 -9.50772681e-04 1.18257726e+02] [ 7.83636216e-01 6.21218920e-01 -1.15500488e-03 4.42639676e+01] [ 1.49574261e-03 -2.75498643e-05 9.99998881e-01 -1.68239619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:44.29, Z:-1.68 [[ 6.22787887e-01 -7.82390274e-01 -8.41418610e-04 1.18275207e+02] [ 7.82389605e-01 6.22788455e-01 -1.02311943e-03 4.42856210e+01] [ 1.32450448e-03 -2.11307880e-05 9.99999123e-01 -1.68246016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:44.31, Z:-1.68 [[ 6.24087339e-01 -7.81354428e-01 -5.01087558e-04 1.18292936e+02] [ 7.81354189e-01 6.24087540e-01 -6.11053176e-04 4.43069033e+01] [ 7.90171606e-04 -1.01763119e-05 9.99999688e-01 -1.68228059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:44.33, Z:-1.68 [[ 6.25050663e-01 -7.80584130e-01 2.91318430e-04 1.18310290e+02] [ 7.80584051e-01 6.25050731e-01 3.51466772e-04 4.43279382e+01] [-4.56438182e-04 7.71398165e-06 9.99999896e-01 -1.68217858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:44.35, Z:-1.68 [[ 6.26609115e-01 -7.79333007e-01 1.03998670e-03 1.18328851e+02] [ 7.79331991e-01 6.26609977e-01 1.25878672e-03 4.43489833e+01] [-1.63268008e-03 2.17276682e-05 9.99998667e-01 -1.68146650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:44.37, Z:-1.68 [[ 6.26658021e-01 -7.79293737e-01 9.98091491e-04 1.18346988e+02] [ 7.79292800e-01 6.26658816e-01 1.20861943e-03 4.43702835e+01] [-1.56733238e-03 2.04144537e-05 9.99998772e-01 -1.68190722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:44.39, Z:-1.68 [[ 6.26574691e-01 -7.79360671e-01 1.04927769e-03 1.18364599e+02] [ 7.79359632e-01 6.26575569e-01 1.27271999e-03 4.43912158e+01] [-1.64935967e-03 2.03105334e-05 9.99998640e-01 -1.68302406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:44.41, Z:-1.68 [[ 6.26141179e-01 -7.79709444e-01 6.38214327e-04 1.18382502e+02] [ 7.79709062e-01 6.26141504e-01 7.72309892e-04 4.44122951e+01] [-1.00178980e-03 1.40464676e-05 9.99999498e-01 -1.68380432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.487628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:118.40, Y:44.43, Z:-1.69 [[ 6.24898215e-01 -7.80706219e-01 1.42636113e-04 1.18401073e+02] [ 7.80706201e-01 6.24898231e-01 1.70083416e-04 4.44333453e+01] [-2.21918235e-04 5.07207465e-06 9.99999975e-01 -1.68600905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:44.45, Z:-1.68 [[ 6.23889231e-01 -7.81512386e-01 7.86140266e-04 1.18420628e+02] [ 7.81511805e-01 6.23889726e-01 9.53210137e-04 4.44540288e+01] [-1.23541036e-03 1.96803576e-05 9.99999237e-01 -1.68424994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:44.47, Z:-1.68 [[ 6.20015211e-01 -7.84588110e-01 1.62360319e-03 1.18440961e+02] [ 7.84585629e-01 6.20017335e-01 1.97358533e-03 4.44719616e+01] [-2.55511371e-03 5.02028035e-05 9.99996734e-01 -1.68344618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:44.49, Z:-1.68 [[ 6.17612334e-01 -7.86479332e-01 2.29465771e-03 1.18459887e+02] [ 7.86474380e-01 6.17616592e-01 2.79197544e-03 4.44919285e+01] [-3.61304965e-03 8.03310331e-05 9.99993470e-01 -1.68348942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:44.51, Z:-1.68 [[ 6.15031714e-01 -7.88497180e-01 2.86138973e-03 1.18478918e+02] [ 7.88489492e-01 6.15038360e-01 3.48382963e-03 4.45125838e+01] [-4.50685429e-03 1.13510024e-04 9.99989838e-01 -1.68369922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:44.53, Z:-1.68 [[ 6.10231756e-01 -7.92216057e-01 3.30499822e-03 1.18499285e+02] [ 7.92205840e-01 6.10240684e-01 4.02668541e-03 4.45320656e+01] [-5.20684921e-03 1.61027584e-04 9.99986431e-01 -1.68387664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:44.55, Z:-1.68 [[ 6.08075374e-01 -7.93872276e-01 3.33894944e-03 1.18518405e+02] [ 7.93861860e-01 6.08084516e-01 4.07043355e-03 4.45524845e+01] [-5.26176780e-03 1.75534211e-04 9.99986141e-01 -1.68430580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:44.57, Z:-1.68 [[ 6.06520396e-01 -7.95060869e-01 3.35019910e-03 1.18537140e+02] [ 7.95050385e-01 6.06529621e-01 4.08706287e-03 4.45722289e+01] [-5.28145874e-03 1.84690092e-04 9.99986036e-01 -1.68455783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:44.59, Z:-1.68 [[ 6.04432800e-01 -7.96650620e-01 2.96304127e-03 1.18557508e+02] [ 7.96642437e-01 6.04440038e-01 3.61507148e-03 4.45913839e+01] [-4.67092971e-03 1.75416639e-04 9.99989076e-01 -1.68439766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:44.61, Z:-1.68 [[ 6.03870182e-01 -7.97077917e-01 2.75648776e-03 1.18576458e+02] [ 7.97070832e-01 6.03876450e-01 3.36480651e-03 4.46122211e+01] [-4.34659101e-03 1.65209677e-04 9.99990540e-01 -1.68418964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:44.63, Z:-1.68 [[ 6.03404286e-01 -7.97430238e-01 2.87815760e-03 1.18594141e+02] [ 7.97422504e-01 6.03411125e-01 3.51617039e-03 4.46322017e+01] [-4.54061290e-03 1.73435360e-04 9.99989676e-01 -1.68438337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:44.65, Z:-1.68 [[ 6.03108365e-01 -7.97653706e-01 2.97734548e-03 1.18612787e+02] [ 7.97645431e-01 6.03115687e-01 3.63795913e-03 4.46537839e+01] [-4.69751535e-03 1.80782436e-04 9.99988950e-01 -1.68441030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:44.67, Z:-1.69 [[ 6.03208891e-01 -7.97576175e-01 3.35833772e-03 1.18629934e+02] [ 7.97565627e-01 6.03218206e-01 4.10682584e-03 4.46741660e+01] [-5.30131690e-03 2.01220876e-04 9.99985928e-01 -1.68548596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:44.70, Z:-1.69 [[ 6.03097577e-01 -7.97660085e-01 3.42061433e-03 1.18648288e+02] [ 7.97649139e-01 6.03107243e-01 4.18391666e-03 4.46959770e+01] [-5.40034060e-03 2.05140075e-04 9.99985397e-01 -1.68584697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:44.72, Z:-1.69 [[ 6.03037722e-01 -7.97704590e-01 3.59062084e-03 1.18666195e+02] [ 7.97692514e-01 6.03048373e-01 4.39462793e-03 4.47167708e+01] [-5.67093293e-03 2.14084949e-04 9.99983897e-01 -1.68618510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:44.74, Z:-1.69 [[ 6.02401118e-01 -7.98189049e-01 2.67134357e-03 1.18685096e+02] [ 7.98182366e-01 6.02407019e-01 3.27021175e-03 4.47381487e+01] [-4.21948332e-03 1.62240120e-04 9.99991085e-01 -1.68625221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:44.76, Z:-1.69 [[ 6.01659040e-01 -7.98749394e-01 2.40933645e-03 1.18702531e+02] [ 7.98743957e-01 6.01663846e-01 2.95084457e-03 4.47595560e+01] [-3.80659595e-03 1.49040620e-04 9.99992744e-01 -1.68723923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:44.78, Z:-1.69 [[ 6.00909304e-01 -7.99315211e-01 1.78905990e-03 1.18720301e+02] [ 7.99312215e-01 6.00911957e-01 2.19147966e-03 4.47814169e+01] [-2.82675051e-03 1.13136910e-04 9.99995998e-01 -1.68762053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:44.80, Z:-1.69 [[ 6.00342050e-01 -7.99742040e-01 1.44684578e-03 1.18737645e+02] [ 7.99740078e-01 6.00343786e-01 1.77377496e-03 4.48026413e+01] [-2.28716728e-03 9.22288662e-05 9.99997380e-01 -1.68863177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:44.82, Z:-1.69 [[ 6.00128807e-01 -7.99902342e-01 1.28759237e-03 1.18755377e+02] [ 7.99900791e-01 6.00130183e-01 1.57772154e-03 4.48245102e+01] [-2.03474619e-03 8.31100082e-05 9.99997926e-01 -1.68891926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:44.85, Z:-1.69 [[ 5.99388014e-01 -8.00457297e-01 1.45758632e-03 1.18772446e+02] [ 8.00455306e-01 5.99389778e-01 1.78775320e-03 4.48455138e+01] [-2.30468244e-03 9.51748652e-05 9.99997340e-01 -1.68896065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:44.87, Z:-1.69 [[ 5.98729061e-01 -8.00949137e-01 1.99778539e-03 1.18790158e+02] [ 8.00945393e-01 5.98732380e-01 2.45255772e-03 4.48673722e+01] [-3.16051279e-03 1.31699421e-04 9.99994997e-01 -1.68902104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:44.89, Z:-1.69 [[ 5.98056670e-01 -8.01448754e-01 2.84847088e-03 1.18806391e+02] [ 8.01441132e-01 5.98063424e-01 3.50047552e-03 4.48886950e+01] [-4.50901799e-03 1.89398993e-04 9.99989816e-01 -1.68913281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:44.91, Z:-1.69 [[ 5.97851318e-01 -8.01601954e-01 2.84761906e-03 1.18824372e+02] [ 8.01594330e-01 5.97858070e-01 3.50116821e-03 4.49109318e+01] [-4.50901531e-03 1.89457266e-04 9.99989816e-01 -1.68935394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:44.93, Z:-1.69 [[ 5.97681954e-01 -8.01726770e-01 3.23544917e-03 1.18841860e+02] [ 8.01716918e-01 5.97690672e-01 3.98041674e-03 4.49328667e+01] [-5.12500444e-03 2.14891085e-04 9.99986844e-01 -1.68975646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:44.95, Z:-1.69 [[ 5.98070119e-01 -8.01436613e-01 3.38948661e-03 1.18859226e+02] [ 8.01425782e-01 5.98079682e-01 4.17247217e-03 4.49544016e+01] [-5.37115504e-03 2.20991027e-04 9.99985551e-01 -1.68915613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:44.98, Z:-1.69 [[ 6.00943249e-01 -7.99284163e-01 3.46962289e-03 1.18876378e+02] [ 7.99272764e-01 6.00953230e-01 4.27368745e-03 4.49762251e+01] [-5.50097178e-03 2.04931459e-04 9.99984849e-01 -1.68828207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:45.00, Z:-1.69 [[ 6.03072833e-01 -7.97678606e-01 3.46401627e-03 1.18893458e+02] [ 7.97667203e-01 6.03082752e-01 4.26926913e-03 4.49985461e+01] [-5.49459311e-03 1.88451936e-04 9.99984887e-01 -1.68832600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:45.02, Z:-1.69 [[ 6.05742207e-01 -7.95654943e-01 3.09687836e-03 1.18910029e+02] [ 7.95645792e-01 6.05750104e-01 3.81905423e-03 4.50205116e+01] [-4.91458377e-03 1.50655893e-04 9.99987912e-01 -1.68817053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:45.04, Z:-1.69 [[ 6.08719808e-01 -7.93381089e-01 2.57727761e-03 1.18926809e+02] [ 7.93374729e-01 6.08725254e-01 3.17864132e-03 4.50428075e+01] [-4.09072788e-03 1.09844986e-04 9.99991627e-01 -1.68799971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:45.07, Z:-1.71 [[ 6.10397682e-01 -7.91814981e-01 2.10643036e-02 1.18925961e+02] [ 7.92041099e-01 6.10450758e-01 -4.55726095e-03 4.50708935e+01] [-9.25021263e-03 1.94655357e-02 9.99767736e-01 -1.70690423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:45.08, Z:-1.68 [[ 6.18538540e-01 -7.85628859e-01 -1.40488297e-02 1.18966430e+02] [ 7.85751659e-01 6.18389704e-01 1.37297241e-02 4.50835277e+01] [-2.09881583e-03 -1.95312548e-02 9.99807044e-01 -1.68067103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:45.11, Z:-1.69 [[ 6.20938167e-01 -7.83859388e-01 5.02878335e-04 1.18976908e+02] [ 7.83859145e-01 6.20938370e-01 6.17991854e-04 4.51106759e+01] [-7.96675170e-04 1.04510528e-05 9.99999683e-01 -1.68972606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:45.13, Z:-1.69 [[ 6.24107716e-01 -7.81338226e-01 -3.68193872e-04 1.18993501e+02] [ 7.81338092e-01 6.24107824e-01 -4.58184850e-04 4.51318288e+01] [ 5.87790014e-04 -1.72719748e-06 9.99999827e-01 -1.69015725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:45.15, Z:-1.69 [[ 6.24948375e-01 -7.80665676e-01 -7.93527430e-04 1.19011091e+02] [ 7.80665055e-01 6.24948879e-01 -9.84814540e-04 4.51537135e+01] [ 1.26472499e-03 -4.02088858e-06 9.99999200e-01 -1.69045844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:45.18, Z:-1.69 [[ 6.25217035e-01 -7.80449759e-01 -1.35392639e-03 1.19028558e+02] [ 7.80447953e-01 6.25218500e-01 -1.67890901e-03 4.51752806e+01] [ 2.15680396e-03 -6.98656580e-06 9.99997674e-01 -1.69113426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:45.20, Z:-1.69 [[ 6.25124788e-01 -7.80522803e-01 -1.77601776e-03 1.19047042e+02] [ 7.80519695e-01 6.25127311e-01 -2.20261363e-03 4.51968432e+01] [ 2.82942737e-03 -9.30846550e-06 9.99995997e-01 -1.69144316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:45.22, Z:-1.69 [[ 6.24464176e-01 -7.81051129e-01 -1.90421978e-03 1.19064759e+02] [ 7.81047560e-01 6.24467080e-01 -2.36121289e-03 4.52171616e+01] [ 3.03335056e-03 -1.27933511e-05 9.99995399e-01 -1.69131897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:45.24, Z:-1.69 [[ 6.23126412e-01 -7.82119616e-01 -1.54266850e-03 1.19084810e+02] [ 7.82117271e-01 6.23128322e-01 -1.91547182e-03 4.52366352e+01] [ 2.45940852e-03 -1.29665924e-05 9.99996976e-01 -1.69068245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:45.26, Z:-1.69 [[ 6.22258161e-01 -7.82810929e-01 -1.35302519e-03 1.19103831e+02] [ 7.82809124e-01 6.22259631e-01 -1.68136792e-03 4.52579930e+01] [ 2.15812614e-03 -1.29155563e-05 9.99997671e-01 -1.69049525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:45.28, Z:-1.69 [[ 6.21666852e-01 -7.83281182e-01 -9.56396369e-04 1.19122466e+02] [ 7.83280278e-01 6.21667588e-01 -1.19019614e-03 4.52790376e+01] [ 1.52681886e-03 -9.22092656e-06 9.99998834e-01 -1.69060385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:45.30, Z:-1.69 [[ 6.20988878e-01 -7.83819231e-01 -4.76238846e-04 1.19141013e+02] [ 7.83819005e-01 6.20989061e-01 -5.94727673e-04 4.53003367e+01] [ 7.61898100e-04 -3.96578804e-06 9.99999710e-01 -1.69124043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:45.32, Z:-1.69 [[ 6.20100170e-01 -7.84522598e-01 2.68073730e-04 1.19159810e+02] [ 7.84522528e-01 6.20100228e-01 3.31081668e-04 4.53193939e+01] [-4.25973631e-04 5.00608213e-06 9.99999909e-01 -1.69167716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:45.34, Z:-1.69 [[ 6.19893395e-01 -7.84685993e-01 2.68606313e-04 1.19177690e+02] [ 7.84685923e-01 6.19893453e-01 3.30653190e-04 4.53417189e+01] [-4.25966222e-04 5.80186439e-06 9.99999909e-01 -1.69189099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:45.36, Z:-1.69 [[ 6.19274434e-01 -7.85174093e-01 9.04760086e-04 1.19196769e+02] [ 7.85173292e-01 6.19275095e-01 1.12164496e-03 4.53630645e+01] [-1.44098196e-03 1.57874046e-05 9.99998962e-01 -1.69235804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:45.38, Z:-1.69 [[ 6.18796588e-01 -7.85550835e-01 8.17288115e-04 1.19214953e+02] [ 7.85550181e-01 6.18797127e-01 1.01375313e-03 4.53831160e+01] [-1.30209015e-03 1.47138512e-05 9.99999152e-01 -1.69189325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:45.40, Z:-1.69 [[ 6.18202173e-01 -7.86019130e-01 -2.33374323e-05 1.19233866e+02] [ 7.86019129e-01 6.18202174e-01 -3.23884045e-05 4.54041474e+01] [ 3.98851568e-05 1.67891382e-06 9.99999999e-01 -1.69198869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89762800000003 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:119.25, Y:45.42, Z:-1.69 [[ 6.17877904e-01 -7.86271063e-01 -2.17080168e-03 1.19253087e+02] [ 7.86266403e-01 6.17881716e-01 -2.70707278e-03 4.54243531e+01] [ 3.46979166e-03 -3.41879704e-05 9.99993980e-01 -1.69449958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:45.45, Z:-1.69 [[ 6.19700875e-01 -7.84834512e-01 -2.36964753e-03 1.19269452e+02] [ 7.84828946e-01 6.19705405e-01 -2.95590609e-03 4.54460804e+01] [ 3.78838049e-03 -2.79903811e-05 9.99992824e-01 -1.69310365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:45.47, Z:-1.69 [[ 6.21133026e-01 -7.83699044e-01 -3.09407270e-03 1.19286302e+02] [ 7.83689533e-01 6.21140732e-01 -3.86104478e-03 4.54687214e+01] [ 4.94775168e-03 -2.65699636e-05 9.99987759e-01 -1.69364281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:45.49, Z:-1.69 [[ 6.23151597e-01 -7.82088588e-01 -4.41903547e-03 1.19302469e+02] [ 7.82069140e-01 6.23167265e-01 -5.51547016e-03 4.54907973e+01] [ 7.06738452e-03 -1.90172346e-05 9.99975026e-01 -1.69409905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:45.51, Z:-1.69 [[ 6.23381333e-01 -7.81901215e-01 -5.11897337e-03 1.19318983e+02] [ 7.81875089e-01 6.23402350e-01 -6.39175880e-03 4.55118033e+01] [ 8.18890400e-03 -1.78946427e-05 9.99966470e-01 -1.69388758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:45.53, Z:-1.69 [[ 6.23060566e-01 -7.82154052e-01 -5.52898029e-03 1.19336457e+02] [ 7.82123546e-01 6.23085097e-01 -6.90795792e-03 4.55336645e+01] [ 8.84811250e-03 -2.02695011e-05 9.99960854e-01 -1.69420104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:45.55, Z:-1.69 [[ 6.22085819e-01 -7.82927885e-01 -5.75845697e-03 1.19353559e+02] [ 7.82894798e-01 6.22112470e-01 -7.19790863e-03 4.55549675e+01] [ 9.21785127e-03 -3.05491173e-05 9.99957514e-01 -1.69407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.107628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:119.37, Y:45.58, Z:-1.70 [[ 6.19046428e-01 -7.85342118e-01 -4.39056399e-03 1.19371745e+02] [ 7.85322914e-01 6.19061996e-01 -5.49228901e-03 4.55762122e+01] [ 7.03135719e-03 -4.80286119e-05 9.99975279e-01 -1.69625365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:45.60, Z:-1.69 [[ 6.17608729e-01 -7.86478075e-01 -3.41985938e-03 1.19389420e+02] [ 7.86466424e-01 6.17618195e-01 -4.28119781e-03 4.55976245e+01] [ 5.47923559e-03 -4.54994398e-05 9.99984988e-01 -1.69196538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:45.62, Z:-1.69 [[ 6.15639285e-01 -7.88024625e-01 -2.33692696e-03 1.19407073e+02] [ 7.88019185e-01 6.15643719e-01 -2.92828589e-03 4.56195788e+01] [ 3.74627579e-03 -3.87754513e-05 9.99992982e-01 -1.69115936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:45.64, Z:-1.69 [[ 6.13911600e-01 -7.89373507e-01 -1.41900962e-03 1.19423732e+02] [ 7.89371501e-01 6.13913240e-01 -1.77999375e-03 4.56404675e+01] [ 2.27622870e-03 -2.73669454e-05 9.99997409e-01 -1.69060101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:45.66, Z:-1.69 [[ 6.11371413e-01 -7.91343789e-01 6.25952517e-05 1.19441398e+02] [ 7.91343785e-01 6.11371416e-01 7.50081946e-05 4.56621511e+01] [-9.76262167e-05 3.67649748e-06 9.99999995e-01 -1.68975715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:45.68, Z:-1.69 [[ 6.10471838e-01 -7.92037894e-01 3.31594245e-04 1.19458332e+02] [ 7.92037787e-01 6.10471928e-01 4.12626508e-04 4.56838772e+01] [-5.29244808e-04 1.07383094e-05 9.99999860e-01 -1.68972397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:45.71, Z:-1.69 [[ 6.10247600e-01 -7.92210577e-01 5.18184699e-04 1.19475467e+02] [ 7.92210313e-01 6.10247820e-01 6.46623233e-04 4.57059773e+01] [-8.28482847e-04 1.59109868e-05 9.99999657e-01 -1.69041447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:45.73, Z:-1.69 [[ 6.10255837e-01 -7.92204178e-01 5.95154164e-04 1.19492455e+02] [ 7.92203829e-01 6.10256127e-01 7.43619521e-04 4.57284853e+01] [-9.52294966e-04 1.76852547e-05 9.99999546e-01 -1.69042088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:45.75, Z:-1.69 [[ 6.11801401e-01 -7.91011262e-01 4.79094353e-04 1.19507910e+02] [ 7.91011035e-01 6.11801589e-01 5.99261358e-04 4.57504918e+01] [-7.67133169e-04 1.23399813e-05 9.99999706e-01 -1.69120067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:45.77, Z:-1.69 [[ 6.12806090e-01 -7.90233315e-01 -6.71392568e-05 1.19524349e+02] [ 7.90233310e-01 6.12806093e-01 -8.77432917e-05 4.57730772e+01] [ 1.10481018e-04 7.13946363e-07 9.99999994e-01 -1.69239924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:45.80, Z:-1.69 [[ 6.13953609e-01 -7.89341957e-01 -4.90426638e-04 1.19540562e+02] [ 7.89341714e-01 6.13953805e-01 -6.19488267e-04 4.57950636e+01] [ 7.90087381e-04 -6.77714550e-06 9.99999688e-01 -1.69328849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:45.82, Z:-1.69 [[ 6.16159087e-01 -7.87619722e-01 -1.77562068e-03 1.19557690e+02] [ 7.87616547e-01 6.16161645e-01 -2.23650228e-03 4.58179251e+01] [ 2.85558266e-03 -2.04670245e-05 9.99995923e-01 -1.69335555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:45.84, Z:-1.69 [[ 6.17098067e-01 -7.86883449e-01 -2.10076046e-03 1.19574137e+02] [ 7.86878999e-01 6.17101643e-01 -2.64643624e-03 4.58394165e+01] [ 3.37881961e-03 -1.99335948e-05 9.99994292e-01 -1.69350002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:45.86, Z:-1.69 [[ 6.17989306e-01 -7.86183243e-01 -2.26412716e-03 1.19590700e+02] [ 7.86178063e-01 6.17993454e-01 -2.85377687e-03 4.58615489e+01] [ 3.64280732e-03 -1.64035122e-05 9.99993365e-01 -1.69413322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:119.61, Y:45.88, Z:-1.70 [[ 6.19348599e-01 -7.85111640e-01 -2.65071772e-03 1.19607271e+02] [ 7.85104525e-01 6.19354271e-01 -3.34242696e-03 4.58848685e+01] [ 4.26591166e-03 -1.09630256e-05 9.99990901e-01 -1.69813251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:45.91, Z:-1.70 [[ 6.19888252e-01 -7.84686957e-01 -2.22148222e-03 1.19624733e+02] [ 7.84681949e-01 6.19892233e-01 -2.80324922e-03 4.59071475e+01] [ 3.57675267e-03 -5.45574311e-06 9.99993603e-01 -1.69530998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:45.93, Z:-1.70 [[ 6.19929828e-01 -7.84655215e-01 -1.78945226e-03 1.19641528e+02] [ 7.84651961e-01 6.19932411e-01 -2.25950685e-03 4.59282184e+01] [ 2.88227329e-03 -3.36152965e-06 9.99995846e-01 -1.69532561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:45.95, Z:-1.70 [[ 6.19834441e-01 -7.84731730e-01 -1.17376435e-03 1.19659237e+02] [ 7.84730327e-01 6.19835552e-01 -1.48432835e-03 4.59501117e+01] [ 1.89234043e-03 -1.05064402e-06 9.99998210e-01 -1.69510542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:45.97, Z:-1.69 [[ 6.19594470e-01 -7.84922038e-01 -2.93772766e-04 1.19676780e+02] [ 7.84921950e-01 6.19594540e-01 -3.73073829e-04 4.59701808e+01] [ 4.74853872e-04 5.65789233e-07 9.99999887e-01 -1.69456576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:45.99, Z:-1.69 [[ 6.19077376e-01 -7.85329983e-01 1.42185454e-04 1.19695228e+02] [ 7.85329963e-01 6.19077392e-01 1.76323922e-04 4.59910143e+01] [-2.26496263e-04 2.50434658e-06 9.99999974e-01 -1.69458472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:46.01, Z:-1.69 [[ 6.18986064e-01 -7.85401966e-01 7.10421507e-05 1.19713104e+02] [ 7.85401961e-01 6.18986068e-01 8.63741040e-05 4.60128342e+01] [-1.11812493e-04 2.33227787e-06 9.99999994e-01 -1.69459851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:46.03, Z:-1.70 [[ 6.19705704e-01 -7.84834273e-01 7.18218803e-05 1.19730626e+02] [ 7.84834268e-01 6.19705708e-01 8.77471391e-05 4.60330335e+01] [-1.13375391e-04 1.99087028e-06 9.99999994e-01 -1.69556936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:46.05, Z:-1.70 [[ 6.21546120e-01 -7.83373694e-01 -2.46499272e-03 1.19750094e+02] [ 7.83367474e-01 6.21551008e-01 -3.12158109e-03 4.60535401e+01] [ 3.97748322e-03 9.21149669e-06 9.99992090e-01 -1.69582615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:46.08, Z:-1.70 [[ 6.23690349e-01 -7.81663257e-01 -3.59169968e-03 1.19765645e+02] [ 7.81650022e-01 6.23700690e-01 -4.54884264e-03 4.60758789e+01] [ 5.79580872e-03 2.96171238e-05 9.99983204e-01 -1.69697972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:46.10, Z:-1.70 [[ 6.23493200e-01 -7.81820528e-01 -3.59050184e-03 1.19783303e+02] [ 7.81807290e-01 6.23503537e-01 -4.54978851e-03 4.60983744e+01] [ 5.79580865e-03 2.96816882e-05 9.99983204e-01 -1.69719322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:46.12, Z:-1.70 [[ 6.22864804e-01 -7.82321591e-01 -3.51619605e-03 1.19800123e+02] [ 7.82308888e-01 6.22874728e-01 -4.45837622e-03 4.61203827e+01] [ 5.67803364e-03 2.62142118e-05 9.99983879e-01 -1.69749039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:46.14, Z:-1.70 [[ 6.22666889e-01 -7.82479130e-01 -3.51516686e-03 1.19817769e+02] [ 7.82466424e-01 6.22676811e-01 -4.45918797e-03 4.61428874e+01] [ 5.67803441e-03 2.60886610e-05 9.99983879e-01 -1.69770381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:46.17, Z:-1.70 [[ 6.22468936e-01 -7.82636618e-01 -3.51403889e-03 1.19835410e+02] [ 7.82623910e-01 6.22478854e-01 -4.46007722e-03 4.61653967e+01] [ 5.67803465e-03 2.60886620e-05 9.99983879e-01 -1.69791728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:46.19, Z:-1.70 [[ 6.21218840e-01 -7.83630361e-01 -3.25737635e-03 1.19852185e+02] [ 7.83619444e-01 6.21227380e-01 -4.13647441e-03 4.61864740e+01] [ 5.26503831e-03 1.71123944e-05 9.99986139e-01 -1.69771714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:46.21, Z:-1.70 [[ 6.19139615e-01 -7.85276467e-01 -2.64712236e-03 1.19869728e+02] [ 7.85269260e-01 6.19145274e-01 -3.36430830e-03 4.62078779e+01] [ 4.28086543e-03 4.27272764e-06 9.99990837e-01 -1.69780756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:46.23, Z:-1.70 [[ 6.16464172e-01 -7.87380492e-01 -1.97119795e-03 1.19887520e+02] [ 7.87376499e-01 6.16467323e-01 -2.50762616e-03 4.62295438e+01] [ 3.18963505e-03 -6.21325624e-06 9.99994913e-01 -1.69729683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:46.25, Z:-1.70 [[ 6.13476451e-01 -7.89712259e-01 -1.09134289e-03 1.19905710e+02] [ 7.89711035e-01 6.13477422e-01 -1.39062363e-03 4.62514069e+01] [ 1.76770675e-03 -8.73067109e-06 9.99998438e-01 -1.69694291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:46.27, Z:-1.70 [[ 6.10427828e-01 -7.92071880e-01 -5.63375192e-05 1.19923651e+02] [ 7.92071877e-01 6.10427831e-01 -7.50357416e-05 4.62735855e+01] [ 9.38236904e-05 1.18054025e-06 9.99999996e-01 -1.69624400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:46.30, Z:-1.70 [[ 6.04513951e-01 -7.96593239e-01 1.44710902e-03 1.19940206e+02] [ 7.96591117e-01 6.04515682e-01 1.83895859e-03 4.62952995e+01] [-2.33970207e-03 4.10780654e-05 9.99997262e-01 -1.69555351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:46.32, Z:-1.70 [[ 6.01524558e-01 -7.98852171e-01 1.84816748e-03 1.19956596e+02] [ 7.98848716e-01 6.01527394e-01 2.35018742e-03 4.63167547e+01] [-2.98917569e-03 6.27107752e-05 9.99995530e-01 -1.69543298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:46.34, Z:-1.70 [[ 5.95747700e-01 -8.03169248e-01 1.95897740e-03 1.19972065e+02] [ 8.03165387e-01 5.95750914e-01 2.49179184e-03 4.63384700e+01] [-3.16839316e-03 8.89035806e-05 9.99994977e-01 -1.69535760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:46.36, Z:-1.70 [[ 5.90273528e-01 -8.07182187e-01 5.83769376e-03 1.19985960e+02] [ 8.07203178e-01 5.90254088e-01 -4.81056308e-03 4.63643667e+01] [ 4.37278223e-04 7.55175300e-03 9.99971389e-01 -1.69979081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:46.38, Z:-1.69 [[ 5.85948161e-01 -8.10326797e-01 -5.93595016e-03 1.20006183e+02] [ 8.10348478e-01 5.85935216e-01 3.90730544e-03 4.63840498e+01] [ 3.11887942e-04 -7.09966661e-03 9.99974748e-01 -1.69419514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:46.41, Z:-1.70 [[ 5.84237274e-01 -8.11582607e-01 -6.92239936e-04 1.20019708e+02] [ 8.11582126e-01 5.84237682e-01 -8.85342621e-04 4.64083341e+01] [ 1.12296133e-03 -4.45593997e-05 9.99999368e-01 -1.69812196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:46.43, Z:-1.70 [[ 5.84021733e-01 -8.11737727e-01 -6.91613126e-04 1.20037304e+02] [ 8.11737244e-01 5.84022141e-01 -8.85833589e-04 4.64308842e+01] [ 1.12298192e-03 -4.40620654e-05 9.99999368e-01 -1.69832317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:46.45, Z:-1.70 [[ 5.82528603e-01 -8.12809843e-01 -7.64998568e-04 1.20052475e+02] [ 8.12809254e-01 5.82529103e-01 -9.79888955e-04 4.64528818e+01] [ 1.24209732e-03 -5.09845711e-05 9.99999227e-01 -1.69909407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:46.48, Z:-1.70 [[ 5.82330671e-01 -8.12951662e-01 -7.64820217e-04 1.20070029e+02] [ 8.12951073e-01 5.82331171e-01 -9.80028295e-04 4.64754513e+01] [ 1.24209428e-03 -5.10608811e-05 9.99999227e-01 -1.69929502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:46.50, Z:-1.70 [[ 5.81028972e-01 -8.13882279e-01 -9.84539306e-04 1.20086149e+02] [ 8.13881304e-01 5.81029802e-01 -1.26195335e-03 4.64987556e+01] [ 1.59912815e-03 -6.80666758e-05 9.99998719e-01 -1.69957277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:46.52, Z:-1.70 [[ 5.80646874e-01 -8.14154542e-01 -1.26061825e-03 1.20101503e+02] [ 8.14152944e-01 5.80648235e-01 -1.61583680e-03 4.65225183e+01] [ 2.04751663e-03 -8.81054745e-05 9.99997900e-01 -1.69929943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:46.55, Z:-1.70 [[ 5.80869867e-01 -8.13995566e-01 -1.18997538e-03 1.20117715e+02] [ 8.13994139e-01 5.80871080e-01 -1.52633621e-03 4.65458218e+01] [ 1.93365319e-03 -8.20302687e-05 9.99998127e-01 -1.69974113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:46.57, Z:-1.70 [[ 5.81377779e-01 -8.13632733e-01 -1.28586776e-03 1.20133499e+02] [ 8.13631064e-01 5.81379195e-01 -1.65007620e-03 4.65691299e+01] [ 2.09013277e-03 -8.69043135e-05 9.99997812e-01 -1.69993261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:46.59, Z:-1.70 [[ 5.82259612e-01 -8.13002255e-01 -1.03826481e-03 1.20148812e+02] [ 8.13001164e-01 5.82260534e-01 -1.33333508e-03 4.65913996e+01] [ 1.68854505e-03 -6.77633348e-05 9.99998572e-01 -1.70022622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:46.62, Z:-1.70 [[ 5.85297111e-01 -8.10818891e-01 1.37660107e-04 1.20163705e+02] [ 8.10818872e-01 5.85297127e-01 1.73310438e-04 4.66158830e+01] [-2.21095442e-04 1.01793139e-05 9.99999976e-01 -1.69987575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:46.64, Z:-1.70 [[ 5.87036982e-01 -8.09559855e-01 6.50510156e-04 1.20179087e+02] [ 8.09559429e-01 5.87037341e-01 8.31267085e-04 4.66390017e+01] [-1.05483421e-03 3.86421098e-05 9.99999443e-01 -1.69941684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:46.66, Z:-1.70 [[ 5.88945620e-01 -8.08172292e-01 7.76690304e-04 1.20194172e+02] [ 8.08171682e-01 5.88946130e-01 9.93993010e-04 4.66619600e+01] [-1.26074636e-03 4.22912801e-05 9.99999204e-01 -1.70021016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:46.69, Z:-1.70 [[ 5.91037969e-01 -8.06643711e-01 -2.07452198e-04 1.20209809e+02] [ 8.06643666e-01 5.91038005e-01 -2.69652800e-04 4.66850511e+01] [ 3.40125868e-04 -7.96495889e-06 9.99999942e-01 -1.70057384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:46.71, Z:-1.70 [[ 5.92857893e-01 -8.05306416e-01 -1.04632822e-03 1.20225888e+02] [ 8.05305289e-01 5.92858815e-01 -1.34789173e-03 4.67082304e+01] [ 1.70579077e-03 -4.35053926e-05 9.99998544e-01 -1.70154046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:46.73, Z:-1.70 [[ 5.92640381e-01 -8.05466501e-01 -1.04606471e-03 1.20243404e+02] [ 8.05465374e-01 5.92641303e-01 -1.34809638e-03 4.67308375e+01] [ 1.70578763e-03 -4.36325494e-05 9.99998544e-01 -1.70174139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:46.75, Z:-1.70 [[ 5.96702196e-01 -8.02461152e-01 -1.60899368e-03 1.20258051e+02] [ 8.02458481e-01 5.96704362e-01 -2.07130452e-03 4.67532907e+01] [ 2.62223496e-03 -5.51986715e-05 9.99996560e-01 -1.70228746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:46.78, Z:-1.70 [[ 5.98768600e-01 -8.00920730e-01 -1.46599216e-03 1.20274360e+02] [ 8.00918501e-01 5.98770393e-01 -1.88984672e-03 4.67761055e+01] [ 2.39141011e-03 -4.25593693e-05 9.99997140e-01 -1.70234372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:46.80, Z:-1.70 [[ 6.01178594e-01 -7.99114321e-01 -7.74169684e-04 1.20290569e+02] [ 7.99113696e-01 6.01179092e-01 -1.00008464e-03 4.67986993e+01] [ 1.26459658e-03 -1.74201206e-05 9.99999200e-01 -1.70219684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:46.82, Z:-1.71 [[ 6.03789958e-01 -7.97118147e-01 6.35181480e-03 1.20303087e+02] [ 7.97136929e-01 6.03733608e-01 -8.85703036e-03 4.68243898e+01] [ 3.22529556e-03 1.04110521e-02 9.99940602e-01 -1.70610865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.33, Y:46.84, Z:-1.70 [[ 6.06524581e-01 -7.95028428e-01 -7.59810714e-03 1.20325073e+02] [ 7.95064462e-01 6.06488752e-01 6.62532260e-03 4.68424221e+01] [-6.59153296e-04 -1.00594060e-02 9.99949186e-01 -1.69783999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:46.87, Z:-1.70 [[ 6.12286983e-01 -7.90635379e-01 5.89963369e-04 1.20336047e+02] [ 7.90635016e-01 6.12287268e-01 7.57646507e-04 4.68688402e+01] [-9.60249192e-04 2.54860355e-06 9.99999539e-01 -1.70233108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:46.89, Z:-1.70 [[ 6.14778422e-01 -7.88699458e-01 8.10288717e-04 1.20352728e+02] [ 7.88698769e-01 6.14778956e-01 1.04236338e-03 4.68914127e+01] [-1.32025988e-03 -1.74879972e-06 9.99999128e-01 -1.70277045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:46.91, Z:-1.70 [[ 6.17106852e-01 -7.86878969e-01 7.88169339e-04 1.20368999e+02] [ 7.86878314e-01 6.17107355e-01 1.01554091e-03 4.69125608e+01] [-1.28549288e-03 -6.50389233e-06 9.99999174e-01 -1.70261738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:46.93, Z:-1.70 [[ 6.20959160e-01 -7.83841073e-01 1.70137010e-03 1.20386364e+02] [ 7.83838002e-01 6.20961490e-01 2.19408334e-03 4.69343572e+01] [-2.77629795e-03 -2.88376035e-05 9.99996146e-01 -1.70189750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:46.96, Z:-1.70 [[ 6.22999014e-01 -7.82220479e-01 1.83064330e-03 1.20404019e+02] [ 7.82216913e-01 6.23001702e-01 2.36238659e-03 4.69568352e+01] [-2.98840106e-03 -3.98043654e-05 9.99995534e-01 -1.70098719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:120.42, Y:46.98, Z:-1.70 [[ 6.24257707e-01 -7.81217694e-01 1.10919051e-03 1.20421114e+02] [ 7.81216384e-01 6.24258691e-01 1.43099377e-03 4.69795458e+01] [-1.81033946e-03 -2.67910899e-05 9.99998361e-01 -1.70438912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:47.00, Z:-1.70 [[ 6.26880467e-01 -7.79115146e-01 -6.85764555e-04 1.20438482e+02] [ 7.79114637e-01 6.26880841e-01 -8.90226236e-04 4.70019502e+01] [ 1.12348140e-03 2.37762360e-05 9.99999369e-01 -1.70336619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:47.02, Z:-1.70 [[ 6.27291954e-01 -7.78782837e-01 -1.44817425e-03 1.20456183e+02] [ 7.78780575e-01 6.27293624e-01 -1.87760487e-03 4.70231619e+01] [ 2.37067692e-03 4.99964553e-05 9.99997189e-01 -1.70390983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:47.04, Z:-1.70 [[ 6.27077481e-01 -7.78955496e-01 -1.47232505e-03 1.20474935e+02] [ 7.78953157e-01 6.27079207e-01 -1.90996015e-03 4.70448001e+01] [ 2.41103838e-03 5.08207490e-05 9.99997092e-01 -1.70409050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:47.07, Z:-1.70 [[ 6.26486301e-01 -7.79430862e-01 -1.56394332e-03 1.20493631e+02] [ 7.79428221e-01 6.26488251e-01 -2.02983062e-03 4.70657434e+01] [ 2.56190475e-03 5.26795173e-05 9.99996717e-01 -1.70364616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:47.09, Z:-1.70 [[ 6.24368460e-01 -7.81129081e-01 -1.17690738e-03 1.20512977e+02] [ 7.81127585e-01 6.24369568e-01 -1.52912568e-03 4.70857157e+01] [ 1.92926969e-03 3.54230262e-05 9.99998138e-01 -1.70301236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:47.11, Z:-1.70 [[ 6.22555379e-01 -7.82575163e-01 -9.56871578e-04 1.20531234e+02] [ 7.82574173e-01 6.22556113e-01 -1.24462355e-03 4.71067474e+01] [ 1.56971772e-03 2.60240987e-05 9.99998768e-01 -1.70300573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:47.13, Z:-1.70 [[ 6.20086372e-01 -7.84533061e-01 -8.76121334e-04 1.20549457e+02] [ 7.84532232e-01 6.20086991e-01 -1.14058626e-03 4.71277800e+01] [ 1.43809907e-03 1.99165721e-05 9.99998966e-01 -1.70299884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:47.15, Z:-1.70 [[ 6.17117952e-01 -7.86870567e-01 -3.79789996e-04 1.20568516e+02] [ 7.86870410e-01 6.17118069e-01 -4.96527899e-04 4.71491889e+01] [ 6.25078458e-04 7.57077004e-06 9.99999805e-01 -1.70347497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:47.17, Z:-1.70 [[ 6.10862535e-01 -7.91736628e-01 2.74361318e-04 1.20589073e+02] [ 7.91736548e-01 6.10862597e-01 3.54747638e-04 4.71670982e+01] [-4.48463766e-04 5.19840995e-07 9.99999899e-01 -1.70266344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:47.19, Z:-1.70 [[ 6.07452104e-01 -7.94355871e-01 8.31544275e-04 1.20608183e+02] [ 7.94355139e-01 6.07452673e-01 1.07798218e-03 4.71873612e+01] [-1.36142527e-03 5.71892571e-06 9.99999073e-01 -1.70245320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:47.21, Z:-1.70 [[ 6.03910629e-01 -7.97050610e-01 1.50945985e-03 1.20627167e+02] [ 7.97048199e-01 6.03912515e-01 1.96055295e-03 4.72080549e+01] [-2.47424162e-03 1.91134912e-05 9.99996939e-01 -1.70189740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:47.23, Z:-1.70 [[ 5.97547329e-01 -8.01830302e-01 2.31435874e-03 1.20647429e+02] [ 8.01824657e-01 5.97551808e-01 3.00945295e-03 4.72283106e+01] [-3.79601982e-03 5.74193253e-05 9.99992793e-01 -1.70177530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:47.25, Z:-1.70 [[ 5.94428744e-01 -8.04144435e-01 2.48902692e-03 1.20664941e+02] [ 8.04137916e-01 5.94433951e-01 3.23886233e-03 4.72486558e+01] [-4.08407522e-03 7.62480517e-05 9.99991657e-01 -1.70256050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:47.27, Z:-1.70 [[ 5.92236285e-01 -8.05760856e-01 2.37194245e-03 1.20682313e+02] [ 8.05754943e-01 5.92241029e-01 3.08789090e-03 4.72713470e+01] [-3.89286325e-03 8.24433178e-05 9.99992419e-01 -1.70340120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:47.29, Z:-1.70 [[ 5.91275929e-01 -8.06466479e-01 2.14322980e-03 1.20698118e+02] [ 8.06461650e-01 5.91279808e-01 2.79194664e-03 4.72931331e+01] [-3.51885989e-03 7.76217984e-05 9.99993806e-01 -1.70431249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:47.32, Z:-1.71 [[ 5.90060773e-01 -8.07357042e-01 1.70031733e-03 1.20714859e+02] [ 8.07354007e-01 5.90063219e-01 2.21483376e-03 4.73151560e+01] [-2.79145635e-03 6.58714933e-05 9.99996102e-01 -1.70540211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:47.34, Z:-1.71 [[ 5.88660094e-01 -8.08379898e-01 1.11099492e-03 1.20732618e+02] [ 8.08378604e-01 5.88661141e-01 1.44695217e-03 4.73365204e+01] [-1.82368658e-03 4.63415236e-05 9.99998336e-01 -1.70619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:47.36, Z:-1.71 [[ 5.84993250e-01 -8.11037573e-01 -9.76010634e-04 1.20751552e+02] [ 8.11036568e-01 5.84994063e-01 -1.27771501e-03 4.73580107e+01] [ 1.60723531e-03 -4.41256551e-05 9.99998707e-01 -1.70653067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:47.38, Z:-1.71 [[ 5.82906427e-01 -8.12537759e-01 -1.57715487e-03 1.20768881e+02] [ 8.12535141e-01 5.82908555e-01 -2.06403463e-03 4.73801203e+01] [ 2.59644314e-03 -7.83547008e-05 9.99996626e-01 -1.70735288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:47.40, Z:-1.71 [[ 5.80734397e-01 -8.14090780e-01 -1.93973267e-03 1.20784727e+02] [ 8.14086827e-01 5.80737627e-01 -2.53883310e-03 4.74017239e+01] [ 3.19331636e-03 -1.04723104e-04 9.99994896e-01 -1.70768401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:47.42, Z:-1.71 [[ 5.78644118e-01 -8.15577716e-01 -1.99356995e-03 1.20801346e+02] [ 8.15573544e-01 5.78647540e-01 -2.61109813e-03 4.74249742e+01] [ 3.28312779e-03 -1.15006335e-04 9.99994604e-01 -1.70808207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65762800000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:120.82, Y:47.45, Z:-1.71 [[ 5.74823473e-01 -8.18276405e-01 -1.30368096e-03 1.20816382e+02] [ 8.18274624e-01 5.74824945e-01 -1.70919234e-03 4.74477897e+01] [ 2.14798010e-03 -8.42851721e-05 9.99997690e-01 -1.71044675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:47.47, Z:-1.71 [[ 5.73115441e-01 -8.19474583e-01 -3.14418006e-04 1.20831755e+02] [ 8.19474478e-01 5.73115527e-01 -4.14569913e-04 4.74698094e+01] [ 5.19927348e-04 -2.00611122e-05 9.99999865e-01 -1.70740123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:47.49, Z:-1.71 [[ 5.71486192e-01 -8.20611619e-01 3.22372727e-04 1.20847988e+02] [ 8.20611512e-01 5.71486282e-01 4.19315739e-04 4.74922323e+01] [-5.28326958e-04 2.49096156e-05 9.99999860e-01 -1.70716317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:47.52, Z:-1.71 [[ 5.69961435e-01 -8.21670908e-01 9.39012116e-04 1.20864664e+02] [ 8.21669994e-01 5.69962204e-01 1.22796686e-03 4.75151293e+01] [-1.54418606e-03 7.16643280e-05 9.99998805e-01 -1.70673651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:47.54, Z:-1.71 [[ 5.68780122e-01 -8.22488629e-01 1.27587262e-03 1.20878428e+02] [ 8.22486937e-01 5.68781544e-01 1.67129554e-03 4.75381667e+01] [-2.10031438e-03 9.87888775e-05 9.99997789e-01 -1.70679149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:47.56, Z:-1.71 [[ 5.68828570e-01 -8.22455140e-01 1.26523026e-03 1.20893031e+02] [ 8.22453476e-01 5.68829969e-01 1.65734039e-03 4.75619497e+01] [-2.08278902e-03 9.78504604e-05 9.99997826e-01 -1.70734988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:47.59, Z:-1.71 [[ 5.69386558e-01 -8.22068631e-01 1.45426026e-03 1.20907705e+02] [ 8.22066427e-01 5.69388404e-01 1.90652545e-03 4.75860040e+01] [-2.39533369e-03 1.09948575e-04 9.99997125e-01 -1.70792555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:47.61, Z:-1.71 [[ 5.72423911e-01 -8.19956290e-01 1.59645564e-03 1.20919441e+02] [ 8.19953621e-01 5.72426127e-01 2.09504761e-03 4.76110383e+01] [-2.63170038e-03 1.09764236e-04 9.99996531e-01 -1.70752545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:47.64, Z:-1.71 [[ 5.74562361e-01 -8.18459121e-01 1.66143474e-03 1.20934099e+02] [ 8.18456223e-01 5.74564753e-01 2.18067806e-03 4.76350918e+01] [-2.73939769e-03 1.06876065e-04 9.99996242e-01 -1.70765001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:47.66, Z:-1.71 [[ 5.76983041e-01 -8.16754721e-01 1.51503817e-03 1.20948004e+02] [ 8.16752303e-01 5.76985023e-01 1.98959288e-03 4.76585885e+01] [-2.49916371e-03 8.94495629e-05 9.99996873e-01 -1.70793139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:47.68, Z:-1.71 [[ 5.82888173e-01 -8.12551626e-01 1.10998315e-03 1.20960422e+02] [ 8.12550321e-01 5.82889228e-01 1.45740856e-03 4.76847981e+01] [-1.83121692e-03 5.24109519e-05 9.99998322e-01 -1.70824002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:47.71, Z:-1.71 [[ 5.85426012e-01 -8.10724958e-01 1.19452340e-03 1.20974688e+02] [ 8.10723440e-01 5.85427229e-01 1.56956206e-03 4.77093034e+01] [-1.97178966e-03 4.95656622e-05 9.99998055e-01 -1.70897912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:47.74, Z:-1.72 [[ 5.86740018e-01 -8.09667286e-01 1.32301611e-02 1.20973272e+02] [ 8.09750846e-01 5.86771090e-01 -1.80418634e-03 4.77376806e+01] [-6.30228541e-03 1.17717225e-02 9.99910850e-01 -1.72129336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:47.76, Z:-1.71 [[ 5.92984916e-01 -8.05168098e-01 -8.55707968e-03 1.21004303e+02] [ 8.05212132e-01 5.92930308e-01 8.18971938e-03 4.77566496e+01] [-1.52034889e-03 -1.17466444e-02 9.99929850e-01 -1.70626256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:47.78, Z:-1.71 [[ 5.95033646e-01 -8.03700400e-01 7.92269441e-04 1.21014766e+02] [ 8.03699725e-01 5.95034173e-01 1.04147515e-03 4.77829496e+01] [-1.30846138e-03 1.70339787e-05 9.99999144e-01 -1.71174813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:47.81, Z:-1.71 [[ 5.97027127e-01 -8.02220971e-01 3.51496219e-04 1.21029622e+02] [ 8.02220839e-01 5.97027230e-01 4.60830380e-04 4.78056898e+01] [-5.79540609e-04 6.84935380e-06 9.99999832e-01 -1.71167708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:47.83, Z:-1.72 [[ 5.96546805e-01 -8.02570224e-01 3.59786172e-03 1.21038979e+02] [ 8.02575522e-01 5.96550526e-01 -4.84120437e-05 4.78292007e+01] [-2.10745223e-03 2.91643579e-03 9.99993527e-01 -1.71561078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:47.85, Z:-1.71 [[ 6.03007958e-01 -7.97731395e-01 -2.45424518e-03 1.21061350e+02] [ 7.97735148e-01 6.03005818e-01 1.61765582e-03 4.78526109e+01] [ 1.89469284e-04 -2.93329697e-03 9.99995680e-01 -1.71071840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:47.88, Z:-1.71 [[ 6.04620007e-01 -7.96514059e-01 4.17640049e-05 1.21075061e+02] [ 7.96514057e-01 6.04620008e-01 5.30124400e-05 4.78755717e+01] [-6.74765069e-05 1.21323518e-06 9.99999998e-01 -1.71238293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:47.90, Z:-1.71 [[ 6.06264068e-01 -7.95263241e-01 5.07581908e-04 1.21090514e+02] [ 7.95262960e-01 6.06264280e-01 6.68250414e-04 4.78980676e+01] [-8.39163771e-04 -1.47512379e-06 9.99999648e-01 -1.71271937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:47.92, Z:-1.71 [[ 6.07533127e-01 -7.94294092e-01 6.28678208e-04 1.21106541e+02] [ 7.94293660e-01 6.07533453e-01 8.27978456e-04 4.79201784e+01] [-1.03960144e-03 -3.66922555e-06 9.99999460e-01 -1.71273800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:47.94, Z:-1.71 [[ 6.08624775e-01 -7.93457921e-01 6.40455857e-04 1.21123049e+02] [ 7.93457473e-01 6.08625112e-01 8.43703638e-04 4.79425094e+01] [-1.05924085e-03 -5.32445097e-06 9.99999439e-01 -1.71254185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:47.96, Z:-1.71 [[ 6.09526316e-01 -7.92765449e-01 7.82640541e-04 1.21140021e+02] [ 7.92764777e-01 6.09526819e-01 1.03224888e-03 4.79648161e+01] [-1.29537164e-03 -8.73300221e-06 9.99999161e-01 -1.71248276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:47.99, Z:-1.71 [[ 6.10694216e-01 -7.91866099e-01 8.10218825e-04 1.21156938e+02] [ 7.91865375e-01 6.10694753e-01 1.07045787e-03 4.79864026e+01] [-1.34245568e-03 -1.21381955e-05 9.99999099e-01 -1.71224232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:48.01, Z:-1.71 [[ 6.10774492e-01 -7.91804253e-01 7.37886605e-04 1.21174318e+02] [ 7.91803655e-01 6.10774937e-01 9.73885973e-04 4.80083697e+01] [-1.22180970e-03 -1.05633997e-05 9.99999254e-01 -1.71225048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:48.03, Z:-1.71 [[ 6.10326196e-01 -7.92149986e-01 5.77254912e-04 1.21191285e+02] [ 7.92149620e-01 6.10326469e-01 7.61654001e-04 4.80301940e+01] [-9.55658159e-04 -7.58512983e-06 9.99999543e-01 -1.71198958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:48.05, Z:-1.71 [[ 6.09774771e-01 -7.92574646e-01 3.99723125e-04 1.21208150e+02] [ 7.92574470e-01 6.09774902e-01 5.27666202e-04 4.80518474e+01] [-6.61955982e-04 -4.94719287e-06 9.99999781e-01 -1.71249832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:48.07, Z:-1.71 [[ 6.08013330e-01 -7.93926806e-01 1.32182879e-04 1.21226905e+02] [ 7.93926787e-01 6.08013345e-01 1.72191791e-04 4.80726298e+01] [-2.17076633e-04 2.48624399e-07 9.99999976e-01 -1.71290509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:48.09, Z:-1.71 [[ 6.06407004e-01 -7.95154413e-01 -6.95598265e-05 1.21244347e+02] [ 7.95154407e-01 6.06407008e-01 -9.40045310e-05 4.80929624e+01] [ 1.16929684e-04 1.69420344e-06 9.99999993e-01 -1.71280572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:48.11, Z:-1.71 [[ 6.04505024e-01 -7.96601325e-01 7.74807816e-05 1.21262465e+02] [ 7.96601318e-01 6.04505029e-01 9.98067339e-05 4.81139691e+01] [-1.26343699e-04 1.38762076e-06 9.99999992e-01 -1.71287026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:48.14, Z:-1.71 [[ 6.02303500e-01 -7.98267181e-01 -5.03449459e-05 1.21281156e+02] [ 7.98267177e-01 6.02303502e-01 -6.99240082e-05 4.81356616e+01] [ 8.61409780e-05 1.92675701e-06 9.99999996e-01 -1.71289440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:48.16, Z:-1.71 [[ 6.02095058e-01 -7.98424410e-01 -5.04205795e-05 1.21298291e+02] [ 7.98424407e-01 6.02095060e-01 -6.98667780e-05 4.81585467e+01] [ 8.61413228e-05 1.80942042e-06 9.99999996e-01 -1.71308215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:48.18, Z:-1.71 [[ 5.99513151e-01 -8.00364889e-01 -1.60713350e-04 1.21316277e+02] [ 8.00364860e-01 5.99513172e-01 -2.16427376e-04 4.81791688e+01] [ 2.69570643e-04 1.12174070e-06 9.99999964e-01 -1.71316895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:48.20, Z:-1.71 [[ 5.93796242e-01 -8.04615449e-01 4.87416745e-05 1.21336865e+02] [ 8.04615446e-01 5.93796244e-01 6.17599379e-05 4.81990658e+01] [-7.86356235e-05 2.54548511e-06 9.99999997e-01 -1.71296933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:48.22, Z:-1.71 [[ 5.90408710e-01 -8.07104330e-01 3.94596272e-04 1.21356032e+02] [ 8.07104161e-01 5.90408842e-01 5.22204112e-04 4.82203839e+01] [-6.54446328e-04 1.01664371e-05 9.99999786e-01 -1.71244756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:48.24, Z:-1.71 [[ 5.87039956e-01 -8.09557761e-01 5.67512985e-04 1.21374951e+02] [ 8.09557411e-01 5.87040230e-01 7.52835997e-04 4.82414731e+01] [-9.42617178e-04 1.74895328e-05 9.99999556e-01 -1.71168945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:48.26, Z:-1.71 [[ 5.80950750e-01 -8.13938090e-01 1.00582171e-03 1.21394769e+02] [ 8.13936992e-01 5.80951619e-01 1.33763089e-03 4.82605503e+01] [-1.67308249e-03 4.15778280e-05 9.99998600e-01 -1.71086018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:48.28, Z:-1.71 [[ 5.77856518e-01 -8.16137787e-01 9.78848160e-04 1.21413084e+02] [ 8.16136749e-01 5.77857345e-01 1.30216685e-03 4.82824796e+01] [-1.62838217e-03 4.64083559e-05 9.99998673e-01 -1.71108252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:48.30, Z:-1.71 [[ 5.72247662e-01 -8.20080574e-01 6.82210981e-04 1.21431251e+02] [ 8.20080073e-01 5.72248067e-01 9.07414423e-04 4.83028041e+01] [-1.13454686e-03 4.02018492e-05 9.99999356e-01 -1.71172812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:48.32, Z:-1.71 [[ 5.66581307e-01 -8.24005564e-01 6.73242945e-04 1.21450051e+02] [ 8.24005077e-01 5.66581705e-01 8.96469535e-04 4.83226203e+01] [-1.12014302e-03 4.68327238e-05 9.99999372e-01 -1.71156070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:48.34, Z:-1.71 [[ 5.63730688e-01 -8.25958558e-01 4.14262619e-04 1.21468112e+02] [ 8.25958376e-01 5.63730839e-01 5.50266496e-04 4.83441276e+01] [-6.88029936e-04 3.19615698e-05 9.99999763e-01 -1.71156217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:48.37, Z:-1.71 [[ 5.63527540e-01 -8.26097174e-01 4.14039137e-04 1.21485177e+02] [ 8.26096991e-01 5.63527691e-01 5.50434087e-04 4.83670641e+01] [-6.88034562e-04 3.18517183e-05 9.99999763e-01 -1.71174991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:48.39, Z:-1.71 [[ 5.60885576e-01 -8.27893332e-01 -3.86100585e-05 1.21502889e+02] [ 8.27893330e-01 5.60885577e-01 -5.44823907e-05 4.83885865e+01] [ 6.67614328e-05 -1.40662284e-06 9.99999998e-01 -1.71171226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:48.41, Z:-1.71 [[ 5.56400123e-01 -8.30914106e-01 -8.07929996e-04 1.21521413e+02] [ 8.30913402e-01 5.56400705e-01 -1.08373123e-03 4.84102440e+01] [ 1.35002039e-03 -6.83316717e-05 9.99999086e-01 -1.71230457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:48.43, Z:-1.71 [[ 5.55173273e-01 -8.31733656e-01 -1.32734271e-03 1.21537954e+02] [ 8.31731764e-01 5.55174847e-01 -1.77814236e-03 4.84314704e+01] [ 2.21584813e-03 -1.16815979e-04 9.99997538e-01 -1.71203464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:48.45, Z:-1.71 [[ 5.54639358e-01 -8.32088799e-01 -1.84729886e-03 1.21554360e+02] [ 8.32085132e-01 5.54642410e-01 -2.47581327e-03 4.84533929e+01] [ 3.08468679e-03 -1.63926430e-04 9.99995229e-01 -1.71223329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:48.48, Z:-1.71 [[ 5.55543141e-01 -8.31484824e-01 -2.19232174e-03 1.21570028e+02] [ 8.31479651e-01 5.55547434e-01 -2.93914660e-03 4.84757268e+01] [ 3.66179451e-03 -1.90048183e-04 9.99993278e-01 -1.71144035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:48.50, Z:-1.71 [[ 5.55405824e-01 -8.31576554e-01 -2.19226643e-03 1.21587043e+02] [ 8.31571381e-01 5.55410118e-01 -2.93918773e-03 4.84986662e+01] [ 3.66176655e-03 -1.90584042e-04 9.99993278e-01 -1.71162795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:121.60, Y:48.52, Z:-1.71 [[ 5.57698582e-01 -8.30040321e-01 -2.31468593e-03 1.21602926e+02] [ 8.30034536e-01 5.57703353e-01 -3.10454310e-03 4.85203750e+01] [ 3.86780406e-03 -1.89869978e-04 9.99992502e-01 -1.71235735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:121.62, Y:48.54, Z:-1.71 [[ 5.59456318e-01 -8.28858085e-01 -1.70361512e-03 1.21619362e+02] [ 8.28854938e-01 5.59458897e-01 -2.28790190e-03 4.85429711e+01] [ 2.84944863e-03 -1.32068631e-04 9.99995932e-01 -1.71097428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:48.57, Z:-1.71 [[ 5.61581393e-01 -8.27421105e-01 -8.08931615e-04 1.21635907e+02] [ 8.27420391e-01 5.61581973e-01 -1.08869629e-03 4.85661564e+01] [ 1.35509170e-03 -5.79349348e-05 9.99999080e-01 -1.70959896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:48.59, Z:-1.71 [[ 5.65716026e-01 -8.24600128e-01 -8.72782884e-05 1.21650079e+02] [ 8.24600119e-01 5.65716032e-01 -1.20009264e-04 4.85895900e+01] [ 1.48334381e-04 -4.07852302e-06 9.99999989e-01 -1.70945792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:48.61, Z:-1.71 [[ 5.67562052e-01 -8.23330541e-01 3.69918963e-04 1.21665528e+02] [ 8.23330394e-01 5.67562172e-01 4.93872384e-04 4.86129884e+01] [-6.16572228e-04 2.42623020e-05 9.99999810e-01 -1.70979328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:48.64, Z:-1.71 [[ 5.69741968e-01 -8.21823496e-01 4.81127168e-04 1.21680667e+02] [ 8.21823244e-01 5.69742171e-01 6.44526902e-04 4.86357275e+01] [-8.03805789e-04 2.81874640e-05 9.99999677e-01 -1.70978048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:48.66, Z:-1.71 [[ 5.71860567e-01 -8.20350674e-01 5.14167018e-04 1.21696233e+02] [ 8.20350385e-01 5.71860797e-01 6.88404792e-04 4.86591696e+01] [-8.58765296e-04 2.81255567e-05 9.99999631e-01 -1.71002177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:48.68, Z:-1.71 [[ 5.74226025e-01 -8.18696804e-01 1.27730291e-04 1.21712019e+02] [ 8.18696786e-01 5.74226039e-01 1.68712800e-04 4.86823534e+01] [-2.11470689e-04 7.69309870e-06 9.99999978e-01 -1.71014796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:48.71, Z:-1.71 [[ 5.78855714e-01 -8.15429799e-01 -5.51744716e-04 1.21726222e+02] [ 8.15429459e-01 5.78855977e-01 -7.45651637e-04 4.87054014e+01] [ 9.27407291e-04 -1.82841841e-05 9.99999570e-01 -1.70997580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:48.73, Z:-1.71 [[ 5.80660875e-01 -8.14145290e-01 -6.28245287e-04 1.21741379e+02] [ 8.14144848e-01 5.80661215e-01 -8.49068262e-04 4.87280249e+01] [ 1.05606260e-03 -1.84619436e-05 9.99999442e-01 -1.71063315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:48.75, Z:-1.71 [[ 5.82362760e-01 -8.12928186e-01 -1.17478855e-03 1.21757269e+02] [ 8.12926639e-01 5.82363944e-01 -1.58646921e-03 4.87510356e+01] [ 1.97384004e-03 -3.11163194e-05 9.99998051e-01 -1.71083200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:48.77, Z:-1.71 [[ 5.83603495e-01 -8.12037482e-01 -1.44534831e-03 1.21773356e+02] [ 8.12035136e-01 5.83605284e-01 -1.95224696e-03 4.87743285e+01] [ 2.42881061e-03 -3.43354659e-05 9.99997050e-01 -1.71124124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:48.80, Z:-1.71 [[ 5.85239147e-01 -8.10859372e-01 -1.48944972e-03 1.21788594e+02] [ 8.10856878e-01 5.85241042e-01 -2.01152816e-03 4.87962239e+01] [ 2.50275357e-03 -3.05055218e-05 9.99996868e-01 -1.71192334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:48.82, Z:-1.71 [[ 5.85436236e-01 -8.10717358e-01 -1.33389788e-03 1.21805346e+02] [ 8.10715352e-01 5.85437755e-01 -1.80362145e-03 4.88190514e+01] [ 2.24314140e-03 -2.55061352e-05 9.99997484e-01 -1.71160321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:48.84, Z:-1.71 [[ 5.85824566e-01 -8.10437099e-01 -1.13441219e-03 1.21821881e+02] [ 8.10435645e-01 5.85825664e-01 -1.53519510e-03 4.88414403e+01] [ 1.90874684e-03 -2.00130733e-05 9.99998178e-01 -1.71188940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:48.86, Z:-1.71 [[ 5.86338790e-01 -8.10064512e-01 -1.51968241e-03 1.21838615e+02] [ 8.10061901e-01 5.86340759e-01 -2.05669684e-03 4.88640983e+01] [ 2.55710886e-03 -2.51156895e-05 9.99996730e-01 -1.71225199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:48.89, Z:-1.71 [[ 5.89004970e-01 -8.08127658e-01 -1.68328471e-03 1.21854971e+02] [ 8.08124445e-01 5.89007375e-01 -2.27905007e-03 4.88869174e+01] [ 2.83323050e-03 -1.79316973e-05 9.99995986e-01 -1.71368341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:48.91, Z:-1.71 [[ 5.90803338e-01 -8.06813168e-01 -1.98159434e-03 1.21871597e+02] [ 8.06808704e-01 5.90806661e-01 -2.68414753e-03 4.89091313e+01] [ 3.33634471e-03 -1.29642427e-05 9.99994434e-01 -1.71415162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:48.93, Z:-1.71 [[ 5.92861080e-01 -8.05302011e-01 -2.10007052e-03 1.21888675e+02] [ 8.05296982e-01 5.92864800e-01 -2.84614837e-03 4.89310817e+01] [ 3.53706689e-03 -3.80985073e-06 9.99993745e-01 -1.71408175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:48.95, Z:-1.71 [[ 5.95023511e-01 -8.03705646e-01 -2.06296916e-03 1.21905763e+02] [ 8.03700782e-01 5.95027087e-01 -2.79604041e-03 4.89522282e+01] [ 3.47471599e-03 5.69985445e-06 9.99993963e-01 -1.71383920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:48.97, Z:-1.71 [[ 5.98616522e-01 -8.01031145e-01 -2.71361854e-03 1.21924574e+02] [ 8.01022691e-01 5.98622672e-01 -3.68036273e-03 4.89736187e+01] [ 4.57251876e-03 2.94559076e-05 9.99989546e-01 -1.71316128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:49.00, Z:-1.71 [[ 5.99770207e-01 -8.00166611e-01 -3.01538884e-03 1.21942145e+02] [ 8.00156150e-01 5.99777786e-01 -4.09178534e-03 4.89954384e+01] [ 5.08267326e-03 4.13490178e-05 9.99987082e-01 -1.71343576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:49.02, Z:-1.72 [[ 6.01151764e-01 -7.99134535e-01 7.43099776e-04 1.21957207e+02] [ 7.99102341e-01 6.01118635e-01 -9.58311085e-03 4.90181658e+01] [ 7.21150371e-03 6.35471676e-03 9.99953805e-01 -1.71606151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:49.04, Z:-1.71 [[ 6.01890160e-01 -7.98535656e-01 -8.30907074e-03 1.21979088e+02] [ 7.98558110e-01 6.01916972e-01 -9.50192473e-04 4.90371188e+01] [ 5.76013327e-03 -6.06336433e-03 9.99965028e-01 -1.71089637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:49.06, Z:-1.71 [[ 6.03461397e-01 -7.97384218e-01 -3.57070759e-03 1.21996528e+02] [ 7.97369453e-01 6.03471956e-01 -4.85322673e-03 4.90597057e+01] [ 6.02470830e-03 8.15618274e-05 9.99981848e-01 -1.71340115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:49.08, Z:-1.71 [[ 6.03479374e-01 -7.97369529e-01 -3.80512797e-03 1.22014850e+02] [ 7.97352743e-01 6.03491364e-01 -5.17469583e-03 4.90815094e+01] [ 6.42250665e-03 8.87929742e-05 9.99979372e-01 -1.71355288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:49.10, Z:-1.71 [[ 6.03123869e-01 -7.97635553e-01 -4.37302269e-03 1.22033626e+02] [ 7.97613366e-01 6.03139714e-01 -5.95012136e-03 4.91031473e+01] [ 7.38357199e-03 1.00678863e-04 9.99972736e-01 -1.71347480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:49.12, Z:-1.71 [[ 6.02337239e-01 -7.98228067e-01 -4.66938105e-03 1.22051900e+02] [ 7.98202766e-01 6.02355329e-01 -6.35626244e-03 4.91236692e+01] [ 7.88637364e-03 1.01500700e-04 9.99968897e-01 -1.71363659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:49.14, Z:-1.71 [[ 6.01182879e-01 -7.99096953e-01 -4.81724201e-03 1.22070816e+02] [ 7.99070018e-01 6.01202171e-01 -6.56172383e-03 4.91447254e+01] [ 8.13958987e-03 9.54823665e-05 9.99966868e-01 -1.71347129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:49.16, Z:-1.71 [[ 5.98292818e-01 -8.01267853e-01 -3.94108451e-03 1.22091215e+02] [ 8.01249850e-01 5.98305795e-01 -5.37143999e-03 4.91631369e+01] [ 6.66193589e-03 5.59005913e-05 9.99977807e-01 -1.71283463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:49.18, Z:-1.71 [[ 5.96618276e-01 -8.02519877e-01 -2.91186047e-03 1.22110281e+02] [ 8.02510048e-01 5.96625381e-01 -3.97207225e-03 4.91841003e+01] [ 4.92495680e-03 3.30136115e-05 9.99987872e-01 -1.71223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:49.20, Z:-1.71 [[ 5.94580262e-01 -8.04034263e-01 -1.79339463e-03 1.22128738e+02] [ 8.04030533e-01 5.94582967e-01 -2.44900770e-03 4.92048134e+01] [ 3.03540800e-03 1.41876010e-05 9.99995393e-01 -1.71160361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:49.23, Z:-1.71 [[ 5.92588155e-01 -8.05505289e-01 -7.12953509e-04 1.22146991e+02] [ 8.05504698e-01 5.92588584e-01 -9.75660170e-04 4.92250351e+01] [ 1.20838754e-03 3.87725886e-06 9.99999270e-01 -1.71123120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:49.24, Z:-1.71 [[ 5.88470011e-01 -8.08518916e-01 4.56595368e-04 1.22167967e+02] [ 8.08518678e-01 5.88470188e-01 6.20292541e-04 4.92440940e+01] [-7.70211015e-04 4.14232477e-06 9.99999703e-01 -1.71029232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:49.27, Z:-1.71 [[ 5.86375785e-01 -8.10038877e-01 6.76624853e-04 1.22186444e+02] [ 8.10038353e-01 5.86376175e-01 9.21268105e-04 4.92652720e+01] [-1.14301967e-03 7.88277325e-06 9.99999347e-01 -1.71031934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:49.29, Z:-1.71 [[ 5.85687525e-01 -8.10536281e-01 1.02948424e-03 1.22203517e+02] [ 8.10535065e-01 5.85688430e-01 1.40420287e-03 4.92872825e+01] [-1.74111438e-03 1.20089716e-05 9.99998484e-01 -1.71051321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:49.31, Z:-1.71 [[ 5.87007443e-01 -8.09580360e-01 1.37901687e-03 1.22218751e+02] [ 8.09578170e-01 5.87009063e-01 1.88333535e-03 4.93096021e+01] [-2.33420671e-03 1.08900860e-05 9.99997276e-01 -1.71108197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:49.33, Z:-1.71 [[ 5.89081780e-01 -8.08073393e-01 -2.17922471e-04 1.22235020e+02] [ 8.08073337e-01 5.89081821e-01 -3.00998740e-04 4.93315444e+01] [ 3.71603239e-04 1.21553559e-06 9.99999931e-01 -1.71163386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:49.35, Z:-1.71 [[ 5.88942898e-01 -8.08174620e-01 -2.18293923e-04 1.22251805e+02] [ 8.08174564e-01 5.88942938e-01 -3.00727178e-04 4.93546624e+01] [ 3.71602737e-04 6.91539715e-07 9.99999931e-01 -1.71181864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:49.38, Z:-1.71 [[ 5.90273590e-01 -8.07200567e-01 -2.08164631e-03 1.22266683e+02] [ 8.07195521e-01 5.90277260e-01 -2.85441035e-03 4.93784221e+01] [ 3.53283014e-03 4.58746639e-06 9.99993760e-01 -1.71313771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:49.40, Z:-1.71 [[ 5.90019246e-01 -8.07383424e-01 -3.04894416e-03 1.22283033e+02] [ 8.07372594e-01 5.90027124e-01 -4.18184940e-03 4.94013589e+01] [ 5.17531564e-03 5.73767793e-06 9.99986608e-01 -1.71372197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:49.42, Z:-1.71 [[ 5.89511618e-01 -8.07751641e-01 -3.65207977e-03 1.22299162e+02] [ 8.07736096e-01 5.89522931e-01 -5.01142115e-03 4.94239539e+01] [ 6.20096843e-03 4.37434301e-06 9.99980774e-01 -1.71414515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:49.45, Z:-1.71 [[ 5.87022819e-01 -8.09562452e-01 -3.58415530e-03 1.22314120e+02] [ 8.09547506e-01 5.87033761e-01 -4.91924049e-03 4.94460909e+01] [ 6.08645255e-03 -1.38375592e-05 9.99981477e-01 -1.71468355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.387628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:122.33, Y:49.47, Z:-1.72 [[ 5.84714050e-01 -8.11232574e-01 -3.34525239e-03 1.22329828e+02] [ 8.11219563e-01 5.84723619e-01 -4.59454713e-03 4.94676165e+01] [ 5.68329438e-03 -2.72379232e-05 9.99983850e-01 -1.71771996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:122.35, Y:49.49, Z:-1.72 [[ 5.80137567e-01 -8.14515756e-01 -2.11829199e-03 1.22345442e+02] [ 8.14510552e-01 5.80141433e-01 -2.91183000e-03 4.94899827e+01] [ 3.60064036e-03 -3.61092097e-05 9.99993517e-01 -1.71703690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:49.51, Z:-1.71 [[ 5.78139944e-01 -8.15936636e-01 -1.26929568e-03 1.22361397e+02] [ 8.15934766e-01 5.78141337e-01 -1.74710618e-03 4.95131042e+01] [ 2.15936024e-03 -2.55906054e-05 9.99997668e-01 -1.71407788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:49.54, Z:-1.71 [[ 5.77935326e-01 -8.16081582e-01 -1.26894637e-03 1.22378153e+02] [ 8.16079712e-01 5.77936718e-01 -1.74736006e-03 4.95362791e+01] [ 2.15935906e-03 -2.57002866e-05 9.99997668e-01 -1.71426281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:49.56, Z:-1.71 [[ 5.75922854e-01 -8.17503693e-01 -7.60422408e-04 1.22394406e+02] [ 8.17503020e-01 5.75923356e-01 -1.04900953e-03 4.95593644e+01] [ 1.29551419e-03 -1.74990526e-05 9.99999161e-01 -1.71390348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:49.59, Z:-1.72 [[ 5.73391033e-01 -8.19252939e-01 6.88083455e-03 1.22407569e+02] [ 8.19271665e-01 5.73321850e-01 -9.79772385e-03 4.95861626e+01] [ 4.08188126e-03 1.12551998e-02 9.99928327e-01 -1.71927384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:49.60, Z:-1.71 [[ 5.72612239e-01 -8.19776982e-01 -8.99572636e-03 1.22430582e+02] [ 8.19826249e-01 5.72582797e-01 5.81905391e-03 4.96035992e+01] [ 3.80471704e-04 -1.07069941e-02 9.99942606e-01 -1.70895494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:49.63, Z:-1.71 [[ 5.71844053e-01 -8.20362305e-01 2.58555056e-04 1.22442366e+02] [ 8.20362229e-01 5.71844112e-01 3.53602279e-04 4.96297301e+01] [-4.37935167e-04 9.90344179e-06 9.99999904e-01 -1.71471130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:49.65, Z:-1.72 [[ 5.72058145e-01 -8.20212974e-01 3.94788905e-04 1.22457899e+02] [ 8.20212795e-01 5.72058281e-01 5.41642107e-04 4.96531600e+01] [-6.70104146e-04 1.39601320e-05 9.99999775e-01 -1.71507226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:49.68, Z:-1.72 [[ 5.72881163e-01 -8.19638440e-01 4.21911076e-05 1.22472463e+02] [ 8.19638438e-01 5.72881164e-01 5.56926548e-05 4.96756890e+01] [-6.98183316e-05 2.67618071e-06 9.99999998e-01 -1.71567843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:49.70, Z:-1.72 [[ 5.74327664e-01 -8.18625453e-01 -3.19105414e-04 1.22487235e+02] [ 8.18625333e-01 5.74327753e-01 -4.42365678e-04 4.96982615e+01] [ 5.45402899e-04 -7.16492940e-06 9.99999851e-01 -1.71688556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:49.72, Z:-1.72 [[ 5.75932514e-01 -8.17496501e-01 -1.09971159e-03 1.22502729e+02] [ 8.17495086e-01 5.75933564e-01 -1.52165235e-03 4.97215398e+01] [ 1.87730629e-03 -2.26397569e-05 9.99998238e-01 -1.71740859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:49.74, Z:-1.72 [[ 5.77554443e-01 -8.16350147e-01 -1.81745917e-03 1.22518484e+02] [ 8.16346274e-01 5.77557302e-01 -2.51458170e-03 4.97449330e+01] [ 3.10246595e-03 -3.13681871e-05 9.99995187e-01 -1.71793857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:49.77, Z:-1.72 [[ 5.81239007e-01 -8.13729418e-01 -2.37737959e-03 1.22533086e+02] [ 8.13722768e-01 5.81243868e-01 -3.28989721e-03 4.97678100e+01] [ 4.05892345e-03 -2.23113149e-05 9.99991762e-01 -1.71847061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:49.79, Z:-1.72 [[ 5.82981840e-01 -8.12481501e-01 -2.44635446e-03 1.22548965e+02] [ 8.12474439e-01 5.82986973e-01 -3.38747137e-03 4.97912486e+01] [ 4.17845060e-03 -1.27661786e-05 9.99991270e-01 -1.71851511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:49.81, Z:-1.72 [[ 5.84375112e-01 -8.11480124e-01 -2.39506485e-03 1.22564649e+02] [ 8.11473339e-01 5.84380020e-01 -3.31849904e-03 4.98142222e+01] [ 4.09252406e-03 -4.28301919e-06 9.99991626e-01 -1.71866495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:122.58, Y:49.84, Z:-1.72 [[ 5.86408526e-01 -8.10012737e-01 -2.09898392e-03 1.22580407e+02] [ 8.10007509e-01 5.86412283e-01 -2.91029546e-03 4.98376296e+01] [ 3.58824634e-03 6.42933975e-06 9.99993562e-01 -1.72021123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:49.86, Z:-1.72 [[ 5.87033804e-01 -8.09561254e-01 -1.37467641e-03 1.22595921e+02] [ 8.09559006e-01 5.87035413e-01 -1.90770790e-03 4.98595937e+01] [ 2.35139013e-03 7.00735500e-06 9.99997235e-01 -1.71864581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:49.88, Z:-1.72 [[ 5.86539942e-01 -8.09919447e-01 -1.17755307e-03 1.22612224e+02] [ 8.09917795e-01 5.86541124e-01 -1.63574429e-03 4.98822161e+01] [ 2.01550441e-03 5.70817622e-06 9.99997969e-01 -1.71893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:49.91, Z:-1.72 [[ 5.85740107e-01 -8.10495437e-01 2.38179265e-03 1.22626954e+02] [ 8.10494191e-01 5.85724092e-01 -5.14342466e-03 4.99053382e+01] [ 2.77364888e-03 4.94313922e-03 9.99983936e-01 -1.72163348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:49.93, Z:-1.72 [[ 5.83709224e-01 -8.11962590e-01 -5.42193247e-04 1.22645749e+02] [ 8.11957551e-01 5.83707735e-01 -3.19615770e-03 4.99282153e+01] [ 2.91164288e-03 1.42538883e-03 9.99994745e-01 -1.72019024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:49.95, Z:-1.72 [[ 5.80715701e-01 -8.14087937e-01 -5.48685852e-03 1.22665164e+02] [ 8.14106254e-01 5.80706780e-01 3.26223155e-03 4.99468401e+01] [ 5.30512593e-04 -6.36131491e-03 9.99979626e-01 -1.71665311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:49.97, Z:-1.72 [[ 5.78571531e-01 -8.15631583e-01 -3.21985408e-04 1.22680378e+02] [ 8.15631459e-01 5.78571621e-01 -4.50035735e-04 4.99706283e+01] [ 5.53354979e-04 -2.24356419e-06 9.99999847e-01 -1.71939421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:49.99, Z:-1.72 [[ 5.76508375e-01 -8.17091192e-01 -2.79209872e-04 1.22697630e+02] [ 8.17091099e-01 5.76508442e-01 -3.90804613e-04 4.99928830e+01] [ 4.80289855e-04 -2.83776833e-06 9.99999885e-01 -1.71917778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.107628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.72, Y:50.01, Z:-1.72 [[ 5.73474557e-01 -8.19222694e-01 -1.05360032e-03 1.22715647e+02] [ 8.19221378e-01 5.73475525e-01 -1.46827545e-03 5.00146621e+01] [ 1.80705857e-03 -2.11132912e-05 9.99998367e-01 -1.72011706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:50.04, Z:-1.72 [[ 5.72240218e-01 -8.20084864e-01 -1.39564473e-03 1.22732532e+02] [ 8.20082558e-01 5.72241919e-01 -1.94515327e-03 5.00373747e+01] [ 2.39383717e-03 -3.14489651e-05 9.99997134e-01 -1.71956135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:50.06, Z:-1.72 [[ 5.71089567e-01 -8.20885328e-01 -1.99610663e-03 1.22749135e+02] [ 8.20880616e-01 5.71093053e-01 -2.78204616e-03 5.00591326e+01] [ 3.42370351e-03 -4.97677055e-05 9.99994138e-01 -1.72017620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:50.08, Z:-1.72 [[ 5.69541567e-01 -8.21960912e-01 1.63150764e-03 1.22764865e+02] [ 8.21941564e-01 5.69511740e-01 -8.27306225e-03 5.00836832e+01] [ 5.87097104e-03 6.05285678e-03 9.99964447e-01 -1.72367031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:50.10, Z:-1.72 [[ 5.68412044e-01 -8.22707474e-01 -7.75633027e-03 1.22786214e+02] [ 8.22729086e-01 5.68433288e-01 -6.69462986e-04 5.01031490e+01] [ 4.95972852e-03 -6.00082769e-03 9.99969695e-01 -1.71783830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:50.13, Z:-1.72 [[ 5.66333531e-01 -8.24167531e-01 -3.76988876e-03 1.22802128e+02] [ 8.24150761e-01 5.66346064e-01 -5.25917865e-03 5.01256365e+01] [ 6.46950594e-03 -1.28507475e-04 9.99979064e-01 -1.72019753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:50.15, Z:-1.72 [[ 5.65349061e-01 -8.24842797e-01 -3.84699117e-03 1.22819268e+02] [ 8.24825327e-01 5.65362133e-01 -5.37022744e-03 5.01481312e+01] [ 6.60453655e-03 -1.37042707e-04 9.99978180e-01 -1.72061715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:50.17, Z:-1.72 [[ 5.64674009e-01 -8.25306762e-01 -3.46582461e-03 1.22834978e+02] [ 8.25292575e-01 5.64684631e-01 -4.84069938e-03 5.01701622e+01] [ 5.95215982e-03 -1.26902193e-04 9.99982278e-01 -1.72047011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34762800000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:122.85, Y:50.19, Z:-1.72 [[ 5.63717488e-01 -8.25960071e-01 -3.54322033e-03 1.22851272e+02] [ 8.25945238e-01 5.63728607e-01 -4.95186164e-03 5.01926290e+01] [ 6.08745466e-03 -1.35054957e-04 9.99981462e-01 -1.72234859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37762800000002 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:122.87, Y:50.22, Z:-1.72 [[ 5.62918353e-01 -8.26509652e-01 -2.17307419e-03 1.22868920e+02] [ 8.26504066e-01 5.62922541e-01 -3.03994647e-03 5.02151602e+01] [ 3.73581754e-03 -8.48129987e-05 9.99993018e-01 -1.72124875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:50.24, Z:-1.72 [[ 5.62865648e-01 -8.26547861e-01 -9.46390866e-04 1.22885278e+02] [ 8.26546800e-01 5.62866442e-01 -1.32511824e-03 5.02367202e+01] [ 1.62796531e-03 -3.63728035e-05 9.99998674e-01 -1.71789108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:50.26, Z:-1.72 [[ 5.62509503e-01 -8.26790780e-01 -2.54563733e-04 1.22902050e+02] [ 8.26790702e-01 5.62509561e-01 -3.58801878e-04 5.02590606e+01] [ 4.39848618e-04 -8.64146172e-06 9.99999903e-01 -1.71699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:50.28, Z:-1.72 [[ 5.62687753e-01 -8.26669491e-01 2.11054452e-04 1.22918256e+02] [ 8.26669439e-01 5.62687793e-01 2.93059312e-04 5.02811334e+01] [-3.61020957e-04 9.57137980e-06 9.99999935e-01 -1.71623881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:50.31, Z:-1.72 [[ 5.63987179e-01 -8.25783329e-01 5.96310998e-04 1.22933617e+02] [ 8.25782910e-01 5.63987493e-01 8.32588909e-04 5.03050029e+01] [-1.02384999e-03 2.28539607e-05 9.99999476e-01 -1.71604349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:50.33, Z:-1.72 [[ 5.65094408e-01 -8.25026217e-01 2.26849861e-04 1.22948578e+02] [ 8.25026157e-01 5.65094454e-01 3.15295604e-04 5.03284453e+01] [-3.88318738e-04 8.98528566e-06 9.99999925e-01 -1.71643990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:50.35, Z:-1.72 [[ 5.66700234e-01 -8.23924046e-01 1.07654766e-04 1.22963892e+02] [ 8.23924033e-01 5.66700244e-01 1.48311460e-04 5.03519728e+01] [-1.83205361e-04 4.65120977e-06 9.99999983e-01 -1.71732904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:50.38, Z:-1.72 [[ 5.70019013e-01 -8.21630816e-01 -1.06202920e-03 1.22978255e+02] [ 8.21629460e-01 5.70020002e-01 -1.49285959e-03 5.03763459e+01] [ 1.83195733e-03 -2.16361290e-05 9.99998322e-01 -1.71815434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:50.40, Z:-1.72 [[ 5.71495423e-01 -8.20603705e-01 -1.59408223e-03 1.22993343e+02] [ 8.20600646e-01 5.71497646e-01 -2.24074616e-03 5.03995637e+01] [ 2.74977884e-03 -2.75287326e-05 9.99996219e-01 -1.71873501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:50.42, Z:-1.72 [[ 5.72618143e-01 -8.19819468e-01 -2.12180141e-03 1.23008300e+02] [ 8.19814042e-01 5.72622073e-01 -2.98298694e-03 5.04223590e+01] [ 3.66050109e-03 -3.13701531e-05 9.99993300e-01 -1.71903236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:50.45, Z:-1.72 [[ 5.73572160e-01 -8.19151374e-01 -2.45016119e-03 1.23023420e+02] [ 8.19144124e-01 5.73577393e-01 -3.44651648e-03 5.04457006e+01] [ 4.22857578e-03 -3.02092388e-05 9.99991059e-01 -1.71980048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:50.47, Z:-1.72 [[ 5.75133194e-01 -8.18054596e-01 -2.91326343e-03 1.23038962e+02] [ 8.18044323e-01 5.75140572e-01 -4.09987081e-03 5.04690621e+01] [ 5.02945415e-03 -2.52068193e-05 9.99987352e-01 -1.71980046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:50.49, Z:-1.72 [[ 5.75381370e-01 -8.17880862e-01 -2.67846831e-03 1.23054906e+02] [ 8.17872167e-01 5.75387604e-01 -3.77138670e-03 5.04914048e+01] [ 4.62570247e-03 -2.06590378e-05 9.99989301e-01 -1.71963318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:50.51, Z:-1.72 [[ 5.75400076e-01 -8.17869042e-01 -2.23212310e-03 1.23071379e+02] [ 8.17862993e-01 5.75404406e-01 -3.14549960e-03 5.05138883e+01] [ 3.85698021e-03 -1.56501677e-05 9.99992562e-01 -1.71787808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:50.54, Z:-1.72 [[ 5.75170907e-01 -8.18031484e-01 -1.70816988e-03 1.23086834e+02] [ 8.18027941e-01 5.75173444e-01 -2.40789860e-03 5.05356971e+01] [ 2.95223082e-03 -1.23774673e-05 9.99995642e-01 -1.71764290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:50.56, Z:-1.72 [[ 5.74784309e-01 -8.18304617e-01 -7.43538263e-04 1.23102924e+02] [ 8.18303942e-01 5.74784790e-01 -1.05059485e-03 5.05590253e+01] [ 1.28708110e-03 -4.57485683e-06 9.99999172e-01 -1.71751451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:50.58, Z:-1.72 [[ 5.74774718e-01 -8.18311470e-01 -6.01266616e-04 1.23118896e+02] [ 8.18311028e-01 5.74775032e-01 -8.50585590e-04 5.05819142e+01] [ 1.04163698e-03 -3.12800989e-06 9.99999457e-01 -1.71751331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:50.60, Z:-1.72 [[ 5.74664301e-01 -8.18389149e-01 -3.77368319e-04 1.23134805e+02] [ 8.18388974e-01 5.74664425e-01 -5.35134840e-04 5.06049633e+01] [ 6.54808694e-04 -1.31118212e-06 9.99999786e-01 -1.71812573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:50.63, Z:-1.72 [[ 5.74714957e-01 -8.18353661e-01 6.59986537e-05 1.23151223e+02] [ 8.18352896e-01 5.74714305e-01 -1.41559536e-03 5.06285372e+01] [ 1.12052727e-03 8.67574014e-04 9.99998996e-01 -1.71876669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:50.65, Z:-1.72 [[ 5.75447056e-01 -8.17837933e-01 -1.34229817e-03 1.23167451e+02] [ 8.17838305e-01 5.75447959e-01 -3.90615808e-04 5.06495760e+01] [ 1.09188317e-03 -8.73004145e-04 9.99999023e-01 -1.71779231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:50.67, Z:-1.72 [[ 5.75969181e-01 -8.17470840e-01 -9.63508170e-04 1.23183434e+02] [ 8.17469702e-01 5.75969987e-01 -1.36401661e-03 5.06720995e+01] [ 1.66999560e-03 -2.00720464e-06 9.99998606e-01 -1.71803171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:50.70, Z:-1.72 [[ 5.76060090e-01 -8.17407144e-01 -5.77801253e-04 1.23199536e+02] [ 8.17401292e-01 5.76058399e-01 -3.44205699e-03 5.06958855e+01] [ 3.14640924e-03 1.51053617e-03 9.99993909e-01 -1.71890547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:50.72, Z:-1.72 [[ 5.78957994e-01 -8.15352139e-01 -2.92058273e-03 1.23215196e+02] [ 8.15352168e-01 5.78963382e-01 -1.49833941e-03 5.07169886e+01] [ 2.91258469e-03 -1.51382788e-03 9.99994613e-01 -1.71746169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:50.74, Z:-1.72 [[ 5.80105157e-01 -8.14539952e-01 -1.63515486e-03 1.23230418e+02] [ 8.14536662e-01 5.80107461e-01 -2.31512552e-03 5.07399459e+01] [ 2.83432776e-03 1.11226744e-05 9.99995983e-01 -1.71825015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:50.76, Z:-1.72 [[ 5.81472025e-01 -8.13564936e-01 -1.54247093e-03 1.23246968e+02] [ 8.13561998e-01 5.81474071e-01 -2.18623240e-03 5.07628673e+01] [ 2.67554887e-03 1.63372513e-05 9.99996421e-01 -1.71815694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:50.79, Z:-1.72 [[ 5.84340039e-01 -8.11507393e-01 -1.57201017e-03 1.23263652e+02] [ 8.11504331e-01 5.84342152e-01 -2.22941243e-03 5.07858894e+01] [ 2.72777647e-03 2.70418842e-05 9.99996279e-01 -1.71788907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:50.81, Z:-1.72 [[ 5.85517545e-01 -8.10657940e-01 -1.70546272e-03 1.23279359e+02] [ 8.10654330e-01 5.85520028e-01 -2.41947576e-03 5.08076936e+01] [ 2.95994981e-03 3.41047674e-05 9.99995619e-01 -1.71805413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:50.83, Z:-1.72 [[ 5.86266679e-01 -8.10115994e-01 -1.85917968e-03 1.23295917e+02] [ 8.10111696e-01 5.86269626e-01 -2.63920525e-03 5.08304514e+01] [ 3.22804296e-03 4.11348979e-05 9.99994789e-01 -1.71835602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:123.31, Y:50.85, Z:-1.72 [[ 5.86715162e-01 -8.09791548e-01 -1.72275105e-03 1.23312133e+02] [ 8.09787855e-01 5.86717689e-01 -2.44587787e-03 5.08526119e+01] [ 2.99141974e-03 3.99707531e-05 9.99995525e-01 -1.71870775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24762800000002 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:123.33, Y:50.88, Z:-1.72 [[ 5.86928425e-01 -8.09637032e-01 -1.70325662e-03 1.23328794e+02] [ 8.09633415e-01 5.86930895e-01 -2.42049615e-03 5.08750205e+01] [ 2.95941725e-03 4.16445155e-05 9.99995620e-01 -1.71896733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.35, Y:50.90, Z:-1.72 [[ 5.86575419e-01 -8.09893557e-01 -1.30555339e-03 1.23346584e+02] [ 8.09891428e-01 5.86576871e-01 -1.85703614e-03 5.08963957e+01] [ 2.26980903e-03 3.19352503e-05 9.99997423e-01 -1.71881308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.36, Y:50.92, Z:-1.72 [[ 5.86049555e-01 -8.10274538e-01 -1.04526062e-03 1.23363940e+02] [ 8.10273171e-01 5.86050487e-01 -1.48828819e-03 5.09183088e+01] [ 1.81849752e-03 2.52639987e-05 9.99998346e-01 -1.71855862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:50.94, Z:-1.72 [[ 5.85049448e-01 -8.10997105e-01 -9.16678834e-04 1.23380428e+02] [ 8.10996053e-01 5.85050165e-01 -1.30597960e-03 5.09393011e+01] [ 1.59544878e-03 2.06397295e-05 9.99998727e-01 -1.71846304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36762800000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:123.40, Y:50.96, Z:-1.72 [[ 5.83834889e-01 -8.11872119e-01 -6.96703563e-04 1.23397153e+02] [ 8.11871511e-01 5.83835304e-01 -9.93672790e-04 5.09606250e+01] [ 1.21349537e-03 1.45070690e-05 9.99999264e-01 -1.71850914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39762800000003 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:123.41, Y:50.98, Z:-1.72 [[ 5.83622148e-01 -8.12025063e-01 -6.96405626e-04 1.23413538e+02] [ 8.12024455e-01 5.83622563e-01 -9.93881913e-04 5.09840718e+01] [ 1.21349506e-03 1.45530984e-05 9.99999264e-01 -1.71866521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42762800000003 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:123.43, Y:51.01, Z:-1.72 [[ 5.81215294e-01 -8.13749337e-01 -8.93148878e-04 1.23432236e+02] [ 8.13748339e-01 5.81215980e-01 -1.27490865e-03 5.10058020e+01] [ 1.55656847e-03 1.41979891e-05 9.99998788e-01 -1.71908192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:51.03, Z:-1.74 [[ 5.75127825e-01 -8.17822463e-01 1.98596070e-02 1.23432757e+02] [ 8.18045471e-01 5.75107044e-01 -7.31402753e-03 5.10313302e+01] [-5.43982387e-03 2.04525623e-02 9.99776025e-01 -1.73973511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.487628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:123.47, Y:51.04, Z:-1.71 [[ 5.78726194e-01 -8.15314457e-01 -1.83936967e-02 1.23473388e+02] [ 8.15517765e-01 5.78647975e-01 9.86385554e-03 5.10448105e+01] [ 2.60133135e-03 -2.07088580e-02 9.99782164e-01 -1.71091682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:51.07, Z:-1.72 [[ 5.77598626e-01 -8.16319361e-01 -1.58994001e-03 1.23484101e+02] [ 8.16316208e-01 5.77600814e-01 -2.26906252e-03 5.10717451e+01] [ 2.77063031e-03 1.27136003e-05 9.99996162e-01 -1.72071708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:51.09, Z:-1.72 [[ 5.77122098e-01 -8.16654840e-01 -2.22631952e-03 1.23501451e+02] [ 8.16648658e-01 5.77126392e-01 -3.17768929e-03 5.10926803e+01] [ 3.87994309e-03 1.57938590e-05 9.99992473e-01 -1.72033582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:123.52, Y:51.12, Z:-1.72 [[ 5.77060523e-01 -8.16697220e-01 -2.60857471e-03 1.23517534e+02] [ 8.16688723e-01 5.77066418e-01 -3.72537390e-03 5.11159426e+01] [ 4.54782337e-03 1.93726584e-05 9.99989658e-01 -1.72050120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:51.14, Z:-1.72 [[ 5.76466015e-01 -8.17114412e-01 -3.31243914e-03 1.23532680e+02] [ 8.17100709e-01 5.76475531e-01 -4.73216990e-03 5.11386534e+01] [ 5.77626434e-03 2.13387568e-05 9.99983317e-01 -1.72076311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:51.16, Z:-1.72 [[ 5.75695783e-01 -8.17657013e-01 -3.37269790e-03 1.23548284e+02] [ 8.17642799e-01 5.75705662e-01 -4.82126593e-03 5.11615299e+01] [ 5.88382317e-03 1.79203140e-05 9.99982690e-01 -1.72099709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:51.18, Z:-1.72 [[ 5.74488115e-01 -8.18506984e-01 -3.11821622e-03 1.23564096e+02] [ 8.18494831e-01 5.74496578e-01 -4.46033408e-03 5.11846609e+01] [ 5.44221914e-03 1.01650581e-05 9.99985191e-01 -1.72131040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:51.21, Z:-1.72 [[ 5.71142585e-01 -8.20847435e-01 -2.37413467e-03 1.23580356e+02] [ 8.20840399e-01 5.71147519e-01 -3.39858945e-03 5.12078501e+01] [ 4.14570455e-03 -7.70648924e-06 9.99991407e-01 -1.72081718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:51.23, Z:-1.72 [[ 5.69331333e-01 -8.22105993e-01 -1.88927356e-03 1.23596545e+02] [ 8.22101539e-01 5.69334467e-01 -2.70620118e-03 5.12301870e+01] [ 3.30041277e-03 -1.24495702e-05 9.99994554e-01 -1.72045042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:51.25, Z:-1.72 [[ 5.65346833e-01 -8.24852935e-01 -7.70772849e-04 1.23612875e+02] [ 8.24852193e-01 5.65347359e-01 -1.10624429e-03 5.12533056e+01] [ 1.34824325e-03 -1.03619661e-05 9.99999091e-01 -1.72004150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:51.28, Z:-1.72 [[ 5.63763520e-01 -8.25936130e-01 -4.51522711e-04 1.23627938e+02] [ 8.25935875e-01 5.63763700e-01 -6.48521830e-04 5.12753147e+01] [ 7.90189725e-04 -7.31585598e-06 9.99999688e-01 -1.71982621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:51.30, Z:-1.72 [[ 5.63554799e-01 -8.26078559e-01 -4.51071561e-04 1.23644238e+02] [ 8.26078304e-01 5.63554979e-01 -6.48836513e-04 5.12988183e+01] [ 7.90193556e-04 -6.96549947e-06 9.99999688e-01 -1.71997332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:51.32, Z:-1.72 [[ 5.60668599e-01 -8.28040286e-01 7.95306264e-05 1.23657794e+02] [ 8.28040279e-01 5.60668605e-01 1.11871916e-04 5.13218903e+01] [-1.37224779e-04 3.13149155e-06 9.99999991e-01 -1.72056201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:51.35, Z:-1.72 [[ 5.59315859e-01 -8.28954571e-01 2.99285332e-04 1.23672749e+02] [ 8.28954461e-01 5.59315939e-01 4.27068794e-04 5.13452939e+01] [-5.21415685e-04 9.22756192e-06 9.99999864e-01 -1.72152203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:51.37, Z:-1.72 [[ 5.57819978e-01 -8.29961893e-01 3.57004060e-04 1.23688018e+02] [ 8.29961737e-01 5.57820093e-01 5.10186502e-04 5.13689600e+01] [-6.22579393e-04 1.17074867e-05 9.99999806e-01 -1.72184182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:51.39, Z:-1.72 [[ 5.56158405e-01 -8.31076249e-01 3.11390131e-04 1.23703574e+02] [ 8.31076130e-01 5.56158492e-01 4.44873448e-04 5.13928470e+01] [-5.42906022e-04 1.13687977e-05 9.99999853e-01 -1.72206153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:51.42, Z:-1.72 [[ 5.54718997e-01 -8.32037716e-01 2.68774023e-04 1.23719146e+02] [ 8.32037628e-01 5.54719062e-01 3.83804558e-04 5.14161344e+01] [-4.68433942e-04 1.07264215e-05 9.99999890e-01 -1.72201352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:51.44, Z:-1.72 [[ 5.53015329e-01 -8.33171031e-01 2.81975676e-04 1.23734176e+02] [ 8.33170933e-01 5.53015401e-01 4.03022432e-04 5.14396696e+01] [-4.91723507e-04 1.20563545e-05 9.99999879e-01 -1.72191128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:51.46, Z:-1.72 [[ 5.49976507e-01 -8.35179852e-01 6.76054250e-04 1.23747752e+02] [ 8.35179288e-01 5.49976922e-01 9.70605560e-04 5.14634772e+01] [-1.18244444e-03 3.08162517e-05 9.99999300e-01 -1.72225346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:51.49, Z:-1.72 [[ 5.48869324e-01 -8.35907715e-01 8.70071006e-04 1.23762628e+02] [ 8.35906781e-01 5.48870012e-01 1.25037259e-03 5.14873336e+01] [-1.52275198e-03 4.10070958e-05 9.99998840e-01 -1.72250253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:51.51, Z:-1.72 [[ 5.47232405e-01 -8.36974931e-01 3.10806892e-03 1.23776856e+02] [ 8.36979953e-01 5.47233110e-01 -6.94124373e-04 5.15129108e+01] [-1.11987352e-03 2.98123873e-03 9.99994929e-01 -1.72401769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:51.54, Z:-1.72 [[ 5.46816822e-01 -8.37251860e-01 -8.28524673e-04 1.23792439e+02] [ 8.37247396e-01 5.46809995e-01 3.95303416e-03 5.15366046e+01] [-2.85663963e-03 -2.85526570e-03 9.99991844e-01 -1.72097298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:51.56, Z:-1.72 [[ 5.46781836e-01 -8.37273302e-01 1.74384405e-03 1.23805909e+02] [ 8.37269539e-01 5.46784610e-01 2.51191071e-03 5.15611916e+01] [-3.05666287e-03 8.66003549e-05 9.99995325e-01 -1.72204405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:51.59, Z:-1.72 [[ 5.47092623e-01 -8.37069780e-01 1.96076604e-03 1.23819810e+02] [ 8.37065014e-01 5.47096128e-01 2.82649283e-03 5.15850727e+01] [-3.43869924e-03 9.49352737e-05 9.99994083e-01 -1.72225394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:51.61, Z:-1.72 [[ 5.48134646e-01 -8.36372999e-01 5.34948473e-03 1.23831763e+02] [ 8.36385928e-01 5.48140912e-01 -3.45099974e-04 5.16104031e+01] [-2.64363914e-03 4.66339500e-03 9.99985632e-01 -1.72483891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:51.63, Z:-1.72 [[ 5.50617079e-01 -8.34756933e-01 -1.30186179e-03 1.23846611e+02] [ 8.34746248e-01 5.50600434e-01 6.15338064e-03 5.16336748e+01] [-4.41977149e-03 -4.47488071e-03 9.99980220e-01 -1.72146370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:51.66, Z:-1.72 [[ 5.52069476e-01 -8.33794901e-01 2.31461712e-03 1.23859335e+02] [ 8.33788212e-01 5.52074321e-01 3.34081322e-03 5.16596428e+01] [-4.06339371e-03 8.55394667e-05 9.99991741e-01 -1.72419673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:51.68, Z:-1.72 [[ 5.53547989e-01 -8.32814133e-01 2.29000364e-03 1.23873296e+02] [ 8.32807570e-01 5.53552720e-01 3.30726438e-03 5.16839879e+01] [-4.02197427e-03 7.64028228e-05 9.99991909e-01 -1.72468263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:51.71, Z:-1.72 [[ 5.55280602e-01 -8.31660127e-01 2.21041883e-03 1.23887881e+02] [ 8.31653996e-01 5.55284998e-01 3.19417791e-03 5.17086597e+01] [-3.88388282e-03 6.46386156e-05 9.99992456e-01 -1.72497218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:51.73, Z:-1.73 [[ 5.58593390e-01 -8.29439474e-01 1.89327387e-03 1.23901324e+02] [ 8.29434958e-01 5.58596596e-01 2.73717265e-03 5.17340233e+01] [-3.32789539e-03 4.13809820e-05 9.99994462e-01 -1.72536848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:51.76, Z:-1.73 [[ 5.60201540e-01 -8.28354801e-01 1.59951098e-03 1.23916226e+02] [ 8.28351571e-01 5.60203823e-01 2.31346613e-03 5.17579764e+01] [-2.81242294e-03 2.89501438e-05 9.99996045e-01 -1.72522449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:51.78, Z:-1.73 [[ 5.61903024e-01 -8.27201842e-01 1.45023846e-03 1.23930414e+02] [ 8.27199180e-01 5.61904895e-01 2.09874799e-03 5.17810773e+01] [-2.55098430e-03 2.03432273e-05 9.99996746e-01 -1.72521251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:51.81, Z:-1.73 [[ 5.65548372e-01 -8.24714877e-01 6.41018374e-04 1.23943595e+02] [ 8.24714356e-01 5.65548735e-01 9.26895671e-04 5.18050422e+01] [-1.12695178e-03 4.45271772e-06 9.99999365e-01 -1.72611817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:51.83, Z:-1.73 [[ 5.67081933e-01 -8.23661383e-01 7.82672040e-05 1.23958642e+02] [ 8.23661376e-01 5.67081939e-01 1.10985373e-04 5.18289479e+01] [-1.35798284e-04 1.52787277e-06 9.99999991e-01 -1.72677903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:51.85, Z:-1.73 [[ 5.68392675e-01 -8.22757397e-01 1.81525441e-04 1.23973695e+02] [ 8.22757355e-01 5.68392704e-01 2.60884474e-04 5.18522299e+01] [-3.17822367e-04 1.06656757e-06 9.99999949e-01 -1.72745636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:51.88, Z:-1.73 [[ 5.70263900e-01 -8.21460873e-01 1.05709804e-03 1.23988866e+02] [ 8.21459444e-01 5.70264880e-01 1.53255293e-03 5.18757881e+01] [-1.86175816e-03 -5.59644290e-06 9.99998267e-01 -1.72725647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:51.90, Z:-1.73 [[ 5.69439586e-01 -8.22029537e-01 2.44933342e-03 1.24002692e+02] [ 8.22028110e-01 5.69444013e-01 1.81731028e-03 5.18996042e+01] [-2.88864097e-03 9.78572509e-04 9.99995349e-01 -1.72837032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:51.92, Z:-1.73 [[ 5.68949748e-01 -8.22316360e-01 9.59103617e-03 1.24015366e+02] [ 8.22353093e-01 5.68977461e-01 1.96952926e-04 5.19248341e+01] [-5.61904102e-03 7.77516195e-03 9.99953986e-01 -1.73407953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:51.94, Z:-1.73 [[ 5.69678060e-01 -8.21861619e-01 -3.22286646e-03 1.24037900e+02] [ 8.21857463e-01 5.69646621e-01 7.28270310e-03 5.19442957e+01] [-4.14947917e-03 -6.79753303e-03 9.99968287e-01 -1.72539241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:51.97, Z:-1.73 [[ 5.68892773e-01 -8.22363335e-01 8.91954526e-03 1.24049568e+02] [ 8.22384574e-01 5.68928642e-01 1.95243816e-03 5.19696982e+01] [-6.68019833e-03 6.22456848e-03 9.99958314e-01 -1.73297142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:51.99, Z:-1.72 [[ 5.69859373e-01 -8.21731792e-01 -4.14215511e-03 1.24072619e+02] [ 8.21729390e-01 5.69815048e-01 8.46295583e-03 5.19891446e+01] [-4.59401754e-03 -8.22642529e-03 9.99955609e-01 -1.72360334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:52.01, Z:-1.73 [[ 5.69409375e-01 -8.22049852e-01 2.64637053e-03 1.24085917e+02] [ 8.22040840e-01 5.69415525e-01 3.84928441e-03 5.20140551e+01] [-4.67118815e-03 -1.63939808e-05 9.99989090e-01 -1.72758279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:52.04, Z:-1.73 [[ 5.68900142e-01 -8.22402912e-01 2.46553016e-03 1.24101742e+02] [ 8.22395084e-01 5.68905484e-01 3.58825503e-03 5.20363334e+01] [-4.35364502e-03 -1.37189099e-05 9.99990523e-01 -1.72791196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:52.06, Z:-1.73 [[ 5.68178096e-01 -8.22903745e-01 1.75463773e-03 1.24118218e+02] [ 8.22899780e-01 5.68180805e-01 2.55430416e-03 5.20589605e+01] [-3.09889794e-03 -7.40867161e-06 9.99995198e-01 -1.72835873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:52.08, Z:-1.73 [[ 5.67085099e-01 -8.23658120e-01 1.33844087e-03 1.24134911e+02] [ 8.23655814e-01 5.67086679e-01 1.94901858e-03 5.20813499e+01] [-2.36433697e-03 -2.84479408e-06 9.99997205e-01 -1.72930877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:52.10, Z:-1.73 [[ 5.63748619e-01 -8.25946344e-01 -3.61381288e-04 1.24152915e+02] [ 8.25946175e-01 5.63748735e-01 -5.29686361e-04 5.21026210e+01] [ 6.41220757e-04 1.28462027e-07 9.99999794e-01 -1.73004048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:52.13, Z:-1.73 [[ 5.61364484e-01 -8.27566434e-01 1.92678438e-03 1.24168648e+02] [ 8.27564541e-01 5.61352796e-01 -4.46877264e-03 5.21252524e+01] [ 2.61660044e-03 4.10314868e-03 9.99988159e-01 -1.73261933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:52.15, Z:-1.73 [[ 5.58502369e-01 -8.29490092e-01 -4.61412173e-03 1.24189177e+02] [ 8.29500318e-01 5.58505920e-01 5.99512361e-04 5.21457344e+01] [ 2.07972474e-03 -4.16224452e-03 9.99989175e-01 -1.72924480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:52.17, Z:-1.73 [[ 5.55200624e-01 -8.31715066e-01 -1.52208848e-03 1.24205542e+02] [ 8.31712087e-01 5.55202710e-01 -2.22611619e-03 5.21683863e+01] [ 2.69656202e-03 -2.99982929e-05 9.99996364e-01 -1.73082762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:52.19, Z:-1.73 [[ 5.51525901e-01 -8.34156631e-01 -1.37682607e-03 1.24222390e+02] [ 8.34154199e-01 5.51527618e-01 -2.01475544e-03 5.21891202e+01] [ 2.43997921e-03 -3.72954445e-05 9.99997023e-01 -1.73099107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:52.21, Z:-1.73 [[ 5.43432369e-01 -8.39452267e-01 -1.07262136e-03 1.24241956e+02] [ 8.39450798e-01 5.43433426e-01 -1.57127667e-03 5.22093873e+01] [ 1.90191006e-03 -4.65302543e-05 9.99998190e-01 -1.73049184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:52.23, Z:-1.73 [[ 5.39090334e-01 -8.42247444e-01 -9.24366490e-04 1.24259841e+02] [ 8.42246355e-01 5.39091124e-01 -1.35523673e-03 5.22310758e+01] [ 1.63976245e-03 -4.79492851e-05 9.99998654e-01 -1.72985681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:52.25, Z:-1.73 [[ 5.34646665e-01 -8.45075585e-01 -4.46274189e-04 1.24276954e+02] [ 8.45075332e-01 5.34646850e-01 -6.55044064e-04 5.22516517e+01] [ 7.92160835e-04 -2.69181843e-05 9.99999686e-01 -1.72941793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:52.27, Z:-1.73 [[ 5.26727214e-01 -8.50034233e-01 4.94864711e-04 1.24296715e+02] [ 8.50033927e-01 5.26727445e-01 7.22508792e-04 5.22722276e+01] [-8.74816031e-04 4.00867502e-05 9.99999617e-01 -1.72830317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:52.30, Z:-1.73 [[ 5.23100913e-01 -8.52270112e-01 1.04462805e-03 1.24313978e+02] [ 8.52268746e-01 5.23101948e-01 1.52874581e-03 5.22950669e+01] [-1.84935133e-03 9.06155114e-05 9.99998286e-01 -1.72841068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:52.32, Z:-1.73 [[ 5.20228147e-01 -8.54026335e-01 1.30168101e-03 1.24330464e+02] [ 8.54024215e-01 5.20229762e-01 1.90669494e-03 5.23174583e+01] [-2.30554089e-03 1.19750722e-04 9.99997335e-01 -1.72849505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:52.34, Z:-1.74 [[ 5.14783143e-01 -8.57244445e-01 1.14139275e-02 1.24336877e+02] [ 8.57301076e-01 5.14815353e-01 -1.35043188e-04 5.23421084e+01] [-5.76030007e-03 9.85469025e-03 9.99934850e-01 -1.73820137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:52.36, Z:-1.73 [[ 5.18590810e-01 -8.54998755e-01 -6.37969804e-03 1.24363766e+02] [ 8.55015965e-01 5.18543078e-01 7.79589062e-03 5.23636759e+01] [-3.35732852e-03 -9.49762091e-03 9.99949260e-01 -1.72502290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:52.39, Z:-1.73 [[ 5.19363171e-01 -8.54552814e-01 1.17694317e-03 1.24375691e+02] [ 8.54551079e-01 5.19364493e-01 1.72569749e-03 5.23894417e+01] [-2.08596214e-03 1.09494333e-04 9.99997818e-01 -1.73015375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:52.41, Z:-1.73 [[ 5.20376700e-01 -8.53936640e-01 5.53049622e-04 1.24390682e+02] [ 8.53936257e-01 5.20376991e-01 8.10103899e-04 5.24130391e+01] [-9.79571700e-04 5.07099307e-05 9.99999519e-01 -1.73048399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:52.44, Z:-1.73 [[ 5.20149806e-01 -8.54074864e-01 5.52763430e-04 1.24406726e+02] [ 8.54074481e-01 5.20150097e-01 8.10298858e-04 5.24367210e+01] [-9.79575840e-04 5.06243461e-05 9.99999519e-01 -1.73062158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:124.42, Y:52.46, Z:-1.73 [[ 5.22859641e-01 -8.52417587e-01 -1.43305592e-03 1.24420015e+02] [ 8.52414982e-01 5.22861591e-01 -2.11042886e-03 5.24614425e+01] [ 2.54825658e-03 -1.18100261e-04 9.99996746e-01 -1.73372432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:52.49, Z:-1.73 [[ 5.25310248e-01 -8.50909428e-01 -1.51289696e-03 1.24433113e+02] [ 8.50906519e-01 5.25312414e-01 -2.22801708e-03 5.24856685e+01] [ 2.69058429e-03 -1.16933674e-04 9.99996374e-01 -1.73234666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:52.51, Z:-1.73 [[ 5.30439069e-01 -8.47720459e-01 -2.10172525e-03 1.24442856e+02] [ 8.47714814e-01 5.30443214e-01 -3.09675157e-03 5.25117482e+01] [ 3.74002556e-03 -1.39025606e-04 9.99992996e-01 -1.73359576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:124.46, Y:52.54, Z:-1.74 [[ 5.32341801e-01 -8.46526196e-01 -2.36773455e-03 1.24456146e+02] [ 8.46519011e-01 5.32347047e-01 -3.49075910e-03 5.25367778e+01] [ 4.21547552e-03 -1.46055328e-04 9.99991104e-01 -1.73660516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:52.56, Z:-1.73 [[ 5.35253221e-01 -8.44690784e-01 -1.21205058e-03 1.24469863e+02] [ 8.44688891e-01 5.35254590e-01 -1.78926836e-03 5.25610910e+01] [ 2.16013413e-03 -6.60940079e-05 9.99997665e-01 -1.73394682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:52.58, Z:-1.73 [[ 5.37518525e-01 -8.43251383e-01 -9.69441580e-04 1.24483618e+02] [ 8.43250168e-01 5.37519397e-01 -1.43216256e-03 5.25846860e+01] [ 1.72876671e-03 -4.76678685e-05 9.99998505e-01 -1.73329455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:52.61, Z:-1.73 [[ 5.39991081e-01 -8.41670523e-01 -6.03442814e-04 1.24497991e+02] [ 8.41670049e-01 5.39991417e-01 -8.93051426e-04 5.26087938e+01] [ 1.07750900e-03 -2.56599387e-05 9.99999419e-01 -1.73278988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:52.63, Z:-1.73 [[ 5.44726495e-01 -8.38613724e-01 2.59624628e-04 1.24510223e+02] [ 8.38613638e-01 5.44726557e-01 3.81210974e-04 5.26334616e+01] [-4.61113184e-04 1.00690362e-05 9.99999894e-01 -1.73244377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:52.66, Z:-1.75 [[ 5.44590925e-01 -8.38552180e-01 1.58418987e-02 1.24514461e+02] [ 8.38687806e-01 5.44593827e-01 -4.50873304e-03 5.26614809e+01] [-4.84659231e-03 1.57418224e-02 9.99864344e-01 -1.74614249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:52.68, Z:-1.73 [[ 5.49093167e-01 -8.35672891e-01 -1.21454693e-02 1.24544239e+02] [ 8.35759497e-01 5.49005234e-01 9.96573734e-03 5.26799712e+01] [-1.66017033e-03 -1.56228096e-02 9.99876578e-01 -1.72587471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:52.71, Z:-1.73 [[ 5.53461935e-01 -8.32872900e-01 1.61828059e-03 1.24550920e+02] [ 8.32869471e-01 5.53464300e-01 2.38996165e-03 5.27087881e+01] [-2.88619482e-03 2.50636997e-05 9.99995835e-01 -1.73392222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:52.73, Z:-1.73 [[ 5.55253296e-01 -8.31679417e-01 1.76751735e-03 1.24565581e+02] [ 8.31675315e-01 5.55256109e-01 2.61216562e-03 5.27328472e+01] [-3.15390919e-03 1.95869751e-05 9.99995026e-01 -1.73446376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:52.76, Z:-1.74 [[ 5.56937982e-01 -8.30510673e-01 8.49155226e-03 1.24578005e+02] [ 8.30554038e-01 5.56912177e-01 -5.36803724e-03 5.27597865e+01] [-2.70836640e-04 1.00423568e-02 9.99949538e-01 -1.73896011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:52.78, Z:-1.73 [[ 5.61029212e-01 -8.27765889e-01 -7.06092516e-03 1.24600064e+02] [ 8.27793814e-01 5.60987703e-01 7.08506315e-03 5.27789404e+01] [-1.90368141e-03 -9.81991756e-03 9.99949971e-01 -1.72972909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:52.80, Z:-1.73 [[ 5.60829692e-01 -8.27930492e-01 1.07541093e-03 1.24612668e+02] [ 8.27928963e-01 5.60830723e-01 1.59155185e-03 5.28049114e+01] [-1.92081780e-03 -2.22567877e-06 9.99998155e-01 -1.73397717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:52.83, Z:-1.73 [[ 5.62313451e-01 -8.26923167e-01 1.28796726e-03 1.24628187e+02] [ 8.26920967e-01 5.62314926e-01 1.90752185e-03 5.28283872e+01] [-2.30161722e-03 -7.57806163e-06 9.99997351e-01 -1.73435975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:52.85, Z:-1.74 [[ 5.64820802e-01 -8.25212720e-01 1.19486756e-03 1.24642636e+02] [ 8.25210820e-01 5.64822066e-01 1.77110291e-03 5.28508486e+01] [-2.13642422e-03 -1.43381294e-05 9.99997718e-01 -1.73506177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:52.87, Z:-1.74 [[ 5.65351088e-01 -8.24848908e-01 1.55776957e-03 1.24658487e+02] [ 8.24845674e-01 5.65353234e-01 2.30985558e-03 5.28745734e+01] [-2.78597192e-03 -2.09598772e-05 9.99996119e-01 -1.73577192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:52.90, Z:-1.74 [[ 5.65785669e-01 -8.24550918e-01 1.53622204e-03 1.24674456e+02] [ 8.24547768e-01 5.65787754e-01 2.27927748e-03 5.28978882e+01] [-2.74855595e-03 -2.28940810e-05 9.99996222e-01 -1.73644019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:52.92, Z:-1.74 [[ 5.66393523e-01 -8.24133398e-01 1.58719293e-03 1.24691649e+02] [ 8.24130029e-01 5.66395746e-01 2.35652706e-03 5.29188897e+01] [-2.84107198e-03 -2.66683104e-05 9.99995964e-01 -1.73652142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:52.94, Z:-1.74 [[ 5.66337417e-01 -8.24172206e-01 1.45074853e-03 1.24708979e+02] [ 8.24169390e-01 5.66339274e-01 2.15490337e-03 5.29410311e+01] [-2.59762734e-03 -2.47398775e-05 9.99996626e-01 -1.73625997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:52.96, Z:-1.74 [[ 5.66146908e-01 -8.24303398e-01 1.25985416e-03 1.24726175e+02] [ 8.24301272e-01 5.66148309e-01 1.87220875e-03 5.29632742e+01] [-2.25653234e-03 -2.14458092e-05 9.99997454e-01 -1.73616885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:52.99, Z:-1.74 [[ 5.66021755e-01 -8.24389133e-01 1.38915446e-03 1.24742528e+02] [ 8.24386545e-01 5.66023459e-01 2.06616385e-03 5.29850922e+01] [-2.48961704e-03 -2.42934401e-05 9.99996901e-01 -1.73687476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:53.01, Z:-1.74 [[ 5.65860117e-01 -8.24500628e-01 1.02095994e-03 1.24759257e+02] [ 8.24499230e-01 5.65861038e-01 1.51837103e-03 5.30076969e+01] [-1.82961932e-03 -1.74049234e-05 9.99998326e-01 -1.73724436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:53.03, Z:-1.74 [[ 5.64945521e-01 -8.25128201e-01 -9.96509231e-05 1.24778199e+02] [ 8.25128188e-01 5.64945530e-01 -1.50705953e-04 5.30290136e+01] [ 1.80649076e-04 2.91586764e-06 9.99999984e-01 -1.73824370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:53.05, Z:-1.74 [[ 5.63572424e-01 -8.26066617e-01 -2.57226765e-04 1.24794800e+02] [ 8.26066528e-01 5.63572483e-01 -3.84982179e-04 5.30499769e+01] [ 4.62986853e-04 4.47891938e-06 9.99999893e-01 -1.73883158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:53.07, Z:-1.74 [[ 5.62004176e-01 -8.27134233e-01 -5.15850397e-04 1.24812356e+02] [ 8.27133873e-01 5.62004413e-01 -7.71655221e-04 5.30715242e+01] [ 9.28172649e-04 6.99611941e-06 9.99999569e-01 -1.73885984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:53.09, Z:-1.74 [[ 5.57738421e-01 -8.30016606e-01 -5.36055277e-04 1.24832662e+02] [ 8.30016218e-01 5.57738678e-01 -8.02265548e-04 5.30914370e+01] [ 9.64872489e-04 2.51974534e-06 9.99999535e-01 -1.73860257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:53.11, Z:-1.74 [[ 5.54999354e-01 -8.31850592e-01 -5.56844303e-04 1.24850373e+02] [ 8.31850174e-01 5.54999634e-01 -8.33511629e-04 5.31125830e+01] [ 1.00240553e-03 -6.12614335e-07 9.99999498e-01 -1.73854873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:53.13, Z:-1.74 [[ 5.51750984e-01 -8.34008731e-01 -5.35969812e-04 1.24867439e+02] [ 8.34008345e-01 5.51751245e-01 -8.02716546e-04 5.31331777e+01] [ 9.65194620e-04 -4.10365170e-06 9.99999534e-01 -1.73837362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:53.16, Z:-1.74 [[ 5.48192675e-01 -8.36351921e-01 -5.04768612e-04 1.24885048e+02] [ 8.36351579e-01 5.48192907e-01 -7.56709908e-04 5.31551061e+01] [ 9.09586359e-04 -7.34119752e-06 9.99999586e-01 -1.73842407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:53.18, Z:-1.74 [[ 5.42262345e-01 -8.40209148e-01 3.69552552e-04 1.24903224e+02] [ 8.40208968e-01 5.42262471e-01 5.50681917e-04 5.31770336e+01] [-6.63082464e-04 1.18873007e-05 9.99999780e-01 -1.73788121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:53.20, Z:-1.74 [[ 5.40721238e-01 -8.41200759e-01 1.35113571e-03 1.24918793e+02] [ 8.41198335e-01 5.40722924e-01 2.02025927e-03 5.32003816e+01] [-2.43003368e-03 4.41760194e-05 9.99997046e-01 -1.73750920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:53.22, Z:-1.74 [[ 5.38843069e-01 -8.42402967e-01 2.32129387e-03 1.24934766e+02] [ 8.42395805e-01 5.38848063e-01 3.47451923e-03 5.32231948e+01] [-4.17777002e-03 8.32276131e-05 9.99991270e-01 -1.73656752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:53.25, Z:-1.74 [[ 5.34580181e-01 -8.45113122e-01 2.80004247e-03 1.24950405e+02] [ 8.45102725e-01 5.34587500e-01 4.19402458e-03 5.32458975e+01] [-5.04129291e-03 1.24281099e-04 9.99987285e-01 -1.73554346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:53.27, Z:-1.74 [[ 5.32201637e-01 -8.46613528e-01 2.63672101e-03 1.24965545e+02] [ 8.46604318e-01 5.32208153e-01 3.95101937e-03 5.32699704e+01] [-4.74827087e-03 1.29520418e-04 9.99988719e-01 -1.73599310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:53.29, Z:-1.74 [[ 5.29794684e-01 -8.48121930e-01 2.60455873e-03 1.24980821e+02] [ 8.48112951e-01 5.29801068e-01 3.90518992e-03 5.32940865e+01] [-4.69197522e-03 1.40011129e-04 9.99988983e-01 -1.73664659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:53.32, Z:-1.74 [[ 5.26855125e-01 -8.49952238e-01 2.20692591e-03 1.24995554e+02] [ 8.49945800e-01 5.26859731e-01 3.31072640e-03 5.33167018e+01] [-3.97669970e-03 1.31494233e-04 9.99992084e-01 -1.73682940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:53.34, Z:-1.74 [[ 5.23851315e-01 -8.51807908e-01 1.75692105e-03 1.25010738e+02] [ 8.51803835e-01 5.23854249e-01 2.63666144e-03 5.33403937e+01] [-3.16629962e-03 1.15333526e-04 9.99994981e-01 -1.73705159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:53.36, Z:-1.74 [[ 5.21054569e-01 -8.53522029e-01 1.51059755e-03 1.25025432e+02] [ 8.53519022e-01 5.21056748e-01 2.26807191e-03 5.33645122e+01] [-2.72295638e-03 1.07534507e-04 9.99996287e-01 -1.73760842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:53.39, Z:-1.74 [[ 5.16420323e-01 -8.56334557e-01 1.08432401e-03 1.25037327e+02] [ 8.56333013e-01 5.16421454e-01 1.62854942e-03 5.33887486e+01] [-1.95455132e-03 8.75264293e-05 9.99998086e-01 -1.73897964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:53.41, Z:-1.74 [[ 5.14979104e-01 -8.57202282e-01 8.77947864e-04 1.25051517e+02] [ 8.57201270e-01 5.14979847e-01 1.31881443e-03 5.34131813e+01] [-1.58261620e-03 7.34161486e-05 9.99998745e-01 -1.73936063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:53.44, Z:-1.74 [[ 5.14070389e-01 -8.57747888e-01 4.43226398e-04 1.25064899e+02] [ 8.57747630e-01 5.14070579e-01 6.65294617e-04 5.34369348e+01] [-7.98504703e-04 3.81681302e-05 9.99999680e-01 -1.73956325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:53.46, Z:-1.74 [[ 5.13697055e-01 -8.57971450e-01 5.71813982e-04 1.25078639e+02] [ 8.57971021e-01 5.13697371e-01 8.59157669e-04 5.34615006e+01] [-1.03087209e-03 4.92530623e-05 9.99999467e-01 -1.73990347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:53.49, Z:-1.74 [[ 5.15287227e-01 -8.57016985e-01 9.80092982e-04 1.25090396e+02] [ 8.57015719e-01 5.15288153e-01 1.47524661e-03 5.34867358e+01] [-1.76934170e-03 7.97793593e-05 9.99998432e-01 -1.73969570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:53.51, Z:-1.74 [[ 5.16640837e-01 -8.56201427e-01 1.16684580e-03 1.25103537e+02] [ 8.56199628e-01 5.16642147e-01 1.75772442e-03 5.35107803e+01] [-2.10780788e-03 9.09407210e-05 9.99997774e-01 -1.73959136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:53.54, Z:-1.74 [[ 5.18482878e-01 -8.55087021e-01 1.30051143e-03 1.25117393e+02] [ 8.55084779e-01 5.18484501e-01 1.96027679e-03 5.35358604e+01] [-2.35050226e-03 9.56775719e-05 9.99997233e-01 -1.73948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:53.56, Z:-1.74 [[ 5.20417044e-01 -8.53910964e-01 1.47191736e-03 1.25130677e+02] [ 8.53908083e-01 5.20419116e-01 2.22027652e-03 5.35606127e+01] [-2.66193240e-03 1.01412387e-04 9.99996452e-01 -1.73978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:53.59, Z:-1.74 [[ 5.22854744e-01 -8.52420184e-01 1.65726703e-03 1.25144061e+02] [ 8.52416520e-01 5.22857360e-01 2.50164733e-03 5.35851564e+01] [-2.99896894e-03 1.04683623e-04 9.99995498e-01 -1.74004140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:53.61, Z:-1.74 [[ 5.27845885e-01 -8.49337155e-01 2.26236260e-03 1.25154552e+02] [ 8.49330286e-01 5.27850720e-01 3.41789350e-03 5.36105903e+01] [-4.09713367e-03 1.17372060e-04 9.99991600e-01 -1.74062032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:53.63, Z:-1.74 [[ 5.30435410e-01 -8.47721340e-01 2.60873638e-03 1.25167227e+02] [ 8.47712176e-01 5.30441812e-01 3.94360290e-03 5.36343087e+01] [-4.72685919e-03 1.19630972e-04 9.99988821e-01 -1.74098247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:53.66, Z:-1.74 [[ 5.32822270e-01 -8.46221483e-01 3.10332414e-03 1.25180180e+02] [ 8.46208473e-01 5.32831292e-01 4.69411394e-03 5.36582174e+01] [-5.62580827e-03 1.24930736e-04 9.99984167e-01 -1.74128887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:53.68, Z:-1.74 [[ 5.35392262e-01 -8.44596048e-01 3.55551177e-03 1.25193702e+02] [ 8.44578914e-01 5.35404054e-01 5.38129308e-03 5.36824072e+01] [-6.44865428e-03 1.21807597e-04 9.99979200e-01 -1.74144796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:53.71, Z:-1.74 [[ 5.41113790e-01 -8.40940972e-01 3.76132003e-03 1.25206467e+02] [ 8.40921683e-01 5.41126857e-01 5.69625861e-03 5.37080585e+01] [-6.82556853e-03 8.06514896e-05 9.99976702e-01 -1.74160908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:53.73, Z:-1.74 [[ 5.43436255e-01 -8.39441946e-01 3.77568674e-03 1.25219783e+02] [ 8.39422451e-01 5.43449367e-01 5.72138034e-03 5.37313169e+01] [-6.85466122e-03 6.01907178e-05 9.99976505e-01 -1.74219269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:53.76, Z:-1.74 [[ 5.47608430e-01 -8.36729045e-01 3.08438265e-03 1.25233146e+02] [ 8.36715979e-01 5.47617116e-01 4.67602675e-03 5.37551048e+01] [-5.60162813e-03 2.01205819e-05 9.99984311e-01 -1.74365922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:53.78, Z:-1.74 [[ 5.48980207e-01 -8.35831490e-01 2.54011046e-03 1.25248051e+02] [ 8.35822611e-01 5.48986083e-01 3.85265003e-03 5.37784175e+01] [-4.61465151e-03 8.05314579e-06 9.99989352e-01 -1.74494995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:53.80, Z:-1.75 [[ 5.49763694e-01 -8.35318421e-01 1.73660706e-03 1.25263431e+02] [ 8.35314266e-01 5.49766437e-01 2.63484438e-03 5.38015043e+01] [-3.15566232e-03 2.07086861e-06 9.99995021e-01 -1.74560877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:53.82, Z:-1.75 [[ 5.50000731e-01 -8.35163139e-01 1.31431290e-03 1.25278999e+02] [ 8.35160756e-01 5.50002301e-01 1.99508934e-03 5.38239356e+01] [-2.38910019e-03 3.61961440e-07 9.99997146e-01 -1.74591105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:53.85, Z:-1.75 [[ 5.49874913e-01 -8.35246486e-01 9.42624355e-04 1.25295576e+02] [ 8.35245261e-01 5.49875721e-01 1.43057776e-03 5.38470971e+01] [-1.71321129e-03 6.83707091e-07 9.99998532e-01 -1.74621227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:53.87, Z:-1.75 [[ 5.49445043e-01 -8.35529527e-01 7.44292716e-04 1.25312198e+02] [ 8.35528763e-01 5.49445547e-01 1.12979413e-03 5.38694716e+01] [-1.35292467e-03 1.11818979e-06 9.99999085e-01 -1.74635485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:53.89, Z:-1.75 [[ 5.48384321e-01 -8.36225938e-01 9.03875162e-04 1.25330912e+02] [ 8.36224810e-01 5.48385066e-01 1.37335980e-03 5.38913228e+01] [-1.64411072e-03 2.71385714e-06 9.99998648e-01 -1.74628351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:53.91, Z:-1.75 [[ 5.47667645e-01 -8.36695207e-01 1.13220456e-03 1.25347831e+02] [ 8.36693435e-01 5.47668815e-01 1.72188411e-03 5.39133017e+01] [-2.06076531e-03 4.28790312e-06 9.99997877e-01 -1.74628849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:53.94, Z:-1.75 [[ 5.47442135e-01 -8.36842774e-01 1.13167511e-03 1.25363474e+02] [ 8.36841002e-01 5.47443305e-01 1.72223188e-03 5.39372413e+01] [-2.06076527e-03 4.20984024e-06 9.99997877e-01 -1.74641214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:53.96, Z:-1.75 [[ 5.46848564e-01 -8.37230971e-01 9.74527013e-04 1.25380193e+02] [ 8.37229656e-01 5.46849433e-01 1.48370621e-03 5.39581023e+01] [-1.77512433e-03 4.54030519e-06 9.99998424e-01 -1.74616964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:53.98, Z:-1.75 [[ 5.46161313e-01 -8.37679696e-01 7.39416870e-04 1.25397609e+02] [ 8.37678940e-01 5.46161813e-01 1.12576849e-03 5.39804277e+01] [-1.34687467e-03 4.54274078e-06 9.99999093e-01 -1.74643244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:54.00, Z:-1.75 [[ 5.45711955e-01 -8.37972829e-01 -2.45923901e-05 1.25417020e+02] [ 8.37972828e-01 5.45711956e-01 -3.97505559e-05 5.40013897e+01] [ 4.67302469e-05 1.08459891e-06 9.99999999e-01 -1.74709941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:54.02, Z:-1.75 [[ 5.45503282e-01 -8.38108680e-01 -9.85507101e-05 1.25433949e+02] [ 8.38108666e-01 5.45503291e-01 -1.52503388e-04 5.40226889e+01] [ 1.81574150e-04 5.94894572e-07 9.99999984e-01 -1.74747890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:54.04, Z:-1.75 [[ 5.45247557e-01 -8.38275053e-01 -1.90999201e-04 1.25451216e+02] [ 8.38275002e-01 5.45247591e-01 -2.94124425e-04 5.40446380e+01] [ 3.50699022e-04 2.60768777e-07 9.99999939e-01 -1.74733739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:54.07, Z:-1.75 [[ 5.45433302e-01 -8.38154229e-01 -3.14094689e-05 1.25470522e+02] [ 8.38154228e-01 5.45433303e-01 -5.03158048e-05 5.40657725e+01] [ 5.93041748e-05 1.11793639e-06 9.99999998e-01 -1.74747210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:54.09, Z:-1.75 [[ 5.45537092e-01 -8.38086679e-01 -1.40662464e-05 1.25487257e+02] [ 8.38086678e-01 5.45537092e-01 -2.35758301e-05 5.40868702e+01] [ 2.74322483e-05 1.07275606e-06 1.00000000e+00 -1.74758097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:54.11, Z:-1.75 [[ 5.45566796e-01 -8.38067339e-01 -8.08660549e-05 1.25504645e+02] [ 8.38067330e-01 5.45566802e-01 -1.26046530e-04 5.41089805e+01] [ 1.49753315e-04 9.95603038e-07 9.99999989e-01 -1.74775928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:54.13, Z:-1.75 [[ 5.45688787e-01 -8.37987908e-01 -1.15370065e-04 1.25521405e+02] [ 8.37987889e-01 5.45688799e-01 -1.78745403e-04 5.41298113e+01] [ 2.12742639e-04 8.60645397e-07 9.99999977e-01 -1.74769362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:54.15, Z:-1.75 [[ 5.46667476e-01 -8.37349758e-01 2.31131003e-04 1.25540196e+02] [ 8.37349684e-01 5.46667525e-01 3.52034606e-04 5.41510212e+01] [-4.21127905e-04 1.09160235e-06 9.99999911e-01 -1.74724629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:54.17, Z:-1.75 [[ 5.48613086e-01 -8.36075878e-01 8.98865203e-04 1.25554913e+02] [ 8.36074745e-01 5.48613823e-01 1.37638345e-03 5.41747430e+01] [-1.64389087e-03 -3.58347616e-06 9.99998649e-01 -1.74728212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:54.20, Z:-1.75 [[ 5.50312380e-01 -8.34958093e-01 1.12563144e-03 1.25569560e+02] [ 8.34956311e-01 5.50313531e-01 1.72524346e-03 5.41983765e+01] [-2.05995620e-03 -9.56976062e-06 9.99997878e-01 -1.74756338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:54.22, Z:-1.75 [[ 5.51039552e-01 -8.34478541e-01 9.88628165e-04 1.25584691e+02] [ 8.34477164e-01 5.51040438e-01 1.51589487e-03 5.42226573e+01] [-1.80975583e-03 -1.03304012e-05 9.99998362e-01 -1.74792743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:54.25, Z:-1.75 [[ 5.49872210e-01 -8.35248727e-01 3.42908103e-04 1.25597652e+02] [ 8.35248562e-01 5.49872317e-01 5.24841094e-04 5.42464409e+01] [-6.26928529e-04 -2.18203242e-06 9.99999803e-01 -1.74918452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:54.27, Z:-1.75 [[ 5.48103894e-01 -8.36410223e-01 2.45080269e-04 1.25611985e+02] [ 8.36410139e-01 5.48103949e-01 3.74568415e-04 5.42707578e+01] [-4.47622314e-04 -3.14785192e-07 9.99999900e-01 -1.75002816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:54.29, Z:-1.75 [[ 5.46533632e-01 -8.37437095e-01 3.16462096e-04 1.25626566e+02] [ 8.37436955e-01 5.46533724e-01 4.84577383e-04 5.42944337e+01] [-5.78760284e-04 1.79217158e-07 9.99999833e-01 -1.75033300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:54.32, Z:-1.75 [[ 5.45212521e-01 -8.38297565e-01 7.06553691e-04 1.25641052e+02] [ 8.38296862e-01 5.45212979e-01 1.08551346e-03 5.43177799e+01] [-1.29520553e-03 4.66214207e-07 9.99999161e-01 -1.75023390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:54.34, Z:-1.75 [[ 5.43916815e-01 -8.39137603e-01 1.60682096e-03 1.25655897e+02] [ 8.39133960e-01 5.43919188e-01 2.47253037e-03 5.43420258e+01] [-2.94877396e-03 3.48719184e-06 9.99995652e-01 -1.75025874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:54.37, Z:-1.75 [[ 5.43876959e-01 -8.39162389e-01 2.08294817e-03 1.25671088e+02] [ 8.39156258e-01 5.43880947e-01 3.20784269e-03 5.43651654e+01] [-3.82477676e-03 3.24726665e-06 9.99992686e-01 -1.74961013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:54.39, Z:-1.75 [[ 5.43706436e-01 -8.39271487e-01 2.58511385e-03 1.25686706e+02] [ 8.39262030e-01 5.43712582e-01 3.98419043e-03 5.43891140e+01] [-4.74937635e-03 3.35792027e-06 9.99988722e-01 -1.74962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:54.41, Z:-1.75 [[ 5.43993958e-01 -8.39085635e-01 2.42272560e-03 1.25701625e+02] [ 8.39077318e-01 5.43999353e-01 3.73605764e-03 5.44122909e+01] [-4.45283346e-03 4.61313357e-07 9.99990086e-01 -1.75046886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:54.44, Z:-1.75 [[ 5.43817663e-01 -8.39201137e-01 1.94985706e-03 1.25717030e+02] [ 8.39195745e-01 5.43821159e-01 3.00806727e-03 5.44362152e+01] [-3.58474700e-03 4.71638624e-07 9.99993575e-01 -1.75112386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:54.46, Z:-1.74 [[ 5.43902239e-01 -8.39104866e-01 -8.56609454e-03 1.25737826e+02] [ 8.39148486e-01 5.43878906e-01 5.05520864e-03 5.44586117e+01] [ 4.17067950e-04 -9.93776456e-03 9.99950532e-01 -1.74393968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:54.49, Z:-1.76 [[ 5.43854552e-01 -8.39133825e-01 8.75501784e-03 1.25744089e+02] [ 8.39179159e-01 5.43834090e-01 -4.77723817e-03 5.44854854e+01] [-7.52535021e-04 9.94515123e-03 9.99950263e-01 -1.75743158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:54.51, Z:-1.75 [[ 5.44337945e-01 -8.38865983e-01 2.52895928e-04 1.25762467e+02] [ 8.38865893e-01 5.44338004e-01 3.89443900e-04 5.45058572e+01] [-4.64352105e-04 1.56676240e-07 9.99999892e-01 -1.75293957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:54.53, Z:-1.75 [[ 5.44935248e-01 -8.38478129e-01 5.15530421e-05 1.25777339e+02] [ 8.38478125e-01 5.44935251e-01 7.75479039e-05 5.45294365e+01] [-9.31152914e-05 9.67511863e-07 9.99999996e-01 -1.75299884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:54.55, Z:-1.75 [[ 5.45661923e-01 -8.38005385e-01 2.03158470e-04 1.25792255e+02] [ 8.38005326e-01 5.45661961e-01 3.12255497e-04 5.45536018e+01] [-3.72527637e-04 -1.38055132e-07 9.99999931e-01 -1.75308417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:54.58, Z:-1.75 [[ 5.48266311e-01 -8.36303505e-01 7.06996722e-04 1.25806043e+02] [ 8.36302791e-01 5.48266767e-01 1.09276643e-03 5.45785602e+01] [-1.30150721e-03 -7.86369037e-06 9.99999153e-01 -1.75388833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:54.60, Z:-1.75 [[ 5.49496311e-01 -8.35495579e-01 9.70468458e-04 1.25819925e+02] [ 8.35494229e-01 5.49497167e-01 1.50183519e-03 5.46015215e+01] [-1.78804633e-03 -1.44320970e-05 9.99998401e-01 -1.75405395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:54.63, Z:-1.75 [[ 5.50379433e-01 -8.34913422e-01 1.43439395e-03 1.25834335e+02] [ 8.34910466e-01 5.50381301e-01 2.22176882e-03 5.46250849e+01] [-2.64444822e-03 -2.52253378e-05 9.99996503e-01 -1.75399709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:54.65, Z:-1.75 [[ 5.50535948e-01 -8.34809822e-01 1.65268033e-03 1.25848872e+02] [ 8.34805891e-01 5.50538428e-01 2.56188182e-03 5.46483387e+01] [-3.04854814e-03 -3.07407606e-05 9.99995353e-01 -1.75405625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:54.67, Z:-1.75 [[ 5.50013773e-01 -8.35153515e-01 1.85907903e-03 1.25864131e+02] [ 8.35148537e-01 5.50016914e-01 2.88365300e-03 5.46720433e+01] [-3.43081785e-03 -3.34417335e-05 9.99994114e-01 -1.75439494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:54.70, Z:-1.75 [[ 5.47536233e-01 -8.36779636e-01 1.97871489e-03 1.25880209e+02] [ 8.36774000e-01 5.47539807e-01 3.07119202e-03 5.46950677e+01] [-3.65333611e-03 -2.58517367e-05 9.99993326e-01 -1.75479431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:54.72, Z:-1.76 [[ 5.45268973e-01 -8.38258816e-01 1.97602850e-03 1.25895602e+02] [ 8.38253198e-01 5.45272554e-01 3.06893398e-03 5.47185692e+01] [-3.65003507e-03 -1.69822737e-05 9.99993338e-01 -1.75511496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:54.74, Z:-1.76 [[ 5.43037830e-01 -8.39705725e-01 2.05189724e-03 1.25911072e+02] [ 8.39699670e-01 5.43041706e-01 3.18882840e-03 5.47422964e+01] [-3.79194324e-03 -8.67701662e-06 9.99992811e-01 -1.75538481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:54.77, Z:-1.76 [[ 5.40993011e-01 -8.41024742e-01 1.98630209e-03 1.25926431e+02] [ 8.41019070e-01 5.40996657e-01 3.08885866e-03 5.47650862e+01] [-3.67238935e-03 -5.33014907e-07 9.99993257e-01 -1.75577039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:54.79, Z:-1.76 [[ 5.37568604e-01 -8.43217535e-01 2.04572280e-03 1.25941640e+02] [ 8.43211529e-01 5.37572497e-01 3.18256355e-03 5.47888794e+01] [-3.78331771e-03 1.41308049e-05 9.99992843e-01 -1.75595069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:54.81, Z:-1.76 [[ 5.36354571e-01 -8.43990567e-01 1.92274742e-03 1.25955960e+02] [ 8.43985261e-01 5.36358017e-01 2.99293438e-03 5.48130730e+01] [-3.55728938e-03 1.74964482e-05 9.99993673e-01 -1.75662912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:54.84, Z:-1.76 [[ 5.35115463e-01 -8.44777766e-01 1.40290475e-03 1.25970091e+02] [ 8.44774941e-01 5.35117301e-01 2.18448524e-03 5.48369513e+01] [-2.59612317e-03 1.61869482e-05 9.99996630e-01 -1.75741951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:125.98, Y:54.86, Z:-1.76 [[ 5.33285618e-01 -8.45935224e-01 2.17433821e-04 1.25984512e+02] [ 8.45935156e-01 5.33285662e-01 3.36826641e-04 5.48608453e+01] [-4.00887859e-04 4.31011018e-06 9.99999920e-01 -1.76031390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:54.88, Z:-1.76 [[ 5.29645177e-01 -8.48219276e-01 -2.14541861e-04 1.25998943e+02] [ 8.48219210e-01 5.29645220e-01 -3.36873247e-04 5.48840987e+01] [ 3.99373453e-04 -3.55523774e-06 9.99999920e-01 -1.75974467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:54.91, Z:-1.76 [[ 5.27400946e-01 -8.49616440e-01 -3.83103786e-04 1.26013312e+02] [ 8.49616228e-01 5.27401085e-01 -6.00224798e-04 5.49065894e+01] [ 7.12010208e-04 -8.93206718e-06 9.99999746e-01 -1.75963273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:54.93, Z:-1.76 [[ 5.25410055e-01 -8.50849113e-01 -2.46126574e-04 1.26028433e+02] [ 8.50849025e-01 5.25410113e-01 -3.86820039e-04 5.49306500e+01] [ 4.58442878e-04 -6.17741705e-06 9.99999895e-01 -1.75945012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:54.95, Z:-1.76 [[ 5.22070641e-01 -8.52902179e-01 3.45779100e-04 1.26042334e+02] [ 8.52902009e-01 5.22070755e-01 5.38502684e-04 5.49536681e+01] [-6.39811268e-04 1.37792482e-05 9.99999795e-01 -1.75910897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:126.06, Y:54.98, Z:-1.76 [[ 5.20427933e-01 -8.53905531e-01 3.32190282e-04 1.26056490e+02] [ 8.53905375e-01 5.20428038e-01 5.17361539e-04 5.49775364e+01] [-6.14659017e-04 1.44096707e-05 9.99999811e-01 -1.76094673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:55.00, Z:-1.76 [[ 5.20594887e-01 -8.53802446e-01 1.53216830e-03 1.26070084e+02] [ 8.53799086e-01 5.20597138e-01 2.39584113e-03 5.50020246e+01] [-2.84321745e-03 6.09012543e-05 9.99995956e-01 -1.75970892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:55.02, Z:-1.76 [[ 5.21377559e-01 -8.53323920e-01 1.93104903e-03 1.26083757e+02] [ 8.53318572e-01 5.21381130e-01 3.02203775e-03 5.50249912e+01] [-3.58558962e-03 7.21773333e-05 9.99993569e-01 -1.76020646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:55.05, Z:-1.76 [[ 5.23125572e-01 -8.52253395e-01 1.94597853e-03 1.26097527e+02] [ 8.52247950e-01 5.23129187e-01 3.04717752e-03 5.50479811e+01] [-3.61496556e-03 6.43997314e-05 9.99993464e-01 -1.76063196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:55.07, Z:-1.76 [[ 5.25189311e-01 -8.50983190e-01 1.94877688e-03 1.26111646e+02] [ 8.50977717e-01 5.25192924e-01 3.05266401e-03 5.50717508e+01] [-3.62124959e-03 5.51391886e-05 9.99993442e-01 -1.76113553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:55.10, Z:-1.76 [[ 5.27571929e-01 -8.49508450e-01 1.80383999e-03 1.26125686e+02] [ 8.49503746e-01 5.27575011e-01 2.82722768e-03 5.50953037e+01] [-3.35341470e-03 4.08028701e-05 9.99994376e-01 -1.76134332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:55.12, Z:-1.76 [[ 5.32601104e-01 -8.46365883e-01 9.24757134e-04 1.26140155e+02] [ 8.46364643e-01 5.32601907e-01 1.44903781e-03 5.51197636e+01] [-1.71894358e-03 1.09226042e-05 9.99998523e-01 -1.76129715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:55.14, Z:-1.76 [[ 5.34798804e-01 -8.44978945e-01 9.06070053e-04 1.26155412e+02] [ 8.44977751e-01 5.34799571e-01 1.42060171e-03 5.51437464e+01] [-1.68494441e-03 5.87294052e-06 9.99998580e-01 -1.76176610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:55.17, Z:-1.76 [[ 5.36333149e-01 -8.44005906e-01 8.85381384e-04 1.26170711e+02] [ 8.44004763e-01 5.36333879e-01 1.38897956e-03 5.51677126e+01] [-1.64716699e-03 2.31032443e-06 9.99998643e-01 -1.76180275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:55.19, Z:-1.76 [[ 5.38332494e-01 -8.42731883e-01 1.04858157e-03 1.26187053e+02] [ 8.42730274e-01 5.38333515e-01 1.64645110e-03 5.51910653e+01] [-1.95200344e-03 -2.66668692e-06 9.99998095e-01 -1.76195548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:55.21, Z:-1.76 [[ 5.38236113e-01 -8.42793619e-01 8.95293975e-04 1.26202752e+02] [ 8.42792446e-01 5.38236858e-01 1.40626940e-03 5.52148557e+01] [-1.66707509e-03 -2.35797494e-06 9.99998610e-01 -1.76236836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:55.24, Z:-1.76 [[ 5.37822054e-01 -8.43057865e-01 9.34915767e-04 1.26217970e+02] [ 8.43056584e-01 5.37822867e-01 1.46968099e-03 5.52373800e+01] [-1.74184519e-03 -2.23995511e-06 9.99998483e-01 -1.76322379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:55.26, Z:-1.76 [[ 5.36790000e-01 -8.43715312e-01 9.83594855e-04 1.26233624e+02] [ 8.43713894e-01 5.36790901e-01 1.54708044e-03 5.52609076e+01] [-1.83328023e-03 -5.84663980e-07 9.99998320e-01 -1.76384079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:55.28, Z:-1.76 [[ 5.35672771e-01 -8.44424905e-01 1.12345575e-03 1.26249452e+02] [ 8.44423053e-01 5.35673949e-01 1.76849869e-03 5.52842716e+01] [-2.09517031e-03 1.33534254e-06 9.99997805e-01 -1.76434581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:55.31, Z:-1.77 [[ 5.33007032e-01 -8.46109137e-01 1.68272392e-03 1.26265327e+02] [ 8.46104982e-01 5.33009688e-01 2.65165538e-03 5.53073368e+01] [-3.14049800e-03 1.04101271e-05 9.99995069e-01 -1.76522898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:55.33, Z:-1.77 [[ 5.31923819e-01 -8.46789892e-01 1.98238406e-03 1.26280509e+02] [ 8.46784121e-01 5.31927513e-01 3.12619665e-03 5.53309560e+01] [-3.70171634e-03 1.57528854e-05 9.99993149e-01 -1.76501506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:55.36, Z:-1.77 [[ 5.31833238e-01 -8.46845440e-01 2.49154161e-03 1.26294968e+02] [ 8.46836311e-01 5.31839074e-01 3.93214655e-03 5.53551850e+01] [-4.65501955e-03 1.86816720e-05 9.99989165e-01 -1.76509648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:55.38, Z:-1.77 [[ 5.31717722e-01 -8.46916982e-01 2.80902653e-03 1.26308951e+02] [ 8.46905364e-01 5.31725141e-01 4.43606686e-03 5.53787427e+01] [-5.25061038e-03 2.02442725e-05 9.99986215e-01 -1.76532397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:55.40, Z:-1.77 [[ 5.31501475e-01 -8.47052712e-01 2.80814124e-03 1.26324175e+02] [ 8.47041093e-01 5.31508893e-01 4.43662722e-03 5.54029497e+01] [-5.25060916e-03 2.05371091e-05 9.99986215e-01 -1.76544896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:55.43, Z:-1.77 [[ 5.30764813e-01 -8.47514822e-01 2.70919344e-03 1.26338862e+02] [ 8.47504001e-01 5.30771727e-01 4.28268010e-03 5.54266622e+01] [-5.06759814e-03 2.29563816e-05 9.99987159e-01 -1.76596977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:55.45, Z:-1.77 [[ 5.29803319e-01 -8.48117054e-01 2.43022001e-03 1.26353982e+02] [ 8.48108344e-01 5.29808892e-01 3.84385118e-03 5.54502773e+01] [-4.54758791e-03 2.46047547e-05 9.99989659e-01 -1.76648864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:55.47, Z:-1.77 [[ 5.28607865e-01 -8.48863573e-01 2.08799643e-03 1.26369281e+02] [ 8.48857142e-01 5.28611988e-01 3.30429871e-03 5.54737116e+01] [-3.90863876e-03 2.57323926e-05 9.99992361e-01 -1.76709338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:55.50, Z:-1.77 [[ 5.27259920e-01 -8.49702506e-01 1.62135205e-03 1.26384674e+02] [ 8.49698629e-01 5.27262412e-01 2.56689791e-03 5.54977860e+01] [-3.03597758e-03 2.42382260e-05 9.99995391e-01 -1.76825676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:55.52, Z:-1.77 [[ 5.26745782e-01 -8.50022241e-01 1.03453939e-03 1.26398445e+02] [ 8.50020662e-01 5.26746798e-01 1.63846826e-03 5.55208680e+01] [-1.93767477e-03 1.63236106e-05 9.99998123e-01 -1.76901010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:55.54, Z:-1.77 [[ 5.26656104e-01 -8.50078435e-01 5.79152843e-05 1.26412851e+02] [ 8.50078430e-01 5.26656107e-01 8.95315902e-05 5.55446312e+01] [-1.06610312e-04 2.08017552e-06 9.99999994e-01 -1.77000316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:55.57, Z:-1.77 [[ 5.26322168e-01 -8.50282808e-01 -2.03035199e-03 1.26426656e+02] [ 8.50276697e-01 5.26326083e-01 -3.22370960e-03 5.55680892e+01] [ 3.80969206e-03 -2.96511584e-05 9.99992743e-01 -1.77161845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:55.59, Z:-1.77 [[ 5.26170413e-01 -8.50374401e-01 -2.84150237e-03 1.26442076e+02] [ 8.50362418e-01 5.26178084e-01 -4.51459209e-03 5.55918954e+01] [ 5.33422981e-03 -4.08620420e-05 9.99985772e-01 -1.77188439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:55.61, Z:-1.77 [[ 5.26141787e-01 -8.50391004e-01 -3.15608529e-03 1.26457213e+02] [ 8.50376214e-01 5.26151251e-01 -5.01553764e-03 5.56147636e+01] [ 5.92574631e-03 -4.49759205e-05 9.99982442e-01 -1.77198530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:55.64, Z:-1.77 [[ 5.25819384e-01 -8.50589061e-01 -3.49646098e-03 1.26472513e+02] [ 8.50570889e-01 5.25831006e-01 -5.56027399e-03 5.56386106e+01] [ 6.56805583e-03 -5.02880820e-05 9.99978429e-01 -1.77168739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:55.66, Z:-1.77 [[ 5.24416044e-01 -8.51457742e-01 -2.74354404e-03 1.26487637e+02] [ 8.51446548e-01 5.24423218e-01 -4.36623357e-03 5.56628573e+01] [ 5.15644157e-03 -4.62581644e-05 9.99986704e-01 -1.77132821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:55.69, Z:-1.77 [[ 5.23136923e-01 -8.52245983e-01 -2.13177388e-03 1.26502668e+02] [ 8.52239220e-01 5.23141265e-01 -3.39529649e-03 5.56861641e+01] [ 4.00884668e-03 -4.05763480e-05 9.99991964e-01 -1.77052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.487628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:126.52, Y:55.71, Z:-1.77 [[ 5.20067747e-01 -8.54124479e-01 -9.55016916e-04 1.26518668e+02] [ 8.54123121e-01 5.20068624e-01 -1.52328939e-03 5.57096884e+01] [ 1.79775309e-03 -2.34883470e-05 9.99998384e-01 -1.77136150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:55.73, Z:-1.77 [[ 5.19039203e-01 -8.54750416e-01 1.80774385e-04 1.26533557e+02] [ 8.54750368e-01 5.19039234e-01 2.85978110e-04 5.57320961e+01] [-3.38268907e-04 6.08312184e-06 9.99999943e-01 -1.76854138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:55.76, Z:-1.77 [[ 5.17599799e-01 -8.55622648e-01 5.76020413e-04 1.26549208e+02] [ 8.55622158e-01 5.17600119e-01 9.16172070e-04 5.57556915e+01] [-1.08204581e-03 1.86453488e-05 9.99999414e-01 -1.76772378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:55.78, Z:-1.77 [[ 5.16548807e-01 -8.56257300e-01 8.75441864e-04 1.26564689e+02] [ 8.56256165e-01 5.16549548e-01 1.39444474e-03 5.57792955e+01] [-1.64621259e-03 2.93037263e-05 9.99998645e-01 -1.76715014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:55.80, Z:-1.77 [[ 5.16108469e-01 -8.56522816e-01 8.44882183e-04 1.26578959e+02] [ 8.56521758e-01 5.16109160e-01 1.34666991e-03 5.58019156e+01] [-1.58950494e-03 2.86322258e-05 9.99998736e-01 -1.76683556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:55.83, Z:-1.77 [[ 5.16007327e-01 -8.56584023e-01 4.99087956e-04 1.26593411e+02] [ 8.56583655e-01 5.16007569e-01 7.94889872e-04 5.58257494e+01] [-9.38423128e-04 1.73415870e-05 9.99999560e-01 -1.76674743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:55.85, Z:-1.77 [[ 5.16467354e-01 -8.56306877e-01 -6.41501150e-05 1.26608003e+02] [ 8.56306871e-01 5.16467358e-01 -1.04874343e-04 5.58496842e+01] [ 1.22936061e-04 -7.68009745e-07 9.99999992e-01 -1.76654513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:55.87, Z:-1.77 [[ 5.18955580e-01 -8.54800191e-01 -1.31873941e-03 1.26622281e+02] [ 8.54797584e-01 5.18957255e-01 -2.11153208e-03 5.58736876e+01] [ 2.48930740e-03 -3.14639062e-05 9.99996901e-01 -1.76643108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:55.90, Z:-1.77 [[ 5.20535622e-01 -8.53837762e-01 -1.93460300e-03 1.26635756e+02] [ 8.53832145e-01 5.20539216e-01 -3.09710866e-03 5.58966512e+01] [ 3.65146505e-03 -3.96708508e-05 9.99993333e-01 -1.76653129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:55.92, Z:-1.77 [[ 5.22134327e-01 -8.52860019e-01 -2.35202532e-03 1.26650133e+02] [ 8.52851696e-01 5.22139623e-01 -3.76807822e-03 5.59210000e+01] [ 4.44172888e-03 -3.84857988e-05 9.99990135e-01 -1.76699705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:55.94, Z:-1.77 [[ 5.23797474e-01 -8.51838400e-01 -2.74709018e-03 1.26664498e+02] [ 8.51827020e-01 5.23804677e-01 -4.40334932e-03 5.59446878e+01] [ 5.18988072e-03 -3.35823907e-05 9.99986532e-01 -1.76716135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:55.97, Z:-1.77 [[ 5.26388333e-01 -8.50236944e-01 -3.53016289e-03 1.26679086e+02] [ 8.50218094e-01 5.26400170e-01 -5.66151944e-03 5.59683919e+01] [ 6.67191133e-03 -2.12505805e-05 9.99977742e-01 -1.76662330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:55.99, Z:-1.77 [[ 5.27297625e-01 -8.49673635e-01 -3.45367356e-03 1.26693711e+02] [ 8.49655563e-01 5.27308935e-01 -5.54179887e-03 5.59914214e+01] [ 6.52987332e-03 -1.22555677e-05 9.99978680e-01 -1.76646762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:56.01, Z:-1.77 [[ 5.28020648e-01 -8.49224756e-01 -3.39257172e-03 1.26708688e+02] [ 8.49207284e-01 5.28031546e-01 -5.44740707e-03 5.60149598e+01] [ 6.41745783e-03 -4.65321019e-06 9.99979408e-01 -1.76649549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:56.04, Z:-1.77 [[ 5.29277081e-01 -8.48440255e-01 -3.86086350e-03 1.26725060e+02] [ 8.48417580e-01 5.29291162e-01 -6.20293485e-03 5.60382318e+01] [ 7.30634055e-03 7.44678099e-06 9.99973308e-01 -1.76551952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:56.06, Z:-1.77 [[ 5.29623246e-01 -8.48223085e-01 -4.10054310e-03 1.26740691e+02] [ 8.48197470e-01 5.29639120e-01 -6.59199103e-03 5.60615030e+01] [ 7.76328701e-03 1.32014059e-05 9.99969865e-01 -1.76534833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:56.08, Z:-1.77 [[ 5.29645902e-01 -8.48207669e-01 -4.35543152e-03 1.26755529e+02] [ 8.48178752e-01 5.29663809e-01 -7.00384332e-03 5.60836019e+01] [ 8.24762806e-03 1.53724374e-05 9.99965988e-01 -1.76516758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:56.11, Z:-1.76 [[ 5.29708454e-01 -8.48167500e-01 -4.56574534e-03 1.26771193e+02] [ 8.48135696e-01 5.29728130e-01 -7.34502830e-03 5.61052035e+01] [ 8.64841803e-03 1.83519873e-05 9.99962602e-01 -1.76446056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:56.13, Z:-1.76 [[ 5.29464955e-01 -8.48320461e-01 -4.38840380e-03 1.26786411e+02] [ 8.48291042e-01 5.29483140e-01 -7.06481721e-03 5.61287531e+01] [ 8.31681481e-03 1.79294850e-05 9.99965415e-01 -1.76416252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:56.15, Z:-1.76 [[ 5.29355494e-01 -8.48390733e-01 -3.99072859e-03 1.26801334e+02] [ 8.48366374e-01 5.29370536e-01 -6.42891942e-03 5.61523379e+01] [ 7.56680979e-03 1.75838690e-05 9.99971371e-01 -1.76381823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:56.18, Z:-1.76 [[ 5.29393309e-01 -8.48367893e-01 -3.82657342e-03 1.26815389e+02] [ 8.48345473e-01 5.29407138e-01 -6.16780375e-03 5.61751741e+01] [ 7.25838196e-03 1.89377926e-05 9.99973657e-01 -1.76327130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:56.20, Z:-1.76 [[ 5.30288255e-01 -8.47809136e-01 -3.74629163e-03 1.26828721e+02] [ 8.47787603e-01 5.30301487e-01 -6.04256882e-03 5.61994765e+01] [ 7.10960907e-03 2.82436762e-05 9.99974726e-01 -1.76281437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:56.22, Z:-1.76 [[ 5.31026671e-01 -8.47345628e-01 -4.00759129e-03 1.26841961e+02] [ 8.47320948e-01 5.31041792e-01 -6.46732673e-03 5.62228725e+01] [ 7.60825950e-03 3.86069331e-05 9.99971056e-01 -1.76295743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:56.25, Z:-1.76 [[ 5.31986483e-01 -8.46740489e-01 -4.57449240e-03 1.26856234e+02] [ 8.46708271e-01 5.32006148e-01 -7.38670828e-03 5.62476425e+01] [ 8.68828306e-03 5.63684155e-05 9.99962255e-01 -1.76346682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:56.27, Z:-1.76 [[ 5.32520600e-01 -8.46399555e-01 -5.44087005e-03 1.26870157e+02] [ 8.46353907e-01 5.32548389e-01 -8.79078498e-03 5.62716628e+01] [ 1.03380431e-02 7.63724760e-05 9.99946558e-01 -1.76436715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:56.30, Z:-1.77 [[ 5.33076529e-01 -8.46044335e-01 -6.19666040e-03 1.26884697e+02] [ 8.45985029e-01 5.33112534e-01 -1.00178270e-02 5.62955985e+01] [ 1.17790431e-02 9.79865017e-05 9.99930620e-01 -1.76517188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:56.32, Z:-1.77 [[ 5.33252943e-01 -8.45923470e-01 -7.40140031e-03 1.26900005e+02] [ 8.45838765e-01 5.33304291e-01 -1.19715142e-02 5.63184951e+01] [ 1.40741834e-02 1.23453909e-04 9.99900946e-01 -1.76631407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:56.34, Z:-1.77 [[ 5.33047407e-01 -8.46049160e-01 -7.82813395e-03 1.26915544e+02] [ 8.45954299e-01 5.33104869e-01 -1.26697749e-02 5.63419885e+01] [ 1.48924687e-02 1.31347102e-04 9.99889092e-01 -1.76629415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:56.36, Z:-1.77 [[ 5.32482051e-01 -8.46409407e-01 -7.34720400e-03 1.26930351e+02] [ 8.46325786e-01 5.32532724e-01 -1.18979861e-02 5.63648363e+01] [ 1.39831939e-02 1.17335848e-04 9.99902223e-01 -1.76642425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:56.39, Z:-1.77 [[ 5.32450095e-01 -8.46431760e-01 -7.08322460e-03 1.26945111e+02] [ 8.46353943e-01 5.32497194e-01 -1.14778202e-02 5.63883908e+01] [ 1.34869888e-02 1.16451385e-04 9.99909040e-01 -1.76590682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:56.41, Z:-1.77 [[ 5.32325712e-01 -8.46513234e-01 -6.68436901e-03 1.26960021e+02] [ 8.46443855e-01 5.32367666e-01 -1.08383072e-02 5.64119604e+01] [ 1.27333124e-02 1.11566520e-04 9.99918922e-01 -1.76574717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:56.44, Z:-1.77 [[ 5.32074752e-01 -8.46673779e-01 -6.32213272e-03 1.26974499e+02] [ 8.46611647e-01 5.32112300e-01 -1.02576568e-02 5.64355658e+01] [ 1.20489736e-02 1.05448979e-04 9.99927403e-01 -1.76562015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:56.46, Z:-1.77 [[ 5.32530156e-01 -8.46391893e-01 -5.69172866e-03 1.26988094e+02] [ 8.46341480e-01 5.32560562e-01 -9.23829553e-03 5.64590092e+01] [ 1.08504087e-02 1.02524896e-04 9.99941127e-01 -1.76508689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:56.48, Z:-1.77 [[ 5.32399399e-01 -8.46475289e-01 -5.51947768e-03 1.27002546e+02] [ 8.46427817e-01 5.32427999e-01 -8.96525224e-03 5.64835285e+01] [ 1.05275889e-02 1.01255462e-04 9.99944578e-01 -1.76505879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:56.51, Z:-1.77 [[ 5.31912423e-01 -8.46782935e-01 -5.27586287e-03 1.27016684e+02] [ 8.46739529e-01 5.31938579e-01 -8.57431719e-03 5.65069200e+01] [ 1.00670205e-02 9.35041917e-05 9.99949322e-01 -1.76517232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:56.53, Z:-1.77 [[ 5.31207362e-01 -8.47226832e-01 -5.04325013e-03 1.27031655e+02] [ 8.47187134e-01 5.31231295e-01 -8.20186489e-03 5.65309584e+01] [ 9.62797230e-03 8.43143803e-05 9.99953646e-01 -1.76514008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:56.55, Z:-1.76 [[ 5.29328825e-01 -8.48402850e-01 -4.85788059e-03 1.27046570e+02] [ 8.48366026e-01 5.29351112e-01 -7.90478667e-03 5.65540364e+01] [ 9.27796803e-03 6.29705874e-05 9.99956957e-01 -1.76450905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:56.58, Z:-1.76 [[ 5.27989511e-01 -8.49238161e-01 -4.64997047e-03 1.27061783e+02] [ 8.49204410e-01 5.28009985e-01 -7.57136376e-03 5.65780089e+01] [ 8.88512187e-03 4.88252205e-05 9.99960525e-01 -1.76479452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:56.60, Z:-1.77 [[ 5.26542376e-01 -8.50137786e-01 -4.34398280e-03 1.27076948e+02] [ 8.50108323e-01 5.26560294e-01 -7.07787225e-03 5.66019951e+01] [ 8.30453550e-03 3.39437410e-05 9.99965516e-01 -1.76522181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:56.62, Z:-1.77 [[ 5.23664162e-01 -8.51914952e-01 -4.09391024e-03 1.27092049e+02] [ 8.51888808e-01 5.23680164e-01 -6.67412509e-03 5.66242156e+01] [ 7.82968654e-03 7.44380331e-06 9.99969348e-01 -1.76578935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:56.65, Z:-1.77 [[ 5.22158747e-01 -8.52838689e-01 -4.05131613e-03 1.27107259e+02] [ 8.52813080e-01 5.22174463e-01 -6.60913409e-03 5.66482346e+01] [ 7.75201908e-03 -3.99821511e-06 9.99969953e-01 -1.76592588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:56.67, Z:-1.77 [[ 5.20685348e-01 -8.53739159e-01 -4.02698523e-03 1.27121800e+02] [ 8.53713856e-01 5.20700920e-01 -6.57293569e-03 5.66715421e+01] [ 7.70842750e-03 -1.54617802e-05 9.99970290e-01 -1.76655813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:56.69, Z:-1.77 [[ 5.19140707e-01 -8.54678145e-01 -4.26563553e-03 1.27136037e+02] [ 8.54649755e-01 5.19158231e-01 -6.96624587e-03 5.66941842e+01] [ 8.16843789e-03 -2.91625520e-05 9.99966637e-01 -1.76657994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:56.72, Z:-1.77 [[ 5.16677269e-01 -8.56168851e-01 -4.41565131e-03 1.27152027e+02] [ 8.56138445e-01 5.16696135e-01 -7.21580432e-03 5.67175420e+01] [ 8.45949686e-03 -5.21667799e-05 9.99964216e-01 -1.76589872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:56.74, Z:-1.77 [[ 5.15535523e-01 -8.56858260e-01 -4.12872283e-03 1.27167335e+02] [ 8.56831665e-01 5.15552052e-01 -6.75131653e-03 5.67416982e+01] [ 7.91349286e-03 -5.70769620e-05 9.99968686e-01 -1.76544090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:56.77, Z:-1.77 [[ 5.13773887e-01 -8.57917506e-01 -3.73440666e-03 1.27181589e+02] [ 8.57895746e-01 5.13787454e-01 -6.11065351e-03 5.67654546e+01] [ 7.16112791e-03 -6.42373835e-05 9.99974357e-01 -1.76504515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:56.79, Z:-1.77 [[ 5.12877935e-01 -8.58454832e-01 -3.39486376e-03 1.27195123e+02] [ 8.58436840e-01 5.12889167e-01 -5.55818429e-03 5.67884572e+01] [ 6.51263901e-03 -6.36060431e-05 9.99978791e-01 -1.76513039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:56.81, Z:-1.77 [[ 5.11752474e-01 -8.59127451e-01 -3.07041217e-03 1.27209077e+02] [ 8.59112729e-01 5.11761681e-01 -5.02996566e-03 5.68120149e+01] [ 5.89270087e-03 -6.37328086e-05 9.99982636e-01 -1.76513000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:56.84, Z:-1.77 [[ 5.08944995e-01 -8.60793932e-01 -2.96637063e-03 1.27223472e+02] [ 8.60780199e-01 5.08953633e-01 -4.86300618e-03 5.68362866e+01] [ 5.69579132e-03 -7.83904426e-05 9.99983776e-01 -1.76529113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:56.86, Z:-1.77 [[ 5.07007980e-01 -8.61936588e-01 -2.86807752e-03 1.27237528e+02] [ 8.61923755e-01 5.07016084e-01 -4.70440108e-03 5.68592029e+01] [ 5.50905685e-03 -8.68952545e-05 9.99984821e-01 -1.76547002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:56.88, Z:-1.77 [[ 5.06856870e-01 -8.62025458e-01 -2.86755256e-03 1.27252336e+02] [ 8.62012624e-01 5.06864974e-01 -4.70472110e-03 5.68836347e+01] [ 5.50905131e-03 -8.72462973e-05 9.99984821e-01 -1.76559475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:56.91, Z:-1.77 [[ 5.04884372e-01 -8.63182226e-01 -2.86612260e-03 1.27266378e+02] [ 8.63169412e-01 5.04892498e-01 -4.70452932e-03 5.69068439e+01] [ 5.50794990e-03 -9.87060244e-05 9.99984826e-01 -1.76540467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:56.93, Z:-1.77 [[ 5.02740530e-01 -8.64432938e-01 -2.76664032e-03 1.27280712e+02] [ 8.64420997e-01 5.02748131e-01 -4.54495728e-03 5.69304901e+01] [ 5.31973403e-03 -1.06607752e-04 9.99985844e-01 -1.76563187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:56.95, Z:-1.77 [[ 4.98958787e-01 -8.66621317e-01 -2.76066661e-03 1.27294439e+02] [ 8.66609448e-01 4.98966408e-01 -4.53749631e-03 5.69542722e+01] [ 5.30977093e-03 -1.28396105e-04 9.99985895e-01 -1.76576708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:56.98, Z:-1.77 [[ 4.97519494e-01 -8.67449315e-01 -2.45743715e-03 1.27308136e+02] [ 8.67439908e-01 4.97525548e-01 -4.04159946e-03 5.69775918e+01] [ 4.72852044e-03 -1.20904536e-04 9.99988813e-01 -1.76563395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:57.00, Z:-1.77 [[ 4.95019262e-01 -8.68879491e-01 -2.08810704e-03 1.27321146e+02] [ 8.68872701e-01 4.95023653e-01 -3.43697647e-03 5.70028999e+01] [ 4.01998074e-03 -1.12929642e-04 9.99991913e-01 -1.76544475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:57.03, Z:-1.77 [[ 4.94392066e-01 -8.69236624e-01 -2.04365918e-03 1.27334760e+02] [ 8.69230114e-01 4.94396277e-01 -3.36607727e-03 5.70277884e+01] [ 3.93629513e-03 -1.12248208e-04 9.99992246e-01 -1.76533080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:57.05, Z:-1.77 [[ 4.93845947e-01 -8.69547842e-01 -1.65255337e-03 1.27347365e+02] [ 8.69543581e-01 4.93848704e-01 -2.72369294e-03 5.70522490e+01] [ 3.18449266e-03 -9.18824534e-05 9.99994925e-01 -1.76575296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:57.08, Z:-1.77 [[ 4.94229446e-01 -8.69330675e-01 -1.19651280e-03 1.27358444e+02] [ 8.69328437e-01 4.94230890e-01 -1.97373610e-03 5.70767339e+01] [ 2.30718292e-03 -6.46840994e-05 9.99997336e-01 -1.76556739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:57.10, Z:-1.77 [[ 4.95323054e-01 -8.68708422e-01 -8.65889102e-04 1.27369719e+02] [ 8.68707246e-01 4.95323809e-01 -1.43006791e-03 5.71031248e+01] [ 1.67120752e-03 -4.38585339e-05 9.99998603e-01 -1.76643959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:57.13, Z:-1.77 [[ 4.96070823e-01 -8.68281682e-01 -8.11503453e-04 1.27382270e+02] [ 8.68280647e-01 4.96071485e-01 -1.34127715e-03 5.71282245e+01] [ 1.56717011e-03 -3.92442822e-05 9.99998771e-01 -1.76704988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:57.15, Z:-1.77 [[ 4.95840594e-01 -8.68413178e-01 -8.11214200e-04 1.27397037e+02] [ 8.68412142e-01 4.95841256e-01 -1.34145223e-03 5.71527166e+01] [ 1.56716826e-03 -3.93217927e-05 9.99998771e-01 -1.76717471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:57.18, Z:-1.77 [[ 4.96786572e-01 -8.67872241e-01 -9.35565808e-04 1.27409652e+02] [ 8.67870861e-01 4.96787451e-01 -1.54786717e-03 5.71774989e+01] [ 1.80812831e-03 -4.29906754e-05 9.99998364e-01 -1.76745583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:57.20, Z:-1.77 [[ 4.97929690e-01 -8.67216817e-01 -1.00772781e-03 1.27422745e+02] [ 8.67215214e-01 4.97930708e-01 -1.66819475e-03 5.72024816e+01] [ 1.94846516e-03 -4.32731897e-05 9.99998101e-01 -1.76777305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:57.23, Z:-1.77 [[ 4.99195124e-01 -8.66488869e-01 -1.12580683e-03 1.27435640e+02] [ 8.66486864e-01 4.99196391e-01 -1.86457791e-03 5.72273817e+01] [ 2.17763471e-03 -4.47086267e-05 9.99997628e-01 -1.76820016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:57.25, Z:-1.77 [[ 5.02992768e-01 -8.64289592e-01 -1.33283751e-03 1.27446828e+02] [ 8.64286772e-01 5.02994532e-01 -2.20805297e-03 5.72520778e+01] [ 2.57880718e-03 -4.13191548e-05 9.99996674e-01 -1.76946094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:57.28, Z:-1.77 [[ 5.04727524e-01 -8.63277336e-01 -1.53865414e-03 1.27460219e+02] [ 8.63273569e-01 5.04729867e-01 -2.55058725e-03 5.72771390e+01] [ 2.97846887e-03 -4.09278623e-05 9.99995564e-01 -1.77030251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:57.30, Z:-1.77 [[ 5.06822223e-01 -8.62049098e-01 -1.60837978e-03 1.27472866e+02] [ 8.62044972e-01 5.06824774e-01 -2.66736222e-03 5.73009364e+01] [ 3.11456392e-03 -3.46172479e-05 9.99995149e-01 -1.77113242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:57.33, Z:-1.77 [[ 5.11834995e-01 -8.59081478e-01 -1.98815889e-03 1.27484977e+02] [ 8.59075144e-01 5.11838856e-01 -3.29899067e-03 5.73263410e+01] [ 3.85171875e-03 -1.94390063e-05 9.99992582e-01 -1.77195908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:57.35, Z:-1.77 [[ 5.14557047e-01 -8.57453854e-01 -1.98342334e-03 1.27498067e+02] [ 8.57447532e-01 5.14560869e-01 -3.29278163e-03 5.73505417e+01] [ 3.84400033e-03 -6.35745351e-06 9.99992612e-01 -1.77295751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:57.37, Z:-1.77 [[ 5.17373440e-01 -8.55757812e-01 -1.81401295e-03 1.27510935e+02] [ 8.55752510e-01 5.17376620e-01 -3.01248264e-03 5.73742382e+01] [ 3.51648344e-03 6.23237277e-06 9.99993817e-01 -1.77323155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:57.40, Z:-1.77 [[ 5.19830604e-01 -8.54268375e-01 -1.29859342e-03 1.27524321e+02] [ 8.54265647e-01 5.19832226e-01 -2.15890650e-03 5.73985756e+01] [ 2.51933626e-03 1.29219224e-05 9.99996826e-01 -1.77350518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:57.42, Z:-1.77 [[ 5.24458187e-01 -8.51435847e-01 -7.79702195e-04 1.27537263e+02] [ 8.51434858e-01 5.24458766e-01 -1.29819093e-03 5.74231982e+01] [ 1.51424794e-03 1.69812317e-05 9.99998853e-01 -1.77318919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:57.45, Z:-1.77 [[ 5.24804493e-01 -8.51165267e-01 -9.89611924e-03 1.27552664e+02] [ 8.51218674e-01 5.24802657e-01 2.99015398e-03 5.74454481e+01] [ 2.64839446e-03 -9.99300774e-03 9.99946561e-01 -1.76717919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:57.47, Z:-1.78 [[ 5.26962682e-01 -8.49842972e-01 8.78949315e-03 1.27561854e+02] [ 8.49888331e-01 5.26939276e-01 -4.98249493e-03 5.74747017e+01] [-3.97190859e-04 1.00956765e-02 9.99948958e-01 -1.77735835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:57.50, Z:-1.77 [[ 5.27255948e-01 -8.49706322e-01 5.75840844e-04 1.27579345e+02] [ 8.49705784e-01 5.27256263e-01 9.55984327e-04 5.74954793e+01] [-1.11592162e-03 -1.47531267e-05 9.99999377e-01 -1.77300735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:57.52, Z:-1.77 [[ 5.27135825e-01 -8.49779522e-01 1.60804445e-03 1.27594400e+02] [ 8.49775312e-01 5.27138276e-01 2.67507685e-03 5.75192369e+01] [-3.12088731e-03 -4.36523654e-05 9.99995129e-01 -1.77318657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:127.61, Y:57.54, Z:-1.78 [[ 5.26294337e-01 -8.50300975e-01 1.58839274e-03 1.27608736e+02] [ 8.50296865e-01 5.26296732e-01 2.64418217e-03 5.75427313e+01] [-3.08431659e-03 -4.10127318e-05 9.99995243e-01 -1.77546263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:57.57, Z:-1.77 [[ 5.26630212e-01 -8.50092206e-01 1.96474830e-03 1.27623992e+02] [ 8.50085907e-01 5.26633875e-01 3.27314748e-03 5.75662129e+01] [-3.81718017e-03 -5.35335138e-05 9.99992713e-01 -1.77377443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:57.59, Z:-1.77 [[ 5.26495174e-01 -8.50177575e-01 9.60640359e-04 1.27638584e+02] [ 8.50176070e-01 5.26496049e-01 1.60027858e-03 5.75890941e+01] [-1.86629432e-03 -2.58255050e-05 9.99998258e-01 -1.77482429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:57.61, Z:-1.78 [[ 5.26867569e-01 -8.49947317e-01 3.50684894e-04 1.27653196e+02] [ 8.49947117e-01 5.26867686e-01 5.82932217e-04 5.76134994e+01] [-6.80226213e-04 -9.06446561e-06 9.99999769e-01 -1.77511032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:57.64, Z:-1.78 [[ 5.27981498e-01 -8.49255226e-01 -1.04806401e-03 1.27667962e+02] [ 8.49253418e-01 5.27982537e-01 -1.75301581e-03 5.76375321e+01] [ 2.04211733e-03 3.54879688e-05 9.99997914e-01 -1.77567631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:57.66, Z:-1.78 [[ 5.27758861e-01 -8.49393600e-01 -1.04766878e-03 1.27682580e+02] [ 8.49391791e-01 5.27759900e-01 -1.75325217e-03 5.76621066e+01] [ 2.04211874e-03 3.54131051e-05 9.99997914e-01 -1.77580412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:57.69, Z:-1.78 [[ 5.27521734e-01 -8.49538173e-01 -2.39018979e-03 1.27697893e+02] [ 8.49528761e-01 5.27527143e-01 -3.99971588e-03 5.76859288e+01] [ 4.65880131e-03 7.94020922e-05 9.99989145e-01 -1.77637305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.007628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.71, Y:57.71, Z:-1.78 [[ 5.26333430e-01 -8.50272822e-01 -3.04119272e-03 1.27712664e+02] [ 8.50257582e-01 5.26342208e-01 -5.09165360e-03 5.77096404e+01] [ 5.93000277e-03 9.41103421e-05 9.99982413e-01 -1.77859043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:57.73, Z:-1.78 [[ 5.25883202e-01 -8.50553600e-01 -2.33058186e-03 1.27727593e+02] [ 8.50544641e-01 5.25888362e-01 -3.90447856e-03 5.77321467e+01] [ 4.54659418e-03 7.10357773e-05 9.99989662e-01 -1.77645068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:57.76, Z:-1.78 [[ 5.24657533e-01 -8.51311599e-01 -1.74204595e-03 1.27743665e+02] [ 8.51306588e-01 5.24660423e-01 -2.92117378e-03 5.77558066e+01] [ 3.40081168e-03 4.96006386e-05 9.99994216e-01 -1.77633066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:57.78, Z:-1.78 [[ 5.22945020e-01 -8.52365616e-01 -1.16759814e-03 1.27759592e+02] [ 8.52363363e-01 5.22946323e-01 -1.95998762e-03 5.77786514e+01] [ 2.28121721e-03 2.97478880e-05 9.99997398e-01 -1.77543851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:57.80, Z:-1.77 [[ 5.18566444e-01 -8.55037326e-01 -1.18711204e-04 1.27776757e+02] [ 8.55037303e-01 5.18566457e-01 -2.01368582e-04 5.78003848e+01] [ 2.33737303e-04 2.92048190e-06 9.99999973e-01 -1.77415381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:57.82, Z:-1.77 [[ 5.15653804e-01 -8.56797030e-01 6.41207329e-05 1.27792244e+02] [ 8.56797023e-01 5.15653808e-01 1.05238855e-04 5.78238077e+01] [-1.23232439e-04 6.71637120e-07 9.99999992e-01 -1.77405484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:57.85, Z:-1.77 [[ 5.12445331e-01 -8.58719830e-01 1.89756499e-04 1.27807852e+02] [ 8.58719772e-01 5.12445366e-01 3.16331017e-04 5.78468665e+01] [-3.68879556e-04 8.45304647e-07 9.99999932e-01 -1.77395523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:57.87, Z:-1.77 [[ 5.05541077e-01 -8.62802521e-01 1.72962774e-04 1.27825087e+02] [ 8.62802472e-01 5.05541106e-01 2.89009562e-04 5.78684385e+01] [-3.36797971e-04 3.12650425e-06 9.99999943e-01 -1.77339171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:57.89, Z:-1.77 [[ 5.02173947e-01 -8.64766517e-01 4.44128023e-04 1.27841144e+02] [ 8.64766197e-01 5.02174143e-01 7.44347002e-04 5.78915316e+01] [-8.66715974e-04 1.02752299e-05 9.99999624e-01 -1.77319985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:57.91, Z:-1.77 [[ 4.96223839e-01 -8.68193903e-01 1.11699496e-03 1.27858229e+02] [ 8.68191876e-01 4.96225095e-01 1.87676297e-03 5.79135850e+01] [-2.18367510e-03 3.84714182e-05 9.99997615e-01 -1.77231177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:57.94, Z:-1.77 [[ 4.93643152e-01 -8.69663910e-01 1.05897764e-03 1.27873710e+02] [ 8.69662089e-01 4.93644286e-01 1.78028991e-03 5.79372558e+01] [-2.07101215e-03 4.21247872e-05 9.99997855e-01 -1.77220392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:57.96, Z:-1.77 [[ 4.91708896e-01 -8.70759084e-01 9.89828802e-04 1.27888566e+02] [ 8.70757493e-01 4.91709891e-01 1.66493569e-03 5.79605397e+01] [-1.93646649e-03 4.32371536e-05 9.99998124e-01 -1.77270008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:57.98, Z:-1.77 [[ 4.90493926e-01 -8.71444448e-01 5.31573972e-04 1.27903461e+02] [ 8.71443990e-01 4.90494213e-01 8.93584890e-04 5.79842632e+01] [-1.03944355e-03 2.49389823e-05 9.99999459e-01 -1.77290535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:58.01, Z:-1.77 [[ 4.89613622e-01 -8.71939388e-01 4.51572422e-04 1.27918032e+02] [ 8.71939058e-01 4.89613830e-01 7.59107378e-04 5.80072256e+01] [-8.82991726e-04 2.20743189e-05 9.99999610e-01 -1.77263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:58.03, Z:-1.77 [[ 4.89852367e-01 -8.71804915e-01 9.21357621e-04 1.27932915e+02] [ 8.71803533e-01 4.89853232e-01 1.55254105e-03 5.80314389e+01] [-1.80484293e-03 4.27269195e-05 9.99998370e-01 -1.77222675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:58.05, Z:-1.77 [[ 4.90069341e-01 -8.71682366e-01 1.37613309e-03 1.27946963e+02] [ 8.71679277e-01 4.90071269e-01 2.32162233e-03 5.80547702e+01] [-2.69812054e-03 6.17907718e-05 9.99996358e-01 -1.77214891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:58.08, Z:-1.77 [[ 4.90629207e-01 -8.71367347e-01 1.38839707e-03 1.27961246e+02] [ 8.71364198e-01 4.90631167e-01 2.34357450e-03 5.80790420e+01] [-2.72330517e-03 5.99734010e-05 9.99996290e-01 -1.77191098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:58.10, Z:-1.77 [[ 4.92844824e-01 -8.70115442e-01 1.75977699e-03 1.27974730e+02] [ 8.70110366e-01 4.92847961e-01 2.97290178e-03 5.81038145e+01] [-3.45407025e-03 6.60209444e-05 9.99994033e-01 -1.77222565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:58.13, Z:-1.77 [[ 4.96414549e-01 -8.68084083e-01 1.61883019e-03 1.27987159e+02] [ 8.68079771e-01 4.96417187e-01 2.73645585e-03 5.81284583e+01] [-3.17908890e-03 4.68572454e-05 9.99994946e-01 -1.77347174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:58.15, Z:-1.77 [[ 4.98347665e-01 -8.66975900e-01 1.54697512e-03 1.28000243e+02] [ 8.66971953e-01 4.98350065e-01 2.61645368e-03 5.81517760e+01] [-3.03933743e-03 3.72804593e-05 9.99995381e-01 -1.77414282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:58.18, Z:-1.77 [[ 4.99985328e-01 -8.66033082e-01 1.17170282e-03 1.28013934e+02] [ 8.66030814e-01 4.99986700e-01 1.98221036e-03 5.81761999e+01] [-2.30249558e-03 2.36546508e-05 9.99997349e-01 -1.77461611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:58.20, Z:-1.78 [[ 5.01760833e-01 -8.65005715e-01 1.08582460e-03 1.28027252e+02] [ 8.65003763e-01 5.01762007e-01 1.83805768e-03 5.81994281e+01] [-2.13475593e-03 1.69770095e-05 9.99997721e-01 -1.77504652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:58.22, Z:-1.78 [[ 5.03184123e-01 -8.64178724e-01 9.33118597e-04 1.28041443e+02] [ 8.64177280e-01 5.03184988e-01 1.57999837e-03 5.82240827e+01] [-1.83493224e-03 1.13497995e-05 9.99998316e-01 -1.77532912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:58.25, Z:-1.78 [[ 5.04407675e-01 -8.63465176e-01 8.87548264e-04 1.28055454e+02] [ 8.63463866e-01 5.04408456e-01 1.50369081e-03 5.82486500e+01] [-1.74607150e-03 7.89267104e-06 9.99998476e-01 -1.77557300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:58.27, Z:-1.78 [[ 5.05478494e-01 -8.62838929e-01 6.88678985e-04 1.28068891e+02] [ 8.62838140e-01 5.05478963e-01 1.16713487e-03 5.82721557e+01] [-1.35516214e-03 4.25691678e-06 9.99999082e-01 -1.77513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:58.30, Z:-1.78 [[ 5.07663115e-01 -8.61555353e-01 7.30844095e-04 1.28081630e+02] [ 8.61554462e-01 5.07663642e-01 1.23929173e-03 5.82975632e+01] [-1.43874140e-03 5.19292690e-07 9.99998965e-01 -1.77590858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:58.32, Z:-1.78 [[ 5.08453808e-01 -8.61089159e-01 4.31618750e-04 1.28095349e+02] [ 8.61088848e-01 5.08453991e-01 7.31348676e-04 5.83224437e+01] [-8.49214693e-04 -1.94926901e-07 9.99999639e-01 -1.77630286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:58.35, Z:-1.78 [[ 5.08620036e-01 -8.60990868e-01 6.19742228e-04 1.28108907e+02] [ 8.60990226e-01 5.08620413e-01 1.05186160e-03 5.83470697e+01] [-1.22085678e-03 -1.40588613e-06 9.99999255e-01 -1.77709068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:58.37, Z:-1.78 [[ 5.08838806e-01 -8.60861660e-01 5.21563636e-04 1.28122288e+02] [ 8.60861205e-01 5.08839073e-01 8.85602941e-04 5.83706382e+01] [-1.02777358e-03 -1.63524243e-06 9.99999472e-01 -1.77752252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:58.39, Z:-1.78 [[ 5.08932021e-01 -8.60806658e-01 3.08342348e-04 1.28135879e+02] [ 8.60806499e-01 5.08932115e-01 5.22762615e-04 5.83947798e+01] [-6.06922863e-04 -6.27537480e-07 9.99999816e-01 -1.77809325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:58.42, Z:-1.78 [[ 5.08709726e-01 -8.60938047e-01 3.08140581e-04 1.28150287e+02] [ 8.60937888e-01 5.08709819e-01 5.22881220e-04 5.84194819e+01] [-6.06922476e-04 -7.04860558e-07 9.99999816e-01 -1.77822106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:58.44, Z:-1.78 [[ 5.08265223e-01 -8.61200569e-01 2.08005209e-04 1.28164280e+02] [ 8.61200497e-01 5.08265266e-01 3.52301497e-04 5.84434896e+01] [-4.09124072e-04 7.15901593e-08 9.99999916e-01 -1.77844661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:58.47, Z:-1.78 [[ 5.07572376e-01 -8.61609124e-01 3.42022646e-06 1.28178953e+02] [ 8.61609124e-01 5.07572376e-01 3.28761532e-06 5.84680152e+01] [-4.56865194e-06 1.27819560e-06 1.00000000e+00 -1.77902571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:58.49, Z:-1.78 [[ 5.06660946e-01 -8.62145297e-01 -4.14724621e-04 1.28193000e+02] [ 8.62145005e-01 5.06661116e-01 -7.10436649e-04 5.84910881e+01] [ 8.22624455e-04 2.39774420e-06 9.99999662e-01 -1.77937181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:58.51, Z:-1.78 [[ 5.05278592e-01 -8.62955594e-01 -1.08910363e-03 1.28208273e+02] [ 8.62953583e-01 5.05279766e-01 -1.86341510e-03 5.85149524e+01] [ 2.15834651e-03 1.69787970e-06 9.99997671e-01 -1.77970043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:58.54, Z:-1.78 [[ 5.04872847e-01 -8.63192616e-01 -1.38428697e-03 1.28223410e+02] [ 8.63189364e-01 5.04874745e-01 -2.36929849e-03 5.85390949e+01] [ 2.74405249e-03 1.29268528e-06 9.99996235e-01 -1.77942695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:58.56, Z:-1.78 [[ 5.04415496e-01 -8.63459460e-01 -1.66389479e-03 1.28237734e+02] [ 8.63454760e-01 5.04418241e-01 -2.84876081e-03 5.85623305e+01] [ 3.29908836e-03 2.61221841e-07 9.99994558e-01 -1.77935870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:58.58, Z:-1.78 [[ 5.04273008e-01 -8.63541353e-01 -2.25043655e-03 1.28252187e+02] [ 8.63532751e-01 5.04278030e-01 -3.85438425e-03 5.85849425e+01] [ 4.46326590e-03 3.36279184e-07 9.99990040e-01 -1.77993764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:58.61, Z:-1.78 [[ 5.04177778e-01 -8.63595790e-01 -2.66074968e-03 1.28266461e+02] [ 8.63583755e-01 5.04184799e-01 -4.55930007e-03 5.86085390e+01] [ 5.27890188e-03 9.17583584e-07 9.99986067e-01 -1.78053843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:58.63, Z:-1.78 [[ 5.03672482e-01 -8.63889093e-01 -3.10906795e-03 1.28281123e+02] [ 8.63872646e-01 5.03682077e-01 -5.33072632e-03 5.86325686e+01] [ 6.17113813e-03 -8.98599099e-07 9.99980958e-01 -1.78095107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:58.66, Z:-1.78 [[ 5.02985493e-01 -8.64288449e-01 -3.32744534e-03 1.28295780e+02] [ 8.64269595e-01 5.02996499e-01 -5.70873640e-03 5.86565583e+01] [ 6.60768828e-03 -4.39824211e-06 9.99978169e-01 -1.78138943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:58.68, Z:-1.78 [[ 5.01382931e-01 -8.65217637e-01 -3.68750228e-03 1.28310777e+02] [ 8.65194484e-01 5.01396490e-01 -6.32961090e-03 5.86787747e+01] [ 7.32539168e-03 -1.68477748e-05 9.99973169e-01 -1.78137758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:58.70, Z:-1.78 [[ 5.00407284e-01 -8.65781346e-01 -3.90026311e-03 1.28325922e+02] [ 8.65755433e-01 5.00422482e-01 -6.69851536e-03 5.87016709e+01] [ 7.75122899e-03 -2.46881041e-05 9.99969958e-01 -1.78084165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:58.73, Z:-1.78 [[ 4.98914928e-01 -8.66641291e-01 -4.09472832e-03 1.28340789e+02] [ 8.66612721e-01 4.98931730e-01 -7.03713789e-03 5.87250501e+01] [ 8.14166415e-03 -3.76105048e-05 9.99966855e-01 -1.77980985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:58.75, Z:-1.78 [[ 4.97865029e-01 -8.67246957e-01 -3.62329395e-03 1.28355655e+02] [ 8.67224573e-01 4.97878211e-01 -6.23117015e-03 5.87490149e+01] [ 7.20792247e-03 -3.99278383e-05 9.99974022e-01 -1.77900555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:58.77, Z:-1.78 [[ 4.95403825e-01 -8.68660441e-01 -2.02204325e-03 1.28369696e+02] [ 8.68653468e-01 4.95407950e-01 -3.48077490e-03 5.87739459e+01] [ 4.02534777e-03 -3.20656787e-05 9.99991898e-01 -1.77740920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:58.80, Z:-1.78 [[ 4.93483085e-01 -8.69754680e-01 -1.11414308e-03 1.28383211e+02] [ 8.69752561e-01 4.93484343e-01 -1.91988006e-03 5.87976244e+01] [ 2.21963683e-03 -2.16004602e-05 9.99997536e-01 -1.77698896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:58.82, Z:-1.78 [[ 4.90776704e-01 -8.71285304e-01 -3.81602650e-04 1.28396517e+02] [ 8.71285055e-01 4.90776852e-01 -6.59792717e-04 5.88207874e+01] [ 7.62149446e-04 -8.67379059e-06 9.99999710e-01 -1.77640010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:58.84, Z:-1.78 [[ 4.84135641e-01 -8.74992927e-01 2.41234745e-04 1.28410387e+02] [ 8.74992830e-01 4.84135701e-01 4.13323592e-04 5.88446592e+01] [-4.78445572e-04 1.09739892e-05 9.99999885e-01 -1.77615214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:58.87, Z:-1.78 [[ 4.80491926e-01 -8.76999138e-01 1.46158405e-04 1.28424785e+02] [ 8.76999103e-01 4.80491948e-01 2.49545662e-04 5.88691915e+01] [-2.89079267e-04 8.27611442e-06 9.99999958e-01 -1.77635560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:58.89, Z:-1.78 [[ 4.76837682e-01 -8.78991362e-01 1.06875400e-04 1.28438876e+02] [ 8.78991343e-01 4.76837694e-01 1.81920146e-04 5.88938640e+01] [-2.10868456e-04 7.19617018e-06 9.99999978e-01 -1.77697009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:58.92, Z:-1.78 [[ 4.73406796e-01 -8.80843881e-01 -2.50313579e-04 1.28451783e+02] [ 8.80843774e-01 4.73406862e-01 -4.34437379e-04 5.89176303e+01] [ 5.01171673e-04 -1.48215504e-05 9.99999874e-01 -1.77696816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:58.94, Z:-1.78 [[ 4.67931977e-01 -8.83764408e-01 -3.67880351e-04 1.28464028e+02] [ 8.83764178e-01 4.67932121e-01 -6.38079114e-04 5.89427427e+01] [ 7.36054644e-04 -2.65418550e-05 9.99999729e-01 -1.77684872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:58.97, Z:-1.78 [[ 4.65635839e-01 -8.84976297e-01 -4.68469368e-04 1.28476369e+02] [ 8.84975925e-01 4.65636073e-01 -8.12371103e-04 5.89675085e+01] [ 9.37065407e-04 -3.63150122e-05 9.99999560e-01 -1.77710586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:58.99, Z:-1.78 [[ 4.63500431e-01 -8.86096263e-01 -8.73922224e-04 1.28488691e+02] [ 8.86094972e-01 4.63501249e-01 -1.51434135e-03 5.89932694e+01] [ 1.74691626e-03 -7.24802189e-05 9.99998472e-01 -1.77724131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:59.02, Z:-1.78 [[ 4.60681484e-01 -8.87564064e-01 -1.61343098e-03 1.28498964e+02] [ 8.87559673e-01 4.60684287e-01 -2.79546054e-03 5.90195740e+01] [ 3.22443262e-03 -1.44199365e-04 9.99994791e-01 -1.77779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:59.05, Z:-1.78 [[ 4.59352989e-01 -8.88250057e-01 2.58214315e-03 1.28509089e+02] [ 8.88239788e-01 4.59327463e-01 -6.95421402e-03 5.90461700e+01] [ 4.99103173e-03 5.48800129e-03 9.99972485e-01 -1.78078130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:59.07, Z:-1.78 [[ 4.58949323e-01 -8.88441172e-01 -6.14835304e-03 1.28524809e+02] [ 8.88459478e-01 4.58954690e-01 5.90796387e-04 5.90689200e+01] [ 2.29692763e-03 -5.73370813e-03 9.99980924e-01 -1.77548193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:59.10, Z:-1.78 [[ 4.59217943e-01 -8.88323322e-01 -7.45878524e-04 1.28534700e+02] [ 8.88322379e-01 4.59218544e-01 -1.29618184e-03 5.90952416e+01] [ 1.49394981e-03 -6.73506277e-05 9.99998882e-01 -1.77778529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:59.12, Z:-1.78 [[ 4.62626106e-01 -8.86553486e-01 -5.79447712e-05 1.28543533e+02] [ 8.86553480e-01 4.62626109e-01 -1.02833181e-04 5.91211386e+01] [ 1.17973879e-04 -3.79782451e-06 9.99999993e-01 -1.77714568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:59.15, Z:-1.78 [[ 4.65813980e-01 -8.84882662e-01 1.01020657e-04 1.28554327e+02] [ 8.84882646e-01 4.65813991e-01 1.72931486e-04 5.91473058e+01] [-2.00080910e-04 8.83752257e-06 9.99999980e-01 -1.77738978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:59.17, Z:-1.78 [[ 4.69678240e-01 -8.82837621e-01 2.92830385e-04 1.28564725e+02] [ 8.82837476e-01 4.69678330e-01 5.06327607e-04 5.91740449e+01] [-5.84541147e-04 2.07105786e-05 9.99999829e-01 -1.77815093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:59.20, Z:-1.78 [[ 4.78926374e-01 -8.77854880e-01 5.81793666e-04 1.28571540e+02] [ 8.77854300e-01 4.78926726e-01 1.00930594e-03 5.92010443e+01] [-1.16466068e-03 2.73468388e-05 9.99999321e-01 -1.77961718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:59.23, Z:-1.78 [[ 4.83484044e-01 -8.75352955e-01 6.19635168e-04 1.28582486e+02] [ 8.75352294e-01 4.83484440e-01 1.07574966e-03 5.92259191e+01] [-1.24124461e-03 2.22912694e-05 9.99999229e-01 -1.78009300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:59.25, Z:-1.78 [[ 4.87849221e-01 -8.72927786e-01 4.66458883e-04 1.28594457e+02] [ 8.72927411e-01 4.87849444e-01 8.09572168e-04 5.92516799e+01] [-9.34259747e-04 1.22355932e-05 9.99999564e-01 -1.78005091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:59.28, Z:-1.78 [[ 4.91663179e-01 -8.70785290e-01 5.45381046e-04 1.28606680e+02] [ 8.70784774e-01 4.91663481e-01 9.47542535e-04 5.92772286e+01] [-1.09325005e-03 9.03773655e-06 9.99999402e-01 -1.78021601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:59.30, Z:-1.78 [[ 4.98398163e-01 -8.66947867e-01 8.16286668e-04 1.28617163e+02] [ 8.66946703e-01 4.98398832e-01 1.42054340e-03 5.93027758e+01] [-1.63837339e-03 -3.19183855e-07 9.99998658e-01 -1.78023121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:59.33, Z:-1.78 [[ 5.03350849e-01 -8.64081454e-01 1.07872297e-03 1.28628049e+02] [ 8.64079411e-01 5.03352005e-01 1.87897565e-03 5.93293557e+01] [-2.16656538e-03 -1.36816840e-05 9.99997653e-01 -1.78082423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:59.35, Z:-1.78 [[ 5.04901556e-01 -8.63176267e-01 1.07312296e-03 1.28640826e+02] [ 8.63174241e-01 5.04902696e-01 1.87034935e-03 5.93544305e+01] [-2.15626385e-03 -1.80501955e-05 9.99997675e-01 -1.78108556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:59.38, Z:-1.78 [[ 5.06095600e-01 -8.62476483e-01 1.24888083e-03 1.28653391e+02] [ 8.62473732e-01 5.06097140e-01 2.17864279e-03 5.93781137e+01] [-2.51108318e-03 -2.54746214e-05 9.99996847e-01 -1.78114175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:59.40, Z:-1.78 [[ 5.06921865e-01 -8.61991288e-01 1.11452745e-03 1.28666789e+02] [ 8.61989094e-01 5.06923089e-01 1.94504059e-03 5.94029088e+01] [-2.24158775e-03 -2.52730935e-05 9.99997487e-01 -1.78119523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:59.43, Z:-1.78 [[ 5.07492158e-01 -8.61655693e-01 1.08494009e-03 1.28680076e+02] [ 8.61653610e-01 5.07493317e-01 1.89459903e-03 5.94277738e+01] [-2.18309188e-03 -2.66516086e-05 9.99997617e-01 -1.78154965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:59.45, Z:-1.78 [[ 5.07703934e-01 -8.61531100e-01 9.37788347e-04 1.28693720e+02] [ 8.61529542e-01 5.07704800e-01 1.63833249e-03 5.94525576e+01] [-1.88759404e-03 -2.38554847e-05 9.99998218e-01 -1.78226818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:59.48, Z:-1.78 [[ 5.07771502e-01 -8.61491523e-01 6.76307442e-04 1.28707144e+02] [ 8.61490712e-01 5.07771952e-01 1.18217370e-03 5.94761236e+01] [-1.36184257e-03 -1.76415339e-05 9.99999073e-01 -1.78265181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:59.50, Z:-1.78 [[ 5.07115968e-01 -8.61877770e-01 3.23551630e-04 1.28721077e+02] [ 8.61877585e-01 5.07116071e-01 5.64234268e-04 5.95001566e+01] [-6.50379204e-04 -7.27030881e-06 9.99999788e-01 -1.78281717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:59.52, Z:-1.78 [[ 5.05042837e-01 -8.63094237e-01 -2.65771332e-04 1.28735223e+02] [ 8.63094110e-01 5.05042907e-01 -4.68485984e-04 5.95243817e+01] [ 5.38573479e-04 7.21981885e-06 9.99999855e-01 -1.78391771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:59.55, Z:-1.78 [[ 5.03247918e-01 -8.64141938e-01 -4.92937131e-04 1.28748973e+02] [ 8.64141504e-01 5.03248160e-01 -8.66258501e-04 5.95473092e+01] [ 9.96640004e-04 9.97535300e-06 9.99999503e-01 -1.78414638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:59.57, Z:-1.78 [[ 5.01223931e-01 -8.65317319e-01 -7.13351794e-04 1.28763852e+02] [ 8.65316409e-01 5.01224439e-01 -1.25443122e-03 5.95713556e+01] [ 1.44303041e-03 1.14759341e-05 9.99998959e-01 -1.78423787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:59.59, Z:-1.78 [[ 4.96215372e-01 -8.68198899e-01 -9.87856301e-04 1.28779886e+02] [ 8.68197161e-01 4.96216355e-01 -1.73732806e-03 5.95942881e+01] [ 1.99853676e-03 4.43485346e-06 9.99998003e-01 -1.78428472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:59.62, Z:-1.78 [[ 4.93352569e-01 -8.69828706e-01 -1.12456463e-03 1.28795095e+02] [ 8.69826456e-01 4.93353850e-01 -1.97869010e-03 5.96183660e+01] [ 2.27592974e-03 -1.98422164e-06 9.99997410e-01 -1.78412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:59.64, Z:-1.78 [[ 4.90386546e-01 -8.71504468e-01 -9.98895718e-04 1.28809305e+02] [ 8.71502694e-01 4.90387563e-01 -1.75864509e-03 5.96411638e+01] [ 2.02251309e-03 -8.12441884e-06 9.99997955e-01 -1.78416545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:59.66, Z:-1.78 [[ 4.87385353e-01 -8.73186535e-01 -8.90639644e-04 1.28823933e+02] [ 8.73185124e-01 4.87386167e-01 -1.56954816e-03 5.96649409e+01] [ 1.80459376e-03 -1.27185057e-05 9.99998372e-01 -1.78415824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:59.69, Z:-1.78 [[ 4.81471739e-01 -8.76460999e-01 -1.04020022e-03 1.28840060e+02] [ 8.76459081e-01 4.81472862e-01 -1.83390928e-03 5.96882585e+01] [ 2.10817814e-03 -2.87174437e-05 9.99997777e-01 -1.78424060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:59.71, Z:-1.78 [[ 4.78696482e-01 -8.77979567e-01 -1.24786353e-03 1.28855455e+02] [ 8.77976810e-01 4.78698107e-01 -2.20098218e-03 5.97123794e+01] [ 2.52976729e-03 -4.19928183e-05 9.99996799e-01 -1.78387980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:59.74, Z:-1.78 [[ 4.76302690e-01 -8.79280364e-01 -1.33728947e-03 1.28870168e+02] [ 8.79277198e-01 4.76304565e-01 -2.36018876e-03 5.97361727e+01] [ 2.71222471e-03 -5.16838840e-05 9.99996321e-01 -1.78415310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:59.76, Z:-1.78 [[ 4.72704787e-01 -8.81219909e-01 -1.28678754e-03 1.28884869e+02] [ 8.81216982e-01 4.72706534e-01 -2.27226712e-03 5.97586203e+01] [ 2.61063991e-03 -5.98274846e-05 9.99996590e-01 -1.78414954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:59.78, Z:-1.78 [[ 4.71765730e-01 -8.81723011e-01 -1.27596120e-03 1.28899171e+02] [ 8.81720130e-01 4.71767452e-01 -2.25480961e-03 5.97826682e+01] [ 2.59007449e-03 -6.12987743e-05 9.99996644e-01 -1.78429724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:59.81, Z:-1.78 [[ 4.71399982e-01 -8.81918507e-01 -1.34294515e-03 1.28913069e+02] [ 8.81915313e-01 4.71401890e-01 -2.37462190e-03 5.98067147e+01] [ 2.72728988e-03 -6.49671743e-05 9.99996279e-01 -1.78422964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:59.83, Z:-1.78 [[ 4.71919399e-01 -8.81640404e-01 -1.50998177e-03 1.28926918e+02] [ 8.81636359e-01 4.71921809e-01 -2.67138500e-03 5.98310889e+01] [ 3.06779427e-03 -7.05764297e-05 9.99995292e-01 -1.78395015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:59.86, Z:-1.78 [[ 4.74945070e-01 -8.80014521e-01 -1.27441023e-03 1.28940821e+02] [ 8.80011629e-01 4.74946777e-01 -2.25653683e-03 5.98550027e+01] [ 2.59106221e-03 -4.97647804e-05 9.99996642e-01 -1.78326255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:59.88, Z:-1.78 [[ 4.76692303e-01 -8.79069627e-01 -1.01987555e-03 1.28954809e+02] [ 8.79067769e-01 4.76693392e-01 -1.80753138e-03 5.98792767e+01] [ 2.07511388e-03 -3.49034291e-05 9.99997846e-01 -1.78234751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:59.90, Z:-1.78 [[ 4.78727554e-01 -8.77963240e-01 -6.91851288e-04 1.28968322e+02] [ 8.77962382e-01 4.78728053e-01 -1.22745475e-03 5.99025640e+01] [ 1.40886877e-03 -1.98029939e-05 9.99999007e-01 -1.78200599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:59.93, Z:-1.78 [[ 4.83895001e-01 -8.75126028e-01 -2.53175445e-04 1.28981359e+02] [ 8.75125911e-01 4.83895067e-01 -4.51230508e-04 5.99273656e+01] [ 5.17393911e-04 -3.21220494e-06 9.99999866e-01 -1.78203207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:59.95, Z:-1.78 [[ 4.83659289e-01 -8.75256321e-01 -2.53122866e-04 1.28995356e+02] [ 8.75256205e-01 4.83659355e-01 -4.51259972e-04 5.99522998e+01] [ 5.17393386e-04 -3.29128213e-06 9.99999866e-01 -1.78215835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:59.98, Z:-1.78 [[ 4.86369519e-01 -8.73753221e-01 -2.11263418e-05 1.29007766e+02] [ 8.73753220e-01 4.86369519e-01 -3.98134652e-05 5.99760066e+01] [ 4.50623521e-05 9.04846747e-07 9.99999999e-01 -1.78261326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:60.00, Z:-1.78 [[ 4.91906762e-01 -8.70647881e-01 7.38312188e-05 1.29020960e+02] [ 8.70647871e-01 4.91906768e-01 1.28498103e-04 6.00013704e+01] [-1.48194677e-04 1.07190776e-06 9.99999989e-01 -1.78343779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:60.03, Z:-1.78 [[ 4.93924375e-01 -8.69504865e-01 2.73850807e-05 1.29034516e+02] [ 8.69504864e-01 4.93924376e-01 4.60687604e-05 6.00262837e+01] [-5.35831703e-05 1.05697715e-06 9.99999999e-01 -1.78346795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:60.05, Z:-1.78 [[ 4.95826375e-01 -8.68421675e-01 3.81303213e-06 1.29048179e+02] [ 8.68421675e-01 4.95826375e-01 4.14769867e-06 6.00506711e+01] [-5.49255344e-06 1.25478136e-06 1.00000000e+00 -1.78392941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.947628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.06, Y:60.07, Z:-1.78 [[ 4.97164787e-01 -8.67656137e-01 -5.41086695e-05 1.29061182e+02] [ 8.67656131e-01 4.97164790e-01 -9.86183286e-05 6.00739304e+01] [ 1.12467723e-04 2.08184146e-06 9.99999994e-01 -1.78433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:60.10, Z:-1.79 [[ 4.98516137e-01 -8.66880340e-01 -3.71373731e-04 1.29075195e+02] [ 8.66880086e-01 4.98516275e-01 -6.62700991e-04 6.00976172e+01] [ 7.59618309e-04 8.43064608e-06 9.99999711e-01 -1.78540743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:60.12, Z:-1.79 [[ 4.98353212e-01 -8.66973823e-01 -6.82972349e-04 1.29089795e+02] [ 8.66972966e-01 4.98353679e-01 -1.21886955e-03 6.01216235e+01] [ 1.39708978e-03 1.53089923e-05 9.99999024e-01 -1.78608476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:60.15, Z:-1.79 [[ 4.97824181e-01 -8.67277506e-01 -9.01412117e-04 1.29104546e+02] [ 8.67276014e-01 4.97824997e-01 -1.60895819e-03 6.01453426e+01] [ 1.84415873e-03 1.92051839e-05 9.99998299e-01 -1.78670075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:60.17, Z:-1.79 [[ 4.96665121e-01 -8.67941235e-01 -1.33080593e-03 1.29119656e+02] [ 8.67937983e-01 4.96666903e-01 -2.37578103e-03 6.01691740e+01] [ 2.72300558e-03 2.49105545e-05 9.99996292e-01 -1.78695554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:60.19, Z:-1.79 [[ 4.92723560e-01 -8.70184012e-01 -1.81060435e-03 1.29136040e+02] [ 8.70178007e-01 4.92726886e-01 -3.23307373e-03 6.01913795e+01] [ 3.70550251e-03 1.74635106e-05 9.99993134e-01 -1.78713125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:60.21, Z:-1.79 [[ 4.89864903e-01 -8.71796367e-01 -1.86319798e-03 1.29151238e+02] [ 8.71790009e-01 4.89868446e-01 -3.32940035e-03 6.02147494e+01] [ 3.81528103e-03 6.63899343e-06 9.99992722e-01 -1.78751888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:60.24, Z:-1.79 [[ 4.86646765e-01 -8.73596600e-01 -1.97656567e-03 1.29166653e+02] [ 8.73589451e-01 4.86650779e-01 -3.53416297e-03 6.02385881e+01] [ 4.04932998e-03 -6.81793889e-06 9.99991801e-01 -1.78758687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:60.26, Z:-1.79 [[ 4.83375435e-01 -8.75411059e-01 -1.91482668e-03 1.29182413e+02] [ 8.75404355e-01 4.83379228e-01 -3.42613110e-03 6.02625083e+01] [ 3.92486050e-03 -2.01400046e-05 9.99992298e-01 -1.78806908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:60.29, Z:-1.79 [[ 4.79835338e-01 -8.77356100e-01 -2.07880959e-03 1.29197592e+02] [ 8.77348209e-01 4.79839840e-01 -3.72128381e-03 6.02850325e+01] [ 4.26238671e-03 -3.82363946e-05 9.99990915e-01 -1.78788301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:60.31, Z:-1.79 [[ 4.73188768e-01 -8.80958942e-01 -1.93202694e-03 1.29215009e+02] [ 8.80952147e-01 4.73192708e-01 -3.46071371e-03 6.03065866e+01] [ 3.96296775e-03 -6.44524214e-05 9.99992145e-01 -1.78789481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:60.33, Z:-1.79 [[ 4.70036090e-01 -8.82645151e-01 -1.90058871e-03 1.29230074e+02] [ 8.82638579e-01 4.70039926e-01 -3.40696349e-03 6.03298095e+01] [ 3.90049238e-03 -7.61371197e-05 9.99992390e-01 -1.78795255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:60.35, Z:-1.79 [[ 4.67380359e-01 -8.84054909e-01 -1.58687227e-03 1.29244878e+02] [ 8.84050329e-01 4.67383047e-01 -2.84645633e-03 6.03529377e+01] [ 3.25810089e-03 -7.24971719e-05 9.99994690e-01 -1.78812481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:60.38, Z:-1.79 [[ 4.64080290e-01 -8.85792092e-01 -1.36140971e-03 1.29261851e+02] [ 8.85788723e-01 4.64082282e-01 -2.44419556e-03 6.03755366e+01] [ 2.79685522e-03 -7.16183787e-05 9.99996086e-01 -1.78800170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:60.40, Z:-1.79 [[ 4.63211585e-01 -8.86246429e-01 -1.51466820e-03 1.29276324e+02] [ 8.86242258e-01 4.63214054e-01 -2.72040022e-03 6.03983756e+01] [ 3.11256058e-03 -8.22420638e-05 9.99995153e-01 -1.78746364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:60.42, Z:-1.79 [[ 4.63148894e-01 -8.86278866e-01 -1.69515937e-03 1.29291136e+02] [ 8.86273635e-01 4.63151987e-01 -3.04648070e-03 6.04228387e+01] [ 3.48514789e-03 -9.14008913e-05 9.99993923e-01 -1.78769361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.31, Y:60.45, Z:-1.79 [[ 4.63268571e-01 -8.86215033e-01 -2.26839381e-03 1.29305423e+02] [ 8.86205656e-01 4.63274109e-01 -4.07868040e-03 6.04473385e+01] [ 4.66547601e-03 -1.20738985e-04 9.99989109e-01 -1.78951634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:60.47, Z:-1.79 [[ 4.66504293e-01 -8.84515030e-01 -2.62800339e-03 1.29319507e+02] [ 8.84502405e-01 4.66511680e-01 -4.72745277e-03 6.04705962e+01] [ 5.40749731e-03 -1.19098304e-04 9.99985372e-01 -1.78781072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:60.49, Z:-1.79 [[ 4.68619226e-01 -8.83395953e-01 -2.75875415e-03 1.29333297e+02] [ 8.83382002e-01 4.68627333e-01 -4.96605355e-03 6.04945510e+01] [ 5.67981921e-03 -1.09845595e-04 9.99983864e-01 -1.78802986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:60.52, Z:-1.79 [[ 4.70854761e-01 -8.82205444e-01 -3.05743693e-03 1.29346274e+02] [ 8.82188274e-01 4.70864676e-01 -5.50509277e-03 6.05178347e+01] [ 6.29626186e-03 -1.05135860e-04 9.99980173e-01 -1.78830488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:60.54, Z:-1.79 [[ 4.74827953e-01 -8.80071375e-01 -3.57630933e-03 1.29359404e+02] [ 8.80047787e-01 4.74841413e-01 -6.44404394e-03 6.05430067e+01] [ 7.36939839e-03 -8.75109113e-05 9.99972842e-01 -1.78918813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:60.57, Z:-1.79 [[ 4.76530161e-01 -8.79150399e-01 -3.68532035e-03 1.29372369e+02] [ 8.79125291e-01 4.76544405e-01 -6.64473793e-03 6.05675264e+01] [ 7.59794280e-03 -7.34402915e-05 9.99971133e-01 -1.79003396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:60.59, Z:-1.79 [[ 4.77754225e-01 -8.78485118e-01 -3.84671870e-03 1.29385656e+02] [ 8.78457706e-01 4.77769707e-01 -6.94018624e-03 6.05925665e+01] [ 7.93469599e-03 -6.34763853e-05 9.99968518e-01 -1.79029173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:60.62, Z:-1.79 [[ 4.79620546e-01 -8.77469827e-01 -3.29141583e-03 1.29399896e+02] [ 8.77449705e-01 4.79631839e-01 -5.94266180e-03 6.06172321e+01] [ 6.79317425e-03 -3.78291476e-05 9.99976925e-01 -1.78993592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:60.64, Z:-1.79 [[ 4.79741319e-01 -8.77405301e-01 -2.86439546e-03 1.29413169e+02] [ 8.77390049e-01 4.79749869e-01 -5.17352121e-03 6.06407130e+01] [ 5.91346828e-03 -3.12401791e-05 9.99982515e-01 -1.78970862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:60.66, Z:-1.79 [[ 4.76645933e-01 -8.79092564e-01 2.21777716e-03 1.29419948e+02] [ 8.79090825e-01 4.76633851e-01 -4.41515440e-03 6.06641537e+01] [ 2.82426173e-03 4.05409294e-03 9.99987794e-01 -1.79456490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:60.69, Z:-1.79 [[ 4.79481862e-01 -8.77532779e-01 -5.77630149e-03 1.29442266e+02] [ 8.77540014e-01 4.79499141e-01 -2.02439661e-03 6.06885069e+01] [ 4.54620599e-03 -4.09827423e-03 9.99981268e-01 -1.78739098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:60.71, Z:-1.79 [[ 4.78822404e-01 -8.77911119e-01 -1.08261546e-03 1.29454105e+02] [ 8.77908934e-01 4.78823628e-01 -1.95894705e-03 6.07132359e+01] [ 2.23816326e-03 -1.24500436e-05 9.99997495e-01 -1.78855516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:60.74, Z:-1.79 [[ 4.77904861e-01 -8.78411512e-01 -3.98553944e-04 1.29467322e+02] [ 8.78411215e-01 4.77905027e-01 -7.23269187e-04 6.07376866e+01] [ 8.25798914e-04 -4.44039407e-06 9.99999659e-01 -1.78862415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:60.76, Z:-1.79 [[ 4.76911433e-01 -8.78951349e-01 1.07089846e-04 1.29480214e+02] [ 8.78951328e-01 4.76911445e-01 1.91194244e-04 6.07616381e+01] [-2.19122812e-04 2.94404179e-06 9.99999976e-01 -1.78837940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:60.79, Z:-1.79 [[ 4.74585500e-01 -8.80209141e-01 6.86050409e-04 1.29493706e+02] [ 8.80208268e-01 4.74585996e-01 1.23993925e-03 6.07858700e+01] [-1.41699578e-03 1.54100526e-05 9.99998996e-01 -1.78829930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:60.81, Z:-1.79 [[ 4.74364588e-01 -8.80328216e-01 6.85674280e-04 1.29507451e+02] [ 8.80327342e-01 4.74365083e-01 1.24014706e-03 6.08109446e+01] [-1.41699639e-03 1.53359670e-05 9.99998996e-01 -1.78842412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:60.83, Z:-1.79 [[ 4.72453864e-01 -8.81355267e-01 4.90229123e-04 1.29521230e+02] [ 8.81354821e-01 4.72454118e-01 8.86311174e-04 6.08341640e+01] [-1.01276579e-03 1.33246621e-05 9.99999487e-01 -1.78862530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:60.86, Z:-1.79 [[ 4.71459982e-01 -8.81887448e-01 1.16301716e-04 1.29534856e+02] [ 8.81887424e-01 4.71459997e-01 2.08458490e-04 6.08584368e+01] [-2.38668533e-04 4.28518430e-06 9.99999972e-01 -1.78869048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:60.88, Z:-1.79 [[ 4.70653978e-01 -8.82317850e-01 -2.11300868e-04 1.29548121e+02] [ 8.82317765e-01 4.70654026e-01 -3.85919827e-04 6.08825280e+01] [ 4.39953556e-04 -4.79980772e-06 9.99999903e-01 -1.78903749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:60.91, Z:-1.79 [[ 4.69784507e-01 -8.82780633e-01 -9.33482131e-04 1.29560943e+02] [ 8.82778999e-01 4.69785434e-01 -1.69840872e-03 6.09071049e+01] [ 1.93785863e-03 -2.61723201e-05 9.99998122e-01 -1.79019498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:60.93, Z:-1.79 [[ 4.69400988e-01 -8.82984326e-01 -1.18025642e-03 1.29573116e+02] [ 8.82981714e-01 4.69402471e-01 -2.14774650e-03 6.09308489e+01] [ 2.45044177e-03 -3.39905059e-05 9.99996997e-01 -1.79083322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:60.96, Z:-1.79 [[ 4.69085154e-01 -8.83151775e-01 -1.43538134e-03 1.29586003e+02] [ 8.83147909e-01 4.69087349e-01 -2.61346684e-03 6.09555163e+01] [ 2.98140711e-03 -4.17155376e-05 9.99995555e-01 -1.79155057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:60.98, Z:-1.79 [[ 4.68978234e-01 -8.83207546e-01 -1.96145653e-03 1.29598979e+02] [ 8.83200323e-01 4.68982332e-01 -3.57225011e-03 6.09788902e+01] [ 4.07492672e-03 -5.70514943e-05 9.99991696e-01 -1.79151972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:61.00, Z:-1.79 [[ 4.68765024e-01 -8.83320685e-01 -1.97985161e-03 1.29612625e+02] [ 8.83313317e-01 4.68769201e-01 -3.60839881e-03 6.10034741e+01] [ 4.11546676e-03 -5.73381446e-05 9.99991530e-01 -1.79152801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:61.03, Z:-1.79 [[ 4.68839860e-01 -8.83280308e-01 -2.25443055e-03 1.29626640e+02] [ 8.83270742e-01 4.68845276e-01 -4.11127137e-03 6.10283693e+01] [ 4.68838416e-03 -6.37446576e-05 9.99989007e-01 -1.79146880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:61.05, Z:-1.79 [[ 4.68733612e-01 -8.83336503e-01 -2.32868239e-03 1.29640244e+02] [ 8.83326285e-01 4.68739392e-01 -4.24940676e-03 6.10530834e+01] [ 4.84520127e-03 -6.51465891e-05 9.99988260e-01 -1.79171956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:129.65, Y:61.08, Z:-1.79 [[ 4.69334061e-01 -8.83015574e-01 -3.00589910e-03 1.29653260e+02] [ 8.82998523e-01 4.69343680e-01 -5.48809262e-03 6.10774975e+01] [ 6.25687100e-03 -7.84556688e-05 9.99980423e-01 -1.79415711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:129.67, Y:61.10, Z:-1.79 [[ 4.70486777e-01 -8.82403116e-01 -2.63328557e-03 1.29666604e+02] [ 8.82390001e-01 4.70494142e-01 -4.81132313e-03 6.11020798e+01] [ 5.48447196e-03 -5.99209428e-05 9.99984958e-01 -1.79395465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:61.13, Z:-1.79 [[ 4.74271724e-01 -8.80377626e-01 -1.25175053e-03 1.29680148e+02] [ 8.80374648e-01 4.74273376e-01 -2.28997383e-03 6.11264081e+01] [ 2.60971367e-03 -1.59395946e-05 9.99996595e-01 -1.79154834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:61.15, Z:-1.79 [[ 4.76018265e-01 -8.79435056e-01 -7.70506349e-04 1.29693385e+02] [ 8.79433923e-01 4.76018888e-01 -1.41149546e-03 6.11508595e+01] [ 1.60809417e-03 -5.71180078e-06 9.99998707e-01 -1.79106317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:61.17, Z:-1.79 [[ 4.77741004e-01 -8.78500587e-01 -5.01696988e-04 1.29706015e+02] [ 8.78500105e-01 4.77741267e-01 -9.20245094e-04 6.11746443e+01] [ 1.04811721e-03 -1.10204196e-06 9.99999451e-01 -1.79042157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:61.20, Z:-1.79 [[ 4.79547465e-01 -8.77515897e-01 -2.80802463e-04 1.29719214e+02] [ 8.77515745e-01 4.79547547e-01 -5.16698788e-04 6.11993446e+01] [ 5.88069532e-04 1.37301140e-06 9.99999827e-01 -1.79051573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:61.22, Z:-1.79 [[ 4.81246070e-01 -8.76585532e-01 -1.57443800e-04 1.29731948e+02] [ 8.76585484e-01 4.81246096e-01 -2.90750374e-04 6.12230550e+01] [ 3.30636786e-04 1.90952542e-06 9.99999945e-01 -1.79063174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:61.25, Z:-1.79 [[ 4.84088115e-01 -8.75019169e-01 -3.88014975e-04 1.29744910e+02] [ 8.75018878e-01 4.84088271e-01 -7.13558548e-04 6.12468707e+01] [ 8.12210906e-04 5.90478422e-06 9.99999670e-01 -1.79116877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:61.27, Z:-1.79 [[ 4.84874675e-01 -8.74583627e-01 -1.70364233e-04 1.29758472e+02] [ 8.74583570e-01 4.84874705e-01 -3.15096478e-04 6.12710842e+01] [ 3.58183528e-04 3.78454327e-06 9.99999936e-01 -1.79119047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:129.77, Y:61.30, Z:-1.79 [[ 4.84814681e-01 -8.74616706e-01 -5.85596638e-04 1.29772330e+02] [ 8.74616042e-01 4.84815034e-01 -1.07748548e-03 6.12959164e+01] [ 1.22629285e-03 1.02085631e-05 9.99999248e-01 -1.79361785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:61.32, Z:-1.79 [[ 4.85433705e-01 -8.74273427e-01 -3.04514533e-04 1.29786179e+02] [ 8.74273247e-01 4.85433800e-01 -5.61924267e-04 6.13204622e+01] [ 6.39097102e-04 6.54806910e-06 9.99999796e-01 -1.79140537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:61.35, Z:-1.79 [[ 4.85054217e-01 -8.74483297e-01 -1.17021874e-03 1.29799929e+02] [ 8.74480646e-01 4.85055628e-01 -2.15350155e-03 6.13450627e+01] [ 2.45082232e-03 2.12313661e-05 9.99996997e-01 -1.79269651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:61.37, Z:-1.79 [[ 4.84352042e-01 -8.74871192e-01 -1.86989080e-03 1.29813451e+02] [ 8.74864422e-01 4.84355651e-01 -3.44181352e-03 6.13691731e+01] [ 3.91683567e-03 3.11484744e-05 9.99992329e-01 -1.79305548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:129.83, Y:61.39, Z:-1.80 [[ 4.82917873e-01 -8.75662216e-01 -2.45164625e-03 1.29827577e+02] [ 8.75650578e-01 4.82924095e-01 -4.51486315e-03 6.13939035e+01] [ 5.13745412e-03 3.35226516e-05 9.99986803e-01 -1.79646297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:61.42, Z:-1.79 [[ 4.81991958e-01 -8.76172451e-01 -2.36414758e-03 1.29841238e+02] [ 8.76161622e-01 4.81997755e-01 -4.35617693e-03 6.14171432e+01] [ 4.95627605e-03 2.82668689e-05 9.99987717e-01 -1.79351652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:61.44, Z:-1.79 [[ 4.79619047e-01 -8.77474144e-01 -2.16722184e-03 1.29855089e+02] [ 8.77465043e-01 4.79623943e-01 -3.99649178e-03 6.14416188e+01] [ 4.54626968e-03 1.51321761e-05 9.99989666e-01 -1.79317807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:61.47, Z:-1.79 [[ 4.78517725e-01 -8.78075472e-01 -2.06241333e-03 1.29867939e+02] [ 8.78067224e-01 4.78522169e-01 -3.80588682e-03 6.14661993e+01] [ 4.32876637e-03 1.02467531e-05 9.99990631e-01 -1.79294017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:61.49, Z:-1.79 [[ 4.78286098e-01 -8.78201662e-01 -2.06147846e-03 1.29881508e+02] [ 8.78193413e-01 4.78290541e-01 -3.80639343e-03 6.14913769e+01] [ 4.32876668e-03 1.01682536e-05 9.99990631e-01 -1.79306500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:61.52, Z:-1.79 [[ 4.75316716e-01 -8.79812623e-01 -1.94101720e-03 1.29893321e+02] [ 8.79805312e-01 4.75320680e-01 -3.58667146e-03 6.15165842e+01] [ 4.07820444e-03 -2.91234590e-06 9.99991684e-01 -1.79331619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:61.54, Z:-1.79 [[ 4.73045759e-01 -8.81036309e-01 -1.65301192e-03 1.29906625e+02] [ 8.81031005e-01 4.73048647e-01 -3.05697126e-03 6.15417931e+01] [ 3.47525773e-03 -1.02674604e-05 9.99993961e-01 -1.79360733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:61.57, Z:-1.79 [[ 4.70324077e-01 -8.82492616e-01 -1.43010023e-03 1.29919722e+02] [ 8.82488651e-01 4.70326251e-01 -2.64546177e-03 6.15656322e+01] [ 3.00721415e-03 -1.78228541e-05 9.99995478e-01 -1.79341444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:61.59, Z:-1.79 [[ 4.67404558e-01 -8.84042873e-01 -1.08497515e-03 1.29933400e+02] [ 8.84040590e-01 4.67405817e-01 -2.00957228e-03 6.15897828e+01] [ 2.28367175e-03 -1.98788321e-05 9.99997392e-01 -1.79285424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:61.61, Z:-1.79 [[ 4.61908787e-01 -8.86927433e-01 3.74510837e-05 1.29946610e+02] [ 8.86927430e-01 4.61908789e-01 6.67279739e-05 6.16146143e+01] [-7.64818554e-05 2.39415594e-06 9.99999997e-01 -1.79153640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:61.64, Z:-1.79 [[ 4.58826851e-01 -8.88525605e-01 4.12619781e-04 1.29959908e+02] [ 8.88525279e-01 4.58827036e-01 7.61707577e-04 6.16399150e+01] [-8.66117797e-04 1.71312172e-05 9.99999625e-01 -1.79128989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:61.66, Z:-1.79 [[ 4.55668318e-01 -8.90149496e-01 5.08623092e-04 1.29972991e+02] [ 8.90149000e-01 4.55668601e-01 9.40158907e-04 6.16646487e+01] [-1.06864555e-03 2.43497081e-05 9.99999429e-01 -1.79136367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:61.69, Z:-1.81 [[ 4.49692602e-01 -8.93036065e-01 1.62218938e-02 1.29974772e+02] [ 8.93167385e-01 4.49719090e-01 -2.18221471e-03 6.16915890e+01] [-5.34649887e-03 1.54701923e-02 9.99866035e-01 -1.80532530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:61.71, Z:-1.79 [[ 4.48810124e-01 -8.93523415e-01 -1.36154476e-02 1.30003468e+02] [ 8.93627046e-01 4.48750829e-01 7.30727770e-03 6.17117941e+01] [-4.19280329e-04 -1.54467124e-02 9.99880605e-01 -1.78554223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:61.74, Z:-1.80 [[ 4.44420055e-01 -8.95791934e-01 6.90121658e-03 1.30003691e+02] [ 8.95816205e-01 4.44423221e-01 -1.15208571e-03 6.17405768e+01] [-2.03503181e-03 6.69423164e-03 9.99975523e-01 -1.80027721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:61.76, Z:-1.79 [[ 4.46262157e-01 -8.94877552e-01 -6.65239596e-03 1.30026152e+02] [ 8.94901175e-01 4.46260950e-01 1.74708422e-03 6.17634806e+01] [ 1.40527809e-03 -6.73289453e-03 9.99976346e-01 -1.78959529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:61.79, Z:-1.79 [[ 4.45200959e-01 -8.95430319e-01 -8.05921380e-04 1.30035075e+02] [ 8.95429066e-01 4.45201685e-01 -1.49920669e-03 6.17900835e+01] [ 1.70123268e-03 -5.41971727e-05 9.99998551e-01 -1.79329468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:61.82, Z:-1.79 [[ 4.44969789e-01 -8.95545240e-01 -7.81732291e-04 1.30047462e+02] [ 8.95544059e-01 4.44970472e-01 -1.45528468e-03 6.18158908e+01] [ 1.65112105e-03 -5.25179925e-05 9.99998636e-01 -1.79347533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:61.84, Z:-1.79 [[ 4.45194014e-01 -8.95433746e-01 -8.34096154e-04 1.30059951e+02] [ 8.95432400e-01 4.45194792e-01 -1.55365678e-03 6.18413282e+01] [ 1.76253197e-03 -5.51980218e-05 9.99998445e-01 -1.79358691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:61.87, Z:-1.79 [[ 4.45862102e-01 -8.95101379e-01 -7.12732006e-04 1.30072141e+02] [ 8.95100393e-01 4.45862669e-01 -1.32887066e-03 6.18668685e+01] [ 1.50725456e-03 -4.54736323e-05 9.99998863e-01 -1.79378154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:61.89, Z:-1.79 [[ 4.47059680e-01 -8.94503881e-01 -6.71028592e-04 1.30084126e+02] [ 8.94503005e-01 4.47060181e-01 -1.25209244e-03 6.18925481e+01] [ 1.41999171e-03 -4.04770458e-05 9.99998991e-01 -1.79390914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:61.92, Z:-1.79 [[ 4.51308956e-01 -8.92367652e-01 -4.47458423e-04 1.30095045e+02] [ 8.92367260e-01 4.51309177e-01 -8.36324213e-04 6.19186016e+01] [ 9.48250766e-04 -2.18566394e-05 9.99999550e-01 -1.79398334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:61.94, Z:-1.79 [[ 4.53601629e-01 -8.91204524e-01 -2.42143042e-04 1.30106709e+02] [ 8.91204409e-01 4.53601693e-01 -4.53745111e-04 6.19434381e+01] [ 5.14216190e-04 -9.97942473e-06 9.99999868e-01 -1.79429603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:61.97, Z:-1.79 [[ 4.56284848e-01 -8.89833767e-01 -6.84515940e-05 1.30117948e+02] [ 8.89833757e-01 4.56284854e-01 -1.29910350e-04 6.19676904e+01] [ 1.46832041e-04 -1.63441479e-06 9.99999989e-01 -1.79491134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:61.99, Z:-1.80 [[ 4.58563759e-01 -8.88661510e-01 -6.46088500e-06 1.30129582e+02] [ 8.88661510e-01 4.58563759e-01 -1.45211437e-05 6.19930572e+01] [ 1.58671091e-05 9.17330415e-07 1.00000000e+00 -1.79537713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:62.02, Z:-1.80 [[ 4.60730055e-01 -8.87540276e-01 2.74217175e-04 1.30141105e+02] [ 8.87540129e-01 4.60730136e-01 5.10068582e-04 6.20181183e+01] [-5.79046527e-04 8.37482119e-06 9.99999832e-01 -1.79598497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:62.04, Z:-1.80 [[ 4.65491802e-01 -8.85052014e-01 5.60865209e-04 1.30152278e+02] [ 8.85051396e-01 4.65492140e-01 1.04600883e-03 6.20437256e+01] [-1.18685057e-03 9.48599950e-06 9.99999296e-01 -1.79637151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:62.07, Z:-1.80 [[ 4.67674834e-01 -8.83900310e-01 7.00968689e-04 1.30164992e+02] [ 8.83899341e-01 4.67675359e-01 1.30881368e-03 6.20693578e+01] [-1.48468660e-03 7.48654429e-06 9.99998898e-01 -1.79661042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:62.09, Z:-1.80 [[ 4.69759425e-01 -8.82794084e-01 8.28899962e-04 1.30177600e+02] [ 8.82792725e-01 4.69760156e-01 1.54917513e-03 6.20944530e+01] [-1.75698681e-03 4.00723957e-06 9.99998456e-01 -1.79681435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:62.12, Z:-1.80 [[ 4.73320313e-01 -8.80890110e-01 7.04176077e-04 1.30189836e+02] [ 8.80889126e-01 4.73320836e-01 1.31658595e-03 6.21193348e+01] [-1.49306875e-03 -2.86582566e-06 9.99998885e-01 -1.79713039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:62.14, Z:-1.80 [[ 4.74724576e-01 -8.80134118e-01 7.15348046e-04 1.30202023e+02] [ 8.80133100e-01 4.74725115e-01 1.33858837e-03 6.21431624e+01] [-1.51773097e-03 -5.85930000e-06 9.99998848e-01 -1.79757478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:62.17, Z:-1.80 [[ 4.75371085e-01 -8.79785224e-01 5.39388616e-04 1.30214998e+02] [ 8.79784645e-01 4.75371391e-01 1.00920372e-03 6.21686341e+01] [-1.14429244e-03 -5.20044577e-06 9.99999345e-01 -1.79805337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:62.19, Z:-1.80 [[ 4.75859460e-01 -8.79521229e-01 4.25899243e-04 1.30227298e+02] [ 8.79520868e-01 4.75859651e-01 7.97090831e-04 6.21922481e+01] [-9.03726572e-04 -4.71594039e-06 9.99999592e-01 -1.79896916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:62.22, Z:-1.80 [[ 4.75408475e-01 -8.79765185e-01 4.05877300e-05 1.30241163e+02] [ 8.79765182e-01 4.75408477e-01 7.37374562e-05 6.22161654e+01] [-8.41673978e-05 6.52260040e-07 9.99999996e-01 -1.79979406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:62.24, Z:-1.80 [[ 4.74293640e-01 -8.80366686e-01 2.04966023e-04 1.30255080e+02] [ 8.80366602e-01 4.74293684e-01 3.82720012e-04 6.22409216e+01] [-4.34148039e-04 -1.07642633e-06 9.99999906e-01 -1.79977154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:62.27, Z:-1.80 [[ 4.72948585e-01 -8.81089979e-01 2.89597137e-04 1.30268629e+02] [ 8.81089813e-01 4.72948674e-01 5.42153593e-04 6.22651062e+01] [-6.14650680e-04 -1.24968821e-06 9.99999811e-01 -1.79965534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:62.29, Z:-1.80 [[ 4.70589904e-01 -8.82351937e-01 4.49430175e-04 1.30282323e+02] [ 8.82351534e-01 4.70590118e-01 8.43316609e-04 6.22900916e+01] [-9.55599442e-04 -3.00877505e-07 9.99999543e-01 -1.80037389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:62.31, Z:-1.80 [[ 4.68941226e-01 -8.83229187e-01 5.74019290e-04 1.30295629e+02] [ 8.83228529e-01 4.68941577e-01 1.07852163e-03 6.23143755e+01] [-1.22176329e-03 1.22696053e-06 9.99999254e-01 -1.80087468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:62.34, Z:-1.80 [[ 4.66963912e-01 -8.84276251e-01 4.65119423e-04 1.30309035e+02] [ 8.84275819e-01 4.66964144e-01 8.74223146e-04 6.23382680e+01] [-9.90248860e-04 3.06319857e-06 9.99999510e-01 -1.80141332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:62.36, Z:-1.80 [[ 4.64801488e-01 -8.85414841e-01 3.70299872e-04 1.30323525e+02] [ 8.85414567e-01 4.64801635e-01 6.95782701e-04 6.23626856e+01] [-7.88172316e-04 4.46806692e-06 9.99999689e-01 -1.80144489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:62.39, Z:-1.80 [[ 4.59302902e-01 -8.88279689e-01 1.97351399e-04 1.30338852e+02] [ 8.88279612e-01 4.59302944e-01 3.70148442e-04 6.23856214e+01] [-4.19439422e-04 5.29297055e-06 9.99999912e-01 -1.80165841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:62.41, Z:-1.81 [[ 4.56564630e-01 -8.89654766e-01 7.94578919e-03 1.30349607e+02] [ 8.89685727e-01 4.56515625e-01 -7.26577388e-03 6.24120582e+01] [ 2.83665344e-03 1.03865506e-02 9.99942035e-01 -1.80624240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:62.43, Z:-1.80 [[ 4.53503974e-01 -8.91201109e-01 -9.73286047e-03 1.30371623e+02] [ 8.91254212e-01 4.53480270e-01 4.64482999e-03 6.24316102e+01] [ 2.74182553e-04 -1.07809017e-02 9.99941847e-01 -1.79731621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:62.46, Z:-1.80 [[ 4.49159769e-01 -8.93451450e-01 -9.48202300e-05 1.30382268e+02] [ 8.93451287e-01 4.49159747e-01 -5.65295447e-04 6.24594470e+01] [ 5.47653467e-04 1.69190716e-04 9.99999836e-01 -1.80270515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:62.48, Z:-1.80 [[ 4.45257472e-01 -8.95402470e-01 -4.48063942e-04 1.30395767e+02] [ 8.95402068e-01 4.45257697e-01 -8.48718981e-04 6.24824265e+01] [ 9.59448991e-04 -2.32989119e-05 9.99999539e-01 -1.80326872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.947628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.41, Y:62.51, Z:-1.81 [[ 4.36892105e-01 -8.99497070e-01 5.50538448e-03 1.30407180e+02] [ 8.99500688e-01 4.36844301e-01 -8.09746147e-03 6.25070445e+01] [ 4.87864703e-03 8.48981412e-03 9.99952060e-01 -1.80915304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:130.43, Y:62.53, Z:-1.80 [[ 4.31814901e-01 -9.01917392e-01 -8.99494132e-03 1.30428379e+02] [ 9.01958805e-01 4.31819324e-01 1.54454751e-03 6.25283812e+01] [ 2.49113522e-03 -8.78002515e-03 9.99958352e-01 -1.80291063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:62.55, Z:-1.80 [[ 4.28605973e-01 -9.03491157e-01 -8.05730153e-04 1.30437939e+02] [ 9.03489869e-01 4.28606724e-01 -1.52739827e-03 6.25549505e+01] [ 1.72533219e-03 -7.33170100e-05 9.99998509e-01 -1.80424111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:62.58, Z:-1.80 [[ 4.26122139e-01 -9.04665450e-01 -5.88514316e-04 1.30450041e+02] [ 9.04664762e-01 4.26122541e-01 -1.11706939e-03 6.25803341e+01] [ 1.26135329e-03 -5.64001684e-05 9.99999203e-01 -1.80392322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:62.60, Z:-1.80 [[ 4.20766941e-01 -9.07168730e-01 -2.77813156e-04 1.30461261e+02] [ 9.07168576e-01 4.20767031e-01 -5.28678473e-04 6.26044977e+01] [ 5.96495196e-04 -2.95729412e-05 9.99999822e-01 -1.80451082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:130.47, Y:62.63, Z:-1.81 [[ 4.17539007e-01 -9.08658802e-01 -5.99397415e-04 1.30473777e+02] [ 9.08658091e-01 4.17539431e-01 -1.13914726e-03 6.26295432e+01] [ 1.28536824e-03 -6.90088958e-05 9.99999172e-01 -1.80681406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:62.65, Z:-1.80 [[ 4.16102234e-01 -9.09317826e-01 -1.50168214e-04 1.30486099e+02] [ 9.09317781e-01 4.16102261e-01 -2.87414448e-04 6.26545790e+01] [ 3.23836414e-04 -1.69568326e-05 9.99999947e-01 -1.80418087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:62.68, Z:-1.79 [[ 4.13979052e-01 -9.10126547e-01 -1.70590834e-02 1.30501968e+02] [ 9.10283374e-01 4.13953354e-01 5.17679071e-03 6.26759256e+01] [ 2.35013014e-03 -1.76716829e-02 9.99841082e-01 -1.79089047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:62.71, Z:-1.81 [[ 4.14955389e-01 -9.09691984e-01 1.65081362e-02 1.30500631e+02] [ 9.09841218e-01 4.14906600e-01 -6.43976832e-03 6.27093609e+01] [-9.91129024e-04 1.76919993e-02 9.99842993e-01 -1.81165596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:62.73, Z:-1.80 [[ 4.16322863e-01 -9.09216016e-01 1.22884689e-03 1.30517519e+02] [ 9.09213032e-01 4.16324651e-01 2.33381592e-03 6.27316241e+01] [-2.63354206e-03 1.45662687e-04 9.99996522e-01 -1.80460264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:62.76, Z:-1.80 [[ 4.21127922e-01 -9.06998985e-01 2.02836718e-03 1.30525420e+02] [ 9.06990814e-01 4.21132751e-01 3.85614831e-03 6.27589987e+01] [-4.35173445e-03 2.15778674e-04 9.99990508e-01 -1.80404764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:62.79, Z:-1.80 [[ 4.24157005e-01 -9.05585008e-01 2.57452570e-03 1.30536405e+02] [ 9.05571795e-01 4.24164742e-01 4.89850641e-03 6.27854786e+01] [-5.52803700e-03 2.53682051e-04 9.99984688e-01 -1.80379798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:62.81, Z:-1.80 [[ 4.27851690e-01 -9.03843528e-01 3.13179801e-03 1.30546710e+02] [ 9.03823899e-01 4.27863060e-01 5.96337913e-03 6.28106985e+01] [-6.72994231e-03 2.79152046e-04 9.99977315e-01 -1.80323097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:62.84, Z:-1.80 [[ 4.31778728e-01 -9.01972470e-01 3.57679826e-03 1.30556679e+02] [ 9.01946770e-01 4.31793450e-01 6.81479596e-03 6.28361518e+01] [-7.69119640e-03 2.83597700e-04 9.99970382e-01 -1.80320729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:62.86, Z:-1.80 [[ 4.35562536e-01 -9.00151121e-01 3.63812934e-03 1.30566788e+02] [ 9.00124437e-01 4.35577656e-01 6.93562467e-03 6.28623180e+01] [-7.82779818e-03 2.53870856e-04 9.99969330e-01 -1.80340830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:62.89, Z:-1.80 [[ 4.39377614e-01 -8.98295153e-01 3.62366247e-03 1.30576448e+02] [ 8.98268582e-01 4.39392502e-01 6.91263752e-03 6.28875935e+01] [-7.80179889e-03 2.17763969e-04 9.99969542e-01 -1.80413634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:62.92, Z:-1.81 [[ 4.46116929e-01 -8.94968312e-01 3.37732523e-03 1.30584083e+02] [ 8.94945105e-01 4.46129689e-01 6.44674144e-03 6.29156778e+01] [-7.27635436e-03 1.46520185e-04 9.99973516e-01 -1.80532085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:62.94, Z:-1.81 [[ 4.48500039e-01 -8.93775828e-01 3.53327477e-03 1.30594655e+02] [ 8.93750355e-01 4.48513937e-01 6.74915637e-03 6.29419126e+01] [-7.61695580e-03 1.30868686e-04 9.99970982e-01 -1.80589867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:62.97, Z:-1.81 [[ 4.51947593e-01 -8.92037766e-01 3.46382229e-03 1.30603584e+02] [ 8.92013200e-01 4.51960856e-01 6.62081633e-03 6.29678839e+01] [-7.47153030e-03 9.75132006e-05 9.99972083e-01 -1.80647419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:62.99, Z:-1.81 [[ 4.52797769e-01 -8.91606819e-01 3.38534804e-03 1.30615593e+02] [ 8.91583312e-01 4.52810416e-01 6.47495566e-03 6.29937063e+01] [-7.30603547e-03 8.64743397e-05 9.99973307e-01 -1.80687229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:63.02, Z:-1.81 [[ 4.52915618e-01 -8.91547243e-01 3.30999115e-03 1.30627394e+02] [ 8.91524739e-01 4.52927705e-01 6.33509706e-03 6.30193423e+01] [-7.14722502e-03 8.16746025e-05 9.99974455e-01 -1.80708670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:63.04, Z:-1.81 [[ 4.52885104e-01 -8.91562283e-01 3.43180582e-03 1.30638934e+02] [ 8.91538060e-01 4.52898099e-01 6.57265161e-03 6.30439874e+01] [-7.41418661e-03 8.29294900e-05 9.99972511e-01 -1.80734401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:63.07, Z:-1.81 [[ 4.52503475e-01 -8.91754556e-01 3.79693676e-03 1.30649589e+02] [ 8.91724869e-01 4.52519395e-01 7.27696375e-03 6.30698036e+01] [-8.20745310e-03 9.29715557e-05 9.99966314e-01 -1.80751360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:63.10, Z:-1.81 [[ 4.52265749e-01 -8.91875154e-01 3.79493068e-03 1.30662750e+02] [ 8.91845463e-01 4.52281660e-01 7.27800994e-03 6.30951804e+01] [-8.20745379e-03 9.28970917e-05 9.99966314e-01 -1.80763284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:63.12, Z:-1.81 [[ 4.52063677e-01 -8.91977173e-01 3.89277962e-03 1.30674645e+02] [ 8.91945895e-01 4.52080428e-01 7.47048225e-03 6.31198343e+01] [-8.42334912e-03 9.50151220e-05 9.99964518e-01 -1.80753772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:63.14, Z:-1.81 [[ 4.52108278e-01 -8.91952709e-01 4.29773524e-03 1.30686914e+02] [ 8.91914530e-01 4.52128693e-01 8.25330555e-03 6.31447235e+01] [-9.30468766e-03 1.01824748e-04 9.99956705e-01 -1.80797531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:63.17, Z:-1.81 [[ 4.53108305e-01 -8.91444725e-01 4.37787265e-03 1.30698816e+02] [ 8.91405030e-01 4.53129445e-01 8.41304292e-03 6.31698957e+01] [-9.48350574e-03 9.04380838e-05 9.99955026e-01 -1.80836598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:63.19, Z:-1.81 [[ 4.53882163e-01 -8.91051163e-01 4.33672313e-03 1.30711589e+02] [ 8.91012138e-01 4.53902874e-01 8.33969952e-03 6.31947897e+01] [-9.39955005e-03 7.88320934e-05 9.99955820e-01 -1.80880066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:63.22, Z:-1.81 [[ 4.54634110e-01 -8.90668709e-01 4.13229611e-03 1.30724029e+02] [ 8.90633216e-01 4.54652885e-01 7.95167177e-03 6.32188862e+01] [-8.96106558e-03 6.52589489e-05 9.99959847e-01 -1.80913308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:63.24, Z:-1.81 [[ 4.55055090e-01 -8.90429509e-01 7.75592663e-03 1.30735254e+02] [ 8.90408347e-01 4.55106506e-01 7.14454194e-03 6.32442692e+01] [-9.89148364e-03 3.65478164e-03 9.99944399e-01 -1.81267086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:63.27, Z:-1.81 [[ 4.57161488e-01 -8.89383663e-01 2.71541086e-04 1.30751395e+02] [ 8.89352178e-01 4.57147832e-01 8.28034557e-03 6.32670924e+01] [-7.48853850e-03 -3.54395945e-03 9.99965680e-01 -1.80920912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:63.29, Z:-1.81 [[ 4.57277225e-01 -8.89318329e-01 3.23261785e-03 1.30762849e+02] [ 8.89296507e-01 4.57288650e-01 6.22999040e-03 6.32917393e+01] [-7.01868411e-03 2.59230396e-05 9.99975368e-01 -1.81125837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:63.32, Z:-1.81 [[ 4.57128647e-01 -8.89396443e-01 2.71434467e-03 1.30776262e+02] [ 8.89381042e-01 4.57136705e-01 5.23402395e-03 6.33157640e+01] [-5.89594887e-03 2.14644046e-05 9.99982619e-01 -1.81194150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:63.34, Z:-1.81 [[ 4.56598581e-01 -8.89669843e-01 2.30341344e-03 1.30790085e+02] [ 8.89658744e-01 4.56604391e-01 4.44404919e-03 6.33407528e+01] [-5.00548524e-03 2.01053483e-05 9.99987472e-01 -1.81302207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:63.36, Z:-1.81 [[ 4.53798549e-01 -8.91103737e-01 1.00341441e-03 1.30804982e+02] [ 8.91101634e-01 4.53799659e-01 1.93579269e-03 6.33642283e+01] [-2.18034121e-03 1.56843024e-05 9.99997623e-01 -1.81428364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99762800000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.82, Y:63.39, Z:-1.82 [[ 4.50565194e-01 -8.92743527e-01 -2.34473896e-05 1.30819229e+02] [ 8.92743526e-01 4.50565194e-01 -4.79043842e-05 6.33889879e+01] [ 5.33309065e-05 6.51542895e-07 9.99999999e-01 -1.81716993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:63.41, Z:-1.81 [[ 4.44625483e-01 -8.95716572e-01 5.82350473e-05 1.30836592e+02] [ 8.95716565e-01 4.44625487e-01 1.10071130e-04 6.34119010e+01] [-1.24485322e-04 3.22166699e-06 9.99999992e-01 -1.81487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:63.44, Z:-1.81 [[ 4.40524002e-01 -8.97740831e-01 6.33393545e-05 1.30851775e+02] [ 8.97740823e-01 4.40524007e-01 1.20051017e-04 6.34359486e+01] [-1.35677206e-04 3.97696964e-06 9.99999991e-01 -1.81479045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:63.46, Z:-1.81 [[ 4.36266128e-01 -8.99817656e-01 2.28264625e-04 1.30866645e+02] [ 8.99817548e-01 4.36266187e-01 4.39633109e-04 6.34601246e+01] [-4.95173771e-04 1.35994809e-05 9.99999877e-01 -1.81426266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:63.48, Z:-1.81 [[ 4.32038440e-01 -9.01855057e-01 4.92698782e-04 1.30881087e+02] [ 9.01854554e-01 4.32038720e-01 9.52715274e-04 6.34833415e+01] [-1.07207604e-03 3.27330190e-05 9.99999425e-01 -1.81422675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:63.51, Z:-1.82 [[ 4.23091605e-01 -9.06071041e-01 5.36308012e-03 1.30892189e+02] [ 9.06079562e-01 4.23104604e-01 1.52383235e-03 6.35062601e+01] [-3.64984425e-03 4.21465662e-03 9.99984458e-01 -1.81859363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:63.53, Z:-1.81 [[ 4.22452438e-01 -9.06380215e-01 -2.97385373e-03 1.30913034e+02] [ 9.06383574e-01 4.22443448e-01 3.21731393e-03 6.35289140e+01] [-1.65982467e-03 -4.05461428e-03 9.99990402e-01 -1.81210711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:63.55, Z:-1.81 [[ 4.20153901e-01 -9.07452646e-01 6.28000396e-04 1.30925485e+02] [ 9.07451833e-01 4.20154366e-01 1.21648682e-03 6.35546178e+01] [-1.36776130e-03 5.87684259e-05 9.99999063e-01 -1.81409647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:63.58, Z:-1.81 [[ 4.18039599e-01 -9.08428691e-01 4.55351618e-04 1.30939701e+02] [ 9.08428264e-01 4.18039845e-01 8.82157790e-04 6.35777909e+01] [-9.91732566e-04 4.48773902e-05 9.99999507e-01 -1.81472700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:63.60, Z:-1.81 [[ 4.18049587e-01 -9.08424167e-01 2.72858974e-04 1.30953631e+02] [ 9.08424015e-01 4.18049676e-01 5.27798349e-04 6.36025928e+01] [-5.93533382e-04 2.72257628e-05 9.99999823e-01 -1.81434369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:130.97, Y:63.63, Z:-1.82 [[ 4.19445473e-01 -9.07780443e-01 4.03328396e-04 1.30967715e+02] [ 9.07780107e-01 4.19445665e-01 7.81944053e-04 6.36266398e+01] [-8.79007866e-04 3.81506015e-05 9.99999613e-01 -1.81600570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:63.65, Z:-1.81 [[ 4.24045912e-01 -9.05640323e-01 8.18705682e-04 1.30981403e+02] [ 9.05638928e-01 4.24046697e-01 1.59097573e-03 6.36513449e+01] [-1.78802121e-03 6.68049824e-05 9.99998399e-01 -1.81320124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:63.68, Z:-1.82 [[ 4.33065619e-01 -9.01362396e-01 -7.09299234e-06 1.30992985e+02] [ 9.01362396e-01 4.33065619e-01 -1.60917002e-05 6.36754821e+01] [ 1.75761845e-05 5.75405557e-07 1.00000000e+00 -1.81542633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:63.70, Z:-1.82 [[ 4.39081068e-01 -8.98447108e-01 -7.80672437e-04 1.31006416e+02] [ 8.98445816e-01 4.39081761e-01 -1.52399877e-03 6.36996167e+01] [ 1.71201132e-03 -3.22328759e-05 9.99998534e-01 -1.81578068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:63.72, Z:-1.82 [[ 4.41379405e-01 -8.97319620e-01 -1.31136054e-03 1.31019892e+02] [ 8.97315969e-01 4.41381351e-01 -2.56014551e-03 6.37242223e+01] [ 2.87607888e-03 -4.67092516e-05 9.99995863e-01 -1.81596377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:63.75, Z:-1.82 [[ 4.43238845e-01 -8.96401982e-01 -1.67700155e-03 1.31033364e+02] [ 8.96396001e-01 4.43242014e-01 -3.27507248e-03 6.37482287e+01] [ 3.67909901e-03 -5.16181390e-05 9.99993231e-01 -1.81595435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:63.77, Z:-1.82 [[ 4.43006499e-01 -8.96516833e-01 -1.67614846e-03 1.31046335e+02] [ 8.96510851e-01 4.43009667e-01 -3.27550933e-03 6.37737090e+01] [ 3.67909922e-03 -5.16133631e-05 9.99993231e-01 -1.81607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:63.80, Z:-1.82 [[ 4.42774123e-01 -8.96631624e-01 -1.67529951e-03 1.31059299e+02] [ 8.96625641e-01 4.42777289e-01 -3.27594377e-03 6.37991927e+01] [ 3.67909936e-03 -5.16133652e-05 9.99993231e-01 -1.81619069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:63.82, Z:-1.82 [[ 4.43655761e-01 -8.96195526e-01 -1.77305388e-03 1.31072836e+02] [ 8.96188812e-01 4.43659302e-01 -3.46947655e-03 6.38235399e+01] [ 3.89596121e-03 -4.97377876e-05 9.99992409e-01 -1.81640079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:63.85, Z:-1.82 [[ 4.43817238e-01 -8.96115830e-01 -1.63642951e-03 1.31086370e+02] [ 8.96110102e-01 4.43820253e-01 -3.20450570e-03 6.38476230e+01] [ 3.59788885e-03 -4.42061425e-05 9.99993527e-01 -1.81666731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:63.87, Z:-1.82 [[ 4.43053076e-01 -8.96494602e-01 -1.18340166e-03 1.31100495e+02] [ 8.96491601e-01 4.43054655e-01 -2.31971367e-03 6.38720849e+01] [ 2.60392239e-03 -3.31533694e-05 9.99996609e-01 -1.81630401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:63.90, Z:-1.82 [[ 4.41799468e-01 -8.97113603e-01 -6.43275149e-04 1.31114929e+02] [ 8.97112714e-01 4.41799936e-01 -1.26301011e-03 6.38962659e+01] [ 1.41726247e-03 -1.90931199e-05 9.99998996e-01 -1.81579716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:63.92, Z:-1.81 [[ 4.38136429e-01 -8.98908296e-01 5.86940536e-04 1.31130634e+02] [ 8.98907563e-01 4.38136822e-01 1.14827500e-03 6.39193318e+01] [-1.28935419e-03 2.45041766e-05 9.99999168e-01 -1.81480840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:63.94, Z:-1.81 [[ 4.35753623e-01 -9.00065463e-01 9.70915614e-04 1.31144621e+02] [ 9.00063453e-01 4.35754702e-01 1.90250175e-03 6.39432683e+01] [-2.13545716e-03 4.48636300e-05 9.99997719e-01 -1.81441497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:63.97, Z:-1.81 [[ 4.30624869e-01 -9.02530596e-01 8.63756768e-04 1.31159731e+02] [ 9.02529008e-01 4.30625732e-01 1.69342547e-03 6.39667296e+01] [-1.90032419e-03 5.03344170e-05 9.99998193e-01 -1.81438904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:63.99, Z:-1.82 [[ 4.27924221e-01 -9.03814335e-01 7.13836734e-04 1.31173107e+02] [ 9.03813251e-01 4.27924814e-01 1.40002863e-03 6.39909578e+01] [-1.57083440e-03 4.60689365e-05 9.99998765e-01 -1.81511530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:64.02, Z:-1.82 [[ 4.25972204e-01 -9.04736006e-01 6.63971050e-04 1.31185529e+02] [ 9.04735069e-01 4.25972719e-01 1.30313097e-03 6.40150710e+01] [-1.46182306e-03 4.56203238e-05 9.99998930e-01 -1.81556365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:64.04, Z:-1.82 [[ 4.24534351e-01 -9.05411527e-01 7.42833563e-04 1.31197906e+02] [ 9.05410353e-01 4.24534998e-01 1.45895967e-03 6.40400502e+01] [-1.63631774e-03 5.31907030e-05 9.99998660e-01 -1.81614834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:64.07, Z:-1.82 [[ 4.23738956e-01 -9.05784276e-01 3.78555093e-04 1.31210245e+02] [ 9.05783972e-01 4.23739124e-01 7.42712334e-04 6.40651602e+01] [-8.33145757e-04 2.81729871e-05 9.99999653e-01 -1.81646433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:64.09, Z:-1.82 [[ 4.23266826e-01 -9.06005073e-01 -5.13724291e-05 1.31222895e+02] [ 9.06005067e-01 4.23266829e-01 -1.03838798e-04 6.40907346e+01] [ 1.15822723e-04 -2.59216250e-06 9.99999993e-01 -1.81702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.23, Y:64.12, Z:-1.82 [[ 4.22944611e-01 -9.06154441e-01 -1.40898423e-03 1.31233231e+02] [ 9.06150182e-01 4.22946946e-01 -2.78019711e-03 6.41162394e+01] [ 3.11521353e-03 -1.00881934e-04 9.99995143e-01 -1.82032146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:64.14, Z:-1.82 [[ 4.23048688e-01 -9.06105520e-01 -1.61061865e-03 1.31244806e+02] [ 9.06099948e-01 4.23051738e-01 -3.17969915e-03 6.41402071e+01] [ 3.56251797e-03 -1.14213922e-04 9.99993648e-01 -1.81863386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:64.17, Z:-1.82 [[ 4.22280953e-01 -9.06462864e-01 -1.96801263e-03 1.31257536e+02] [ 9.06454538e-01 4.22285515e-01 -3.88770841e-03 6.41656831e+01] [ 4.35512653e-03 -1.42208769e-04 9.99990506e-01 -1.81852509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:64.19, Z:-1.82 [[ 4.21278681e-01 -9.06928996e-01 -2.01705894e-03 1.31269828e+02] [ 9.06920244e-01 4.21283483e-01 -3.98730468e-03 6.41911099e+01] [ 4.46595585e-03 -1.49545124e-04 9.99990016e-01 -1.81907568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:64.22, Z:-1.82 [[ 4.19907147e-01 -9.07564938e-01 -1.96750407e-03 1.31280754e+02] [ 9.07556607e-01 4.19911729e-01 -3.89157835e-03 6.42161598e+01] [ 4.35803810e-03 -1.51519752e-04 9.99990492e-01 -1.81955810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:64.24, Z:-1.82 [[ 4.19415593e-01 -9.07792249e-01 -1.94750420e-03 1.31292717e+02] [ 9.07784077e-01 4.19420088e-01 -3.85493709e-03 6.42417967e+01] [ 4.31630440e-03 -1.51092577e-04 9.99990673e-01 -1.81977950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:64.27, Z:-1.82 [[ 4.19485608e-01 -9.07759997e-01 -1.90083113e-03 1.31305107e+02] [ 9.07752200e-01 4.19489889e-01 -3.76519080e-03 6.42670125e+01] [ 4.21526903e-03 -1.46040290e-04 9.99991105e-01 -1.81929988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:64.29, Z:-1.82 [[ 4.19994104e-01 -9.07524265e-01 -2.15878463e-03 1.31317514e+02] [ 9.07514193e-01 4.19999621e-01 -4.27871861e-03 6.42923065e+01] [ 4.78972969e-03 -1.62091105e-04 9.99988516e-01 -1.81901836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:64.32, Z:-1.82 [[ 4.21758141e-01 -9.06702650e-01 -3.22102670e-03 1.31329742e+02] [ 9.06680194e-01 4.21770380e-01 -6.38535267e-03 6.43159547e+01] [ 7.14814984e-03 -2.27366636e-04 9.99974426e-01 -1.81862682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:64.34, Z:-1.82 [[ 4.23148756e-01 -9.06051268e-01 -4.02856465e-03 1.31342056e+02] [ 9.06016080e-01 4.23167847e-01 -7.98968270e-03 6.43401459e+01] [ 8.94382117e-03 -2.69120060e-04 9.99959967e-01 -1.81895139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:64.37, Z:-1.82 [[ 4.24837739e-01 -9.05259665e-01 -4.22313536e-03 1.31354474e+02] [ 9.05220899e-01 4.24858647e-01 -8.38173734e-03 6.43655190e+01] [ 9.38188432e-03 -2.61992054e-04 9.99955955e-01 -1.81967546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:64.39, Z:-1.82 [[ 4.29912475e-01 -9.02862944e-01 -3.71056243e-03 1.31366708e+02] [ 9.02832882e-01 4.29928449e-01 -7.36996589e-03 6.43908232e+01] [ 8.24934545e-03 -1.81577499e-04 9.99965957e-01 -1.81986784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:64.41, Z:-1.82 [[ 4.32489343e-01 -9.01633786e-01 -3.07964685e-03 1.31378469e+02] [ 9.01613029e-01 4.32500288e-01 -6.11934726e-03 6.44147056e+01] [ 6.84935839e-03 -1.30097244e-04 9.99976534e-01 -1.81955792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:64.44, Z:-1.82 [[ 4.35245140e-01 -9.00309009e-01 -2.31461123e-03 1.31390809e+02] [ 9.00297241e-01 4.35251287e-01 -4.60376168e-03 6.44394432e+01] [ 5.15224563e-03 -8.00732101e-05 9.99986724e-01 -1.81907488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:64.46, Z:-1.82 [[ 4.38121747e-01 -8.98914059e-01 -1.68805769e-03 1.31402645e+02] [ 8.98907780e-01 4.38124997e-01 -3.36014201e-03 6.44635779e+01] [ 3.76005916e-03 -4.52568976e-05 9.99992930e-01 -1.81814939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:64.49, Z:-1.82 [[ 4.43576757e-01 -8.96236280e-01 -4.36883381e-04 1.31415057e+02] [ 8.96235855e-01 4.43576972e-01 -8.72346665e-04 6.44879141e+01] [ 9.75620137e-04 -4.59784529e-06 9.99999524e-01 -1.81725883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:64.51, Z:-1.82 [[ 4.46412109e-01 -8.94827485e-01 4.74541485e-05 1.31428333e+02] [ 8.94827480e-01 4.46412111e-01 9.19389130e-05 6.45128462e+01] [-1.03453573e-04 1.42063209e-06 9.99999995e-01 -1.81616818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:64.54, Z:-1.82 [[ 4.48685259e-01 -8.93689809e-01 2.51702620e-04 1.31441405e+02] [ 8.93689670e-01 4.48685330e-01 4.99142921e-04 6.45376818e+01] [-5.59014215e-04 9.85960578e-07 9.99999844e-01 -1.81557088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:64.56, Z:-1.82 [[ 4.52803237e-01 -8.91610330e-01 4.97939170e-04 1.31454729e+02] [ 8.91609780e-01 4.52803511e-01 9.90623759e-04 6.45624849e+01] [-1.10871898e-03 -4.59021190e-06 9.99999385e-01 -1.81521002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:64.59, Z:-1.82 [[ 4.54150038e-01 -8.90925058e-01 5.32729965e-04 1.31466896e+02] [ 8.90924426e-01 4.54150351e-01 1.06098198e-03 6.45865456e+01] [-1.18719493e-03 -7.22286737e-06 9.99999295e-01 -1.81591648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:64.61, Z:-1.82 [[ 4.55250751e-01 -8.90363206e-01 3.40223640e-04 1.31479717e+02] [ 8.90362948e-01 4.55250878e-01 6.77013640e-04 6.46118298e+01] [-7.57675145e-04 -5.28844441e-06 9.99999713e-01 -1.81613539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:64.64, Z:-1.82 [[ 4.55018634e-01 -8.90481851e-01 3.39984772e-04 1.31492446e+02] [ 8.90481593e-01 4.55018761e-01 6.77133354e-04 6.46374355e+01] [-7.57674412e-04 -5.35811260e-06 9.99999713e-01 -1.81625353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:64.66, Z:-1.82 [[ 4.55466889e-01 -8.90252722e-01 6.57724958e-05 1.31504899e+02] [ 8.90252712e-01 4.55466894e-01 1.28838038e-04 6.46619236e+01] [-1.44655608e-04 -1.27317450e-07 9.99999990e-01 -1.81651141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:64.69, Z:-1.82 [[ 4.55215961e-01 -8.90381025e-01 -2.43077258e-04 1.31517898e+02] [ 8.90380891e-01 4.55216026e-01 -4.89091722e-04 6.46868235e+01] [ 5.46130652e-04 6.21101248e-06 9.99999851e-01 -1.81691408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:64.71, Z:-1.82 [[ 4.54112879e-01 -8.90943953e-01 -6.04253451e-04 1.31530950e+02] [ 8.90943127e-01 4.54113281e-01 -1.21300401e-03 6.47121306e+01] [ 1.35511810e-03 1.24852846e-05 9.99999082e-01 -1.81749189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:64.74, Z:-1.82 [[ 4.50444167e-01 -8.92803447e-01 -1.43457884e-03 1.31544437e+02] [ 8.92798809e-01 4.50446451e-01 -2.87775219e-03 6.47353956e+01] [ 3.21546802e-03 1.54764082e-05 9.99994830e-01 -1.81820156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:64.76, Z:-1.82 [[ 4.47585392e-01 -8.94239799e-01 -1.58052458e-03 1.31557721e+02] [ 8.94234170e-01 4.47588183e-01 -3.17294005e-03 6.47591868e+01] [ 3.54479340e-03 6.80252992e-06 9.99993717e-01 -1.81854925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:64.78, Z:-1.82 [[ 4.44372637e-01 -8.95840579e-01 -1.61771191e-03 1.31571682e+02] [ 8.95834684e-01 4.44375582e-01 -3.24970556e-03 6.47840844e+01] [ 3.63008978e-03 -5.12221327e-06 9.99993411e-01 -1.81847989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:64.81, Z:-1.82 [[ 4.41039669e-01 -8.97486301e-01 -1.53284352e-03 1.31585468e+02] [ 8.97481011e-01 4.41042332e-01 -3.08151551e-03 6.48083232e+01] [ 3.44166684e-03 -1.66273752e-05 9.99994077e-01 -1.81851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:64.83, Z:-1.82 [[ 4.34433293e-01 -9.00702180e-01 -1.81574621e-03 1.31600632e+02] [ 9.00694776e-01 4.34437084e-01 -3.65236511e-03 6.48326620e+01] [ 4.07852071e-03 -4.87241219e-05 9.99991682e-01 -1.81785294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:64.86, Z:-1.82 [[ 4.31488865e-01 -9.02116342e-01 -1.86157782e-03 1.31613718e+02] [ 9.02108568e-01 4.31492876e-01 -3.74543888e-03 6.48563819e+01] [ 4.18207919e-03 -6.32301329e-05 9.99991253e-01 -1.81786650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:64.88, Z:-1.82 [[ 4.28466451e-01 -9.03555439e-01 -2.01689494e-03 1.31626553e+02] [ 9.03546315e-01 4.28471190e-01 -4.06146729e-03 6.48814974e+01] [ 4.53394224e-03 -8.21555145e-05 9.99989718e-01 -1.81778845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:64.91, Z:-1.82 [[ 4.26318148e-01 -9.04571465e-01 -1.81671376e-03 1.31639007e+02] [ 9.04564062e-01 4.26322011e-01 -3.66065991e-03 6.49060607e+01] [ 4.08583357e-03 -8.27282249e-05 9.99991650e-01 -1.81813271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:64.93, Z:-1.82 [[ 4.23639673e-01 -9.05830045e-01 -1.16485788e-03 1.31650666e+02] [ 9.05826999e-01 4.23641271e-01 -2.35004164e-03 6.49303093e+01] [ 2.62222020e-03 -5.95888484e-05 9.99996560e-01 -1.81769662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:64.96, Z:-1.82 [[ 4.23036240e-01 -9.06112275e-01 -9.40604598e-04 1.31662413e+02] [ 9.06110285e-01 4.23037283e-01 -1.89940450e-03 6.49556425e+01] [ 2.11898454e-03 -4.87745642e-05 9.99997754e-01 -1.81773844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:64.98, Z:-1.82 [[ 4.22449360e-01 -9.06386148e-01 -8.30540382e-04 1.31673768e+02] [ 9.06384594e-01 4.22450174e-01 -1.67866896e-03 6.49813967e+01] [ 1.87238422e-03 -4.36363785e-05 9.99998246e-01 -1.81811953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:65.01, Z:-1.82 [[ 4.21790394e-01 -9.06692974e-01 -8.45452423e-04 1.31685345e+02] [ 9.06691362e-01 4.21791239e-01 -1.70995962e-03 6.50069485e+01] [ 1.90701280e-03 -4.53198673e-05 9.99998181e-01 -1.81810309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:65.03, Z:-1.82 [[ 4.20547959e-01 -9.07269954e-01 -8.02684773e-04 1.31695958e+02] [ 9.07268501e-01 4.20548723e-01 -1.62435290e-03 6.50321401e+01] [ 1.81129464e-03 -4.51323147e-05 9.99998359e-01 -1.81783104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:65.06, Z:-1.82 [[ 4.19807738e-01 -9.07612645e-01 -8.65630129e-04 1.31707620e+02] [ 9.07610954e-01 4.19808628e-01 -1.75283149e-03 6.50581925e+01] [ 1.95429102e-03 -4.98031636e-05 9.99998089e-01 -1.81816619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:65.08, Z:-1.82 [[ 4.19140905e-01 -9.07920865e-01 -7.78093428e-04 1.31719076e+02] [ 9.07919496e-01 4.19141625e-01 -1.57694631e-03 6.50838544e+01] [ 1.75787380e-03 -4.54834898e-05 9.99998454e-01 -1.81857872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:65.11, Z:-1.82 [[ 4.18652210e-01 -9.08146070e-01 -1.02133007e-03 1.31730367e+02] [ 9.08143711e-01 4.18653452e-01 -2.07060341e-03 6.51095669e+01] [ 2.30799371e-03 -6.06517859e-05 9.99997335e-01 -1.81819042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:65.14, Z:-1.82 [[ 4.18041859e-01 -9.08426548e-01 -1.48703615e-03 1.31739178e+02] [ 9.08421546e-01 4.18044494e-01 -3.01593120e-03 6.51359152e+01] [ 3.36139924e-03 -9.00701889e-05 9.99994346e-01 -1.81908785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:65.16, Z:-1.82 [[ 4.17546015e-01 -9.08654390e-01 -1.58923266e-03 1.31749235e+02] [ 9.08648676e-01 4.17549028e-01 -3.22376461e-03 6.51614635e+01] [ 3.59287041e-03 -9.79840840e-05 9.99993541e-01 -1.81983617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:65.19, Z:-1.82 [[ 4.17059769e-01 -9.08877592e-01 -1.63442294e-03 1.31760186e+02] [ 9.08871541e-01 4.17062959e-01 -3.31829214e-03 6.51873997e+01] [ 3.69757864e-03 -1.01554343e-04 9.99993159e-01 -1.82032196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:65.21, Z:-1.82 [[ 4.16372043e-01 -9.09193119e-01 -1.48150504e-03 1.31771194e+02] [ 9.09188141e-01 4.16374668e-01 -3.01007636e-03 6.52131996e+01] [ 3.35360188e-03 -9.36551763e-05 9.99994372e-01 -1.82028530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.78, Y:65.24, Z:-1.82 [[ 4.15594809e-01 -9.09548312e-01 -1.68024611e-03 1.31782352e+02] [ 9.09541904e-01 4.15598191e-01 -3.41580857e-03 6.52387180e+01] [ 3.80515017e-03 -1.08661941e-04 9.99992754e-01 -1.82187582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:65.26, Z:-1.82 [[ 4.16713169e-01 -9.09037718e-01 -7.49946480e-04 1.31791573e+02] [ 9.09036436e-01 4.16713841e-01 -1.52717769e-03 6.52638916e+01] [ 1.70077520e-03 -4.53336212e-05 9.99998553e-01 -1.81944646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:65.29, Z:-1.82 [[ 4.17634275e-01 -9.08615043e-01 -5.62463905e-04 1.31802310e+02] [ 9.08614320e-01 4.17634653e-01 -1.14683046e-03 6.52892081e+01] [ 1.27693183e-03 -3.21070486e-05 9.99999184e-01 -1.81908618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:65.32, Z:-1.82 [[ 4.18885865e-01 -9.08038844e-01 -3.01133557e-04 1.31813273e+02] [ 9.08038635e-01 4.18885973e-01 -6.15670451e-04 6.53155550e+01] [ 6.85193308e-04 -1.55452550e-05 9.99999765e-01 -1.81905468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:65.34, Z:-1.82 [[ 4.21968190e-01 -9.06610623e-01 -1.58114973e-04 1.31821114e+02] [ 9.06610565e-01 4.21968220e-01 -3.23832231e-04 6.53415198e+01] [ 3.60309234e-04 -6.70180495e-06 9.99999935e-01 -1.81911586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:65.37, Z:-1.82 [[ 4.23835296e-01 -9.05739279e-01 -1.51391577e-05 1.31831939e+02] [ 9.05739279e-01 4.23835296e-01 -3.34637716e-05 6.53679385e+01] [ 3.67259616e-05 4.70997766e-07 9.99999999e-01 -1.81943099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:65.39, Z:-1.82 [[ 4.25920469e-01 -9.04760605e-01 -2.43403391e-05 1.31842508e+02] [ 9.04760604e-01 4.25920470e-01 -5.24026395e-05 6.53932194e+01] [ 5.77788924e-05 2.97176867e-07 9.99999998e-01 -1.81975038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:65.42, Z:-1.82 [[ 4.30300329e-01 -9.02685744e-01 -2.72018853e-04 1.31852422e+02] [ 9.02685572e-01 4.30300415e-01 -5.57742965e-04 6.54201465e+01] [ 6.20516448e-04 -5.55051245e-06 9.99999807e-01 -1.81999144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:65.45, Z:-1.82 [[ 4.32237414e-01 -9.01759741e-01 -4.33522787e-04 1.31863144e+02] [ 9.01759303e-01 4.32237632e-01 -8.88038707e-04 6.54465544e+01] [ 9.88182417e-04 -7.08965222e-06 9.99999512e-01 -1.82067595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:65.47, Z:-1.82 [[ 4.34257878e-01 -9.00788365e-01 -6.46299090e-04 1.31873233e+02] [ 9.00787392e-01 4.34258359e-01 -1.32373205e-03 6.54717538e+01] [ 1.47306321e-03 -7.33700218e-06 9.99998915e-01 -1.82163477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:65.50, Z:-1.82 [[ 4.36259528e-01 -8.99820384e-01 -9.49328054e-04 1.31883952e+02] [ 8.99818283e-01 4.36260561e-01 -1.94429880e-03 6.54977327e+01] [ 2.16367408e-03 -6.00386246e-06 9.99997659e-01 -1.82227174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:65.52, Z:-1.82 [[ 4.39592915e-01 -8.98196267e-01 -1.23887761e-03 1.31893160e+02] [ 8.98192680e-01 4.39594661e-01 -2.53852424e-03 6.55231700e+01] [ 2.82469697e-03 3.16647034e-06 9.99996011e-01 -1.82333202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:65.55, Z:-1.82 [[ 4.40638933e-01 -8.97683478e-01 -1.30528477e-03 1.31904667e+02] [ 8.97679489e-01 4.40640866e-01 -2.67629942e-03 6.55485269e+01] [ 2.97763158e-03 7.55435559e-06 9.99995567e-01 -1.82358590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:65.57, Z:-1.82 [[ 4.41568461e-01 -8.97226642e-01 -1.28359398e-03 1.31916534e+02] [ 8.97222776e-01 4.41570327e-01 -2.63380950e-03 6.55741055e+01] [ 2.92992107e-03 1.13374520e-05 9.99995708e-01 -1.82347643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:65.60, Z:-1.82 [[ 4.42220700e-01 -8.96905242e-01 -1.35626694e-03 1.31928131e+02] [ 8.96900924e-01 4.42222780e-01 -2.78328027e-03 6.55982533e+01] [ 3.09611080e-03 1.43870765e-05 9.99995207e-01 -1.82294383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:65.62, Z:-1.82 [[ 4.42515285e-01 -8.96760298e-01 -1.09089557e-03 1.31940492e+02] [ 8.96757497e-01 4.42516629e-01 -2.24157791e-03 6.56239274e+01] [ 2.49289750e-03 1.36637085e-05 9.99996893e-01 -1.82294848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:65.65, Z:-1.82 [[ 4.42585487e-01 -8.96725808e-01 -9.55332769e-04 1.31952165e+02] [ 8.96723656e-01 4.42586518e-01 -1.96436569e-03 6.56479481e+01] [ 2.18431481e-03 1.27302505e-05 9.99997614e-01 -1.82236441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:65.67, Z:-1.82 [[ 4.42374099e-01 -8.96830156e-01 -9.10284820e-04 1.31964726e+02] [ 8.96828199e-01 4.42375035e-01 -1.87341302e-03 6.56731692e+01] [ 2.08282057e-03 1.23803013e-05 9.99997831e-01 -1.82224671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:65.70, Z:-1.82 [[ 4.42239736e-01 -8.96896395e-01 -9.34738390e-04 1.31977170e+02] [ 8.96894329e-01 4.42240723e-01 -1.92507981e-03 6.56980427e+01] [ 2.13997653e-03 1.29852278e-05 9.99997710e-01 -1.82238742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:65.72, Z:-1.82 [[ 4.41857642e-01 -8.97084567e-01 -1.05116416e-03 1.31989114e+02] [ 8.97081953e-01 4.41858892e-01 -2.16564933e-03 6.57220801e+01] [ 2.40723682e-03 1.39283101e-05 9.99997103e-01 -1.82250456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:65.75, Z:-1.82 [[ 4.41299395e-01 -8.97358168e-01 -1.77825919e-03 1.32001650e+02] [ 8.97350685e-01 4.41302977e-01 -3.66488025e-03 6.57471419e+01] [ 4.07346130e-03 2.15873313e-05 9.99991703e-01 -1.82322246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:65.77, Z:-1.82 [[ 4.40984254e-01 -8.97512227e-01 -2.16570064e-03 1.32013306e+02] [ 8.97501119e-01 4.40989571e-01 -4.46539997e-03 6.57711529e+01] [ 4.96280247e-03 2.54523288e-05 9.99987685e-01 -1.82362739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:65.80, Z:-1.82 [[ 4.40121636e-01 -8.97934945e-01 -2.40421461e-03 1.32024632e+02] [ 8.97921246e-01 4.40128202e-01 -4.96008209e-03 6.57952141e+01] [ 5.51199369e-03 2.42440724e-05 9.99984809e-01 -1.82423365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:65.82, Z:-1.82 [[ 4.39026532e-01 -8.98470625e-01 -2.49800581e-03 1.32037008e+02] [ 8.98455822e-01 4.39033638e-01 -5.15751893e-03 6.58206130e+01] [ 5.73058784e-03 1.99397856e-05 9.99983580e-01 -1.82453987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:65.85, Z:-1.82 [[ 4.35838550e-01 -9.00020315e-01 -2.86193058e-03 1.32049742e+02] [ 9.00000907e-01 4.35847946e-01 -5.91055370e-03 6.58450317e+01] [ 6.56698497e-03 3.07037991e-07 9.99978437e-01 -1.82452190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:65.87, Z:-1.82 [[ 4.33237798e-01 -9.01274761e-01 -2.96914060e-03 1.32062700e+02] [ 9.01253866e-01 4.33247972e-01 -6.13711177e-03 6.58696154e+01] [ 6.81759808e-03 -1.71206559e-05 9.99976760e-01 -1.82443901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:65.89, Z:-1.82 [[ 4.30100798e-01 -9.02776147e-01 -2.92089983e-03 1.32076188e+02] [ 9.02755931e-01 4.30110715e-01 -6.04173060e-03 6.58948379e+01] [ 6.71064058e-03 -3.83064899e-05 9.99977483e-01 -1.82455124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:65.92, Z:-1.82 [[ 4.26494915e-01 -9.04485354e-01 -2.88637779e-03 1.32089507e+02] [ 9.04465624e-01 4.26504677e-01 -5.97461022e-03 6.59199556e+01] [ 6.63500107e-03 -6.24886095e-05 9.99977986e-01 -1.82463096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08762800000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.10, Y:65.94, Z:-1.83 [[ 4.22521640e-01 -9.06347665e-01 -3.06166304e-03 1.32102161e+02] [ 9.06325499e-01 4.22532722e-01 -6.33949761e-03 6.59441212e+01] [ 7.03944167e-03 -9.62883526e-05 9.99975218e-01 -1.82608146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:65.97, Z:-1.83 [[ 4.14766487e-01 -9.09925439e-01 -2.11090175e-03 1.32116039e+02] [ 9.09914926e-01 4.14771845e-01 -4.37545592e-03 6.59684476e+01] [ 4.85688126e-03 -1.05948521e-04 9.99988200e-01 -1.82543347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:65.99, Z:-1.83 [[ 4.10895201e-01 -9.11680357e-01 -2.01497956e-03 1.32128774e+02] [ 9.11670786e-01 4.10900124e-01 -4.17917529e-03 6.59927331e+01] [ 4.63802737e-03 -1.19794926e-04 9.99989237e-01 -1.82506299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:66.02, Z:-1.83 [[ 4.07115063e-01 -9.13375225e-01 -1.73904990e-03 1.32141075e+02] [ 9.13368105e-01 4.07118760e-01 -3.60835709e-03 6.60167428e+01] [ 4.00378381e-03 -1.19376187e-04 9.99991978e-01 -1.82523659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:66.04, Z:-1.82 [[ 4.01449380e-01 -9.15880452e-01 -1.18004627e-03 1.32154644e+02] [ 9.15877176e-01 4.01451103e-01 -2.45165079e-03 6.60410223e+01] [ 2.71914991e-03 -9.65637562e-05 9.99996298e-01 -1.82473508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:66.07, Z:-1.82 [[ 3.99551280e-01 -9.16710319e-01 -9.82673909e-04 1.32166597e+02] [ 9.16708046e-01 3.99552479e-01 -2.04306204e-03 6.60650356e+01] [ 2.26552585e-03 -8.45170256e-05 9.99997430e-01 -1.82434651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:66.09, Z:-1.82 [[ 3.98235055e-01 -9.17283040e-01 -8.15932865e-04 1.32178415e+02] [ 9.17281470e-01 3.98235884e-01 -1.69836103e-03 6.60899896e+01] [ 1.88281152e-03 -7.20931994e-05 9.99998225e-01 -1.82455393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:66.11, Z:-1.82 [[ 3.97768524e-01 -9.17485392e-01 -8.69676085e-04 1.32189518e+02] [ 9.17483610e-01 3.97769467e-01 -1.81007111e-03 6.61147297e+01] [ 2.00664439e-03 -7.79242407e-05 9.99997984e-01 -1.82495637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:66.14, Z:-1.83 [[ 3.98515856e-01 -9.17160381e-01 -1.39578735e-03 1.32200106e+02] [ 9.17155782e-01 3.98518282e-01 -2.90705957e-03 6.61412782e+01] [ 3.22248664e-03 -1.21645104e-04 9.99994800e-01 -1.82648458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:66.17, Z:-1.83 [[ 3.99167510e-01 -9.16876493e-01 -1.67209555e-03 1.32211095e+02] [ 9.16869889e-01 3.99170987e-01 -3.48285712e-03 6.61657817e+01] [ 3.86080185e-03 -1.42850654e-04 9.99992537e-01 -1.82659696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:66.19, Z:-1.83 [[ 3.99722439e-01 -9.16634257e-01 -1.90021566e-03 1.32222599e+02] [ 9.16625711e-01 3.99726924e-01 -3.96130528e-03 6.61912485e+01] [ 4.39063548e-03 -1.58363928e-04 9.99990349e-01 -1.82687455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:66.22, Z:-1.83 [[ 4.00161769e-01 -9.16442446e-01 -1.94999850e-03 1.32234061e+02] [ 9.16433430e-01 4.00166488e-01 -4.06808526e-03 6.62168663e+01] [ 4.50849006e-03 -1.59151619e-04 9.99989824e-01 -1.82670464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:66.24, Z:-1.83 [[ 3.99998701e-01 -9.16513632e-01 -1.94967714e-03 1.32246347e+02] [ 9.16504617e-01 4.00003421e-01 -4.06823925e-03 6.62426505e+01] [ 4.50847426e-03 -1.59597686e-04 9.99989824e-01 -1.82682265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:66.27, Z:-1.83 [[ 4.00311101e-01 -9.16377496e-01 -1.81832652e-03 1.32257690e+02] [ 9.16369637e-01 4.00315204e-01 -3.79805120e-03 6.62682772e+01] [ 4.20835241e-03 -1.45857155e-04 9.99991134e-01 -1.82698593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:66.29, Z:-1.83 [[ 4.01724540e-01 -9.15757980e-01 -2.17185044e-03 1.32267656e+02] [ 9.15746744e-01 4.01730377e-01 -4.53923199e-03 6.62941790e+01] [ 5.02933622e-03 -1.65344090e-04 9.99987339e-01 -1.82667049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:66.32, Z:-1.83 [[ 4.02649160e-01 -9.15352090e-01 -2.05048537e-03 1.32278938e+02] [ 9.15342055e-01 4.02654353e-01 -4.28881670e-03 6.63204547e+01] [ 4.75141419e-03 -1.50007048e-04 9.99988701e-01 -1.82732068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:66.35, Z:-1.83 [[ 4.03581937e-01 -9.14941192e-01 -2.05794497e-03 1.32290476e+02] [ 9.14931064e-01 4.03587158e-01 -4.30753851e-03 6.63464909e+01] [ 4.77170458e-03 -1.44433047e-04 9.99988605e-01 -1.82725889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:66.37, Z:-1.83 [[ 4.04517964e-01 -9.14528240e-01 -1.82056517e-03 1.32301994e+02] [ 9.14520296e-01 4.04522043e-01 -3.81370621e-03 6.63724567e+01] [ 4.22420077e-03 -1.22231130e-04 9.99991071e-01 -1.82728877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62762800000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.31, Y:66.40, Z:-1.83 [[ 4.05634681e-01 -9.14032666e-01 -2.18874966e-03 1.32313136e+02] [ 9.14021167e-01 4.05640562e-01 -4.58711346e-03 6.63975518e+01] [ 5.08061719e-03 -1.39871216e-04 9.99987084e-01 -1.82803641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:66.42, Z:-1.83 [[ 4.09045237e-01 -9.12512074e-01 -1.92574515e-03 1.32323242e+02] [ 9.12503140e-01 4.09049757e-01 -4.03940677e-03 6.64239470e+01] [ 4.47373303e-03 -1.04948395e-04 9.99989987e-01 -1.82820648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:66.45, Z:-1.83 [[ 4.10790813e-01 -9.11727080e-01 -2.15387607e-03 1.32334543e+02] [ 9.11715878e-01 4.10796445e-01 -4.52086825e-03 6.64493178e+01] [ 5.00660264e-03 -1.06591874e-04 9.99987461e-01 -1.82824510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:66.47, Z:-1.83 [[ 4.12536641e-01 -9.10938276e-01 -2.23091944e-03 1.32345542e+02] [ 9.10926232e-01 4.12542662e-01 -4.68524288e-03 6.64735719e+01] [ 5.18831652e-03 -9.93686733e-05 9.99986536e-01 -1.82828998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:66.50, Z:-1.83 [[ 4.16019176e-01 -9.09352958e-01 -2.28975363e-03 1.32357061e+02] [ 9.09340227e-01 4.16025469e-01 -4.81255086e-03 6.64988022e+01] [ 5.32890319e-03 -8.00516455e-05 9.99985798e-01 -1.82819710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:66.52, Z:-1.83 [[ 4.17139470e-01 -9.08839606e-01 -2.28753130e-03 1.32368923e+02] [ 9.08826873e-01 4.17145736e-01 -4.81141978e-03 6.65243914e+01] [ 5.32704278e-03 -7.19368207e-05 9.99985809e-01 -1.82816250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:66.55, Z:-1.83 [[ 4.13489961e-01 -9.10501131e-01 3.70696409e-03 1.32371099e+02] [ 9.10502644e-01 4.13468973e-01 -5.32376750e-03 6.65482190e+01] [ 3.31458169e-03 5.57652502e-03 9.99978958e-01 -1.83256343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:66.57, Z:-1.83 [[ 4.15450752e-01 -9.09598732e-01 -5.55151444e-03 1.32388464e+02] [ 9.09607480e-01 4.15465176e-01 -1.70883430e-03 6.65716172e+01] [ 3.86081444e-03 -4.33976256e-03 9.99983130e-01 -1.82707753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:66.60, Z:-1.83 [[ 4.20455054e-01 -9.07308182e-01 -3.06775043e-03 1.32405193e+02] [ 9.07304084e-01 4.20463644e-01 -3.10214331e-03 6.65992563e+01] [ 4.10447752e-03 -1.47907066e-03 9.99990483e-01 -1.82775540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:66.62, Z:-1.83 [[ 4.20765412e-01 -9.07168033e-01 -1.62132272e-03 1.32416903e+02] [ 9.07161600e-01 4.20768534e-01 -3.41651226e-03 6.66241451e+01] [ 3.78155229e-03 -3.32515258e-05 9.99992849e-01 -1.82858689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:66.65, Z:-1.83 [[ 4.21084464e-01 -9.07020119e-01 -1.54180775e-03 1.32429506e+02] [ 9.07014291e-01 4.21087286e-01 -3.25160030e-03 6.66489434e+01] [ 3.59850254e-03 -2.92432946e-05 9.99993525e-01 -1.82823025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:66.67, Z:-1.83 [[ 4.21139923e-01 -9.06994406e-01 -1.52050926e-03 1.32441960e+02] [ 9.06988732e-01 4.21142667e-01 -3.20852528e-03 6.66735031e+01] [ 3.55046581e-03 -2.78466702e-05 9.99993697e-01 -1.82821010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:66.70, Z:-1.83 [[ 4.21493386e-01 -9.06829897e-01 -1.69212260e-03 1.32455669e+02] [ 9.06822858e-01 4.21496781e-01 -3.57325643e-03 6.66977137e+01] [ 3.95355999e-03 -2.83515018e-05 9.99992184e-01 -1.82800531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:66.72, Z:-1.84 [[ 4.18102212e-01 -9.08376678e-01 6.50774100e-03 1.32458029e+02] [ 9.08396396e-01 4.18069680e-01 -5.80783235e-03 6.67218923e+01] [ 2.55501026e-03 8.33987602e-03 9.99961958e-01 -1.83510268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:66.75, Z:-1.83 [[ 4.22114145e-01 -9.06487160e-01 -1.00338049e-02 1.32484455e+02] [ 9.06524707e-01 4.22149631e-01 -1.62637741e-03 6.67454341e+01] [ 5.71005729e-03 -8.40937514e-03 9.99948337e-01 -1.82519106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:66.77, Z:-1.83 [[ 4.22327571e-01 -9.06438639e-01 -2.90118115e-03 1.32494199e+02] [ 9.06417894e-01 4.22337534e-01 -6.13259427e-03 6.67724375e+01] [ 6.78409809e-03 -3.97188656e-05 9.99976987e-01 -1.82894356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:66.80, Z:-1.83 [[ 4.22530290e-01 -9.06342158e-01 -3.47089027e-03 1.32508394e+02] [ 9.06312444e-01 4.22544543e-01 -7.33916186e-03 6.67952917e+01] [ 8.11839754e-03 -4.46928584e-05 9.99967044e-01 -1.82942833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:66.82, Z:-1.83 [[ 4.22192203e-01 -9.06499194e-01 -3.59926750e-03 1.32522361e+02] [ 9.06467195e-01 4.22207542e-01 -7.61680173e-03 6.68200124e+01] [ 8.42426252e-03 -4.68636101e-05 9.99964514e-01 -1.82956414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:66.84, Z:-1.83 [[ 4.21721625e-01 -9.06717057e-01 -3.87930259e-03 1.32536412e+02] [ 9.06679842e-01 4.21739464e-01 -8.21512170e-03 6.68446973e+01] [ 9.08484596e-03 -5.27909876e-05 9.99958731e-01 -1.82942407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.55, Y:66.87, Z:-1.83 [[ 4.21209940e-01 -9.06953280e-01 -4.23490003e-03 1.32550416e+02] [ 9.06908879e-01 4.21231225e-01 -8.97441976e-03 6.68689709e+01] [ 9.92325156e-03 -6.05536264e-05 9.99950761e-01 -1.83081339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.227628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.56, Y:66.89, Z:-1.83 [[ 4.20622058e-01 -9.07224862e-01 -4.48698085e-03 1.32563848e+02] [ 9.07174973e-01 4.20645985e-01 -9.51436991e-03 6.68926761e+01] [ 1.05191034e-02 -6.85228734e-05 9.99944670e-01 -1.83116691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:66.92, Z:-1.83 [[ 4.19373854e-01 -9.07802991e-01 -4.39320267e-03 1.32580381e+02] [ 9.07755126e-01 4.19396857e-01 -9.32240121e-03 6.69158149e+01] [ 1.03053991e-02 -7.83809175e-05 9.99946895e-01 -1.83020940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:66.94, Z:-1.83 [[ 4.18152897e-01 -9.08366817e-01 -4.22850351e-03 1.32595073e+02] [ 9.08322436e-01 4.18174268e-01 -8.97963311e-03 6.69400358e+01] [ 9.92505210e-03 -8.59850128e-05 9.99950742e-01 -1.83003448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:66.96, Z:-1.83 [[ 4.17239912e-01 -9.08788746e-01 -3.72452971e-03 1.32609119e+02] [ 9.08754300e-01 4.17256527e-01 -7.91279393e-03 6.69632552e+01] [ 8.74514240e-03 -8.31489498e-05 9.99961757e-01 -1.82993892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:66.99, Z:-1.83 [[ 4.15951773e-01 -9.09382551e-01 -2.73829714e-03 1.32626064e+02] [ 9.09363910e-01 4.15960781e-01 -5.82305302e-03 6.69858584e+01] [ 6.43440703e-03 -6.79993699e-05 9.99979297e-01 -1.82873648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:67.01, Z:-1.83 [[ 4.15196549e-01 -9.09728583e-01 -2.39378351e-03 1.32640144e+02] [ 9.09714319e-01 4.15203445e-01 -5.09480720e-03 6.70095826e+01] [ 5.62879890e-03 -6.23127666e-05 9.99984156e-01 -1.82795997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:67.03, Z:-1.83 [[ 4.14643640e-01 -9.09981188e-01 -2.21102605e-03 1.32654944e+02] [ 9.09969005e-01 4.14649531e-01 -4.70924653e-03 6.70342081e+01] [ 5.20212667e-03 -5.93060452e-05 9.99986467e-01 -1.82740092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:67.06, Z:-1.83 [[ 4.13735134e-01 -9.10395187e-01 -1.96017930e-03 1.32668896e+02] [ 9.10385600e-01 4.13739774e-01 -4.17844104e-03 6.70584099e+01] [ 4.61503676e-03 -5.57511447e-05 9.99989349e-01 -1.82748269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:67.08, Z:-1.83 [[ 4.13440711e-01 -9.10530128e-01 -1.29042917e-03 1.32684864e+02] [ 9.10525966e-01 4.13442723e-01 -2.75323201e-03 6.70810131e+01] [ 3.04041924e-03 -3.66710694e-05 9.99995377e-01 -1.82750453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:67.11, Z:-1.83 [[ 4.13359893e-01 -9.10567018e-01 -1.14200424e-03 1.32699052e+02] [ 9.10563753e-01 4.13361469e-01 -2.43884606e-03 6.71051880e+01] [ 2.69279334e-03 -3.17465230e-05 9.99996374e-01 -1.82726419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:67.13, Z:-1.83 [[ 4.13477032e-01 -9.10513890e-01 -1.09523771e-03 1.32712277e+02] [ 9.10510885e-01 4.13478481e-01 -2.33962193e-03 6.71288288e+01] [ 2.58311549e-03 -2.98459210e-05 9.99996663e-01 -1.82676604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:67.15, Z:-1.83 [[ 4.14864185e-01 -9.09882959e-01 -8.41569045e-04 1.32724573e+02] [ 9.09881179e-01 4.14865038e-01 -1.80015256e-03 6.71543876e+01] [ 1.98706571e-03 -1.89090107e-05 9.99998026e-01 -1.82650686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:67.18, Z:-1.83 [[ 4.18242175e-01 -9.08334759e-01 -1.20366198e-03 1.32735977e+02] [ 9.08331108e-01 4.18243907e-01 -2.57547967e-03 6.71796922e+01] [ 2.84282199e-03 -1.61493971e-05 9.99995959e-01 -1.82703726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:67.20, Z:-1.83 [[ 4.19810727e-01 -9.07610627e-01 -1.37991533e-03 1.32747348e+02] [ 9.07605817e-01 4.19812994e-01 -2.95465218e-03 6.72042415e+01] [ 3.26098011e-03 -1.20244993e-05 9.99994683e-01 -1.82745465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:67.23, Z:-1.83 [[ 4.20979771e-01 -9.07068603e-01 -1.60666338e-03 1.32759106e+02] [ 9.07062072e-01 4.20982836e-01 -3.44212365e-03 6.72300237e+01] [ 3.79862000e-03 -8.27898776e-06 9.99992785e-01 -1.82749666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:67.26, Z:-1.83 [[ 4.21410039e-01 -9.06868641e-01 -1.68751362e-03 1.32770610e+02] [ 9.06861424e-01 4.21413417e-01 -3.61783543e-03 6.72554367e+01] [ 3.99204238e-03 -5.74883587e-06 9.99992032e-01 -1.82747281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:67.28, Z:-1.83 [[ 4.20590565e-01 -9.07248742e-01 -1.81553055e-03 1.32782051e+02] [ 9.07240382e-01 4.20594483e-01 -3.89492743e-03 6.72807172e+01] [ 4.29727015e-03 -8.95290595e-06 9.99990767e-01 -1.82814926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:67.31, Z:-1.83 [[ 4.18872538e-01 -9.08043110e-01 -1.87303596e-03 1.32793892e+02] [ 9.08034206e-01 4.18876725e-01 -4.02117928e-03 6.73060024e+01] [ 4.43597531e-03 -1.64191540e-05 9.99990161e-01 -1.82826288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:67.33, Z:-1.83 [[ 4.16591313e-01 -9.09091791e-01 -1.94754093e-03 1.32805503e+02] [ 9.09082170e-01 4.16595865e-01 -4.18255825e-03 6.73309300e+01] [ 4.61366687e-03 -2.80572968e-05 9.99989357e-01 -1.82806379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:67.36, Z:-1.83 [[ 4.13503684e-01 -9.10500466e-01 -1.89853956e-03 1.32817340e+02] [ 9.10491321e-01 4.13508041e-01 -4.08101019e-03 6.73566601e+01] [ 4.50082305e-03 -4.10910467e-05 9.99989870e-01 -1.82762160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:67.38, Z:-1.83 [[ 4.09567108e-01 -9.12278524e-01 -1.63663379e-03 1.32828747e+02] [ 9.12271730e-01 4.09570375e-01 -3.52122810e-03 6.73817627e+01] [ 3.88265749e-03 -5.08755263e-05 9.99992461e-01 -1.82762403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:67.41, Z:-1.83 [[ 4.00254885e-01 -9.16403425e-01 -8.88706923e-04 1.32840532e+02] [ 9.16401426e-01 4.00255869e-01 -1.91456203e-03 6.74068448e+01] [ 2.11022137e-03 -4.80994864e-05 9.99997772e-01 -1.82710810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:67.43, Z:-1.83 [[ 3.95374347e-01 -9.18519872e-01 -6.08733448e-04 1.32851778e+02] [ 9.18518934e-01 3.95374813e-01 -1.31336931e-03 6.74311577e+01] [ 1.44703368e-03 -3.98606663e-05 9.99998952e-01 -1.82668393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:67.46, Z:-1.83 [[ 3.90568817e-01 -9.20573694e-01 -2.69729392e-04 1.32863200e+02] [ 9.20573510e-01 3.90568909e-01 -5.83675327e-04 6.74568410e+01] [ 6.42664066e-04 -2.03403508e-05 9.99999793e-01 -1.82639645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:67.48, Z:-1.83 [[ 3.85951875e-01 -9.22518916e-01 6.66535784e-06 1.32874417e+02] [ 9.22518916e-01 3.85951875e-01 1.17477022e-05 6.74822108e+01] [-1.34099850e-05 1.61487097e-06 1.00000000e+00 -1.82640016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:67.51, Z:-1.83 [[ 3.78144970e-01 -9.25746384e-01 1.16009900e-04 1.32885140e+02] [ 9.25746351e-01 3.78144988e-01 2.47650992e-04 6.75082872e+01] [-2.73130573e-04 1.37477645e-05 9.99999963e-01 -1.82730676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:67.53, Z:-1.83 [[ 3.75563001e-01 -9.26796867e-01 1.05713276e-05 1.32895440e+02] [ 9.26796866e-01 3.75563001e-01 2.10081891e-05 6.75334737e+01] [-2.34405235e-05 1.90757477e-06 1.00000000e+00 -1.82784543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:67.56, Z:-1.83 [[ 3.73639146e-01 -9.27574047e-01 -4.18859828e-04 1.32905013e+02] [ 9.27573604e-01 3.73639377e-01 -9.07712373e-04 6.75585970e+01] [ 9.98472965e-04 -4.93664447e-05 9.99999500e-01 -1.82777716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:132.92, Y:67.58, Z:-1.83 [[ 3.72180299e-01 -9.28160120e-01 -7.84745957e-04 1.32915237e+02] [ 9.28158570e-01 3.72181114e-01 -1.69934568e-03 6.75844048e+01] [ 1.86933252e-03 -9.59057011e-05 9.99998248e-01 -1.83101725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:67.61, Z:-1.83 [[ 3.73163705e-01 -9.27764511e-01 -1.36456309e-03 1.32923789e+02] [ 9.27759819e-01 3.73166164e-01 -2.95513254e-03 6.76114788e+01] [ 3.25087587e-03 -1.63238601e-04 9.99994703e-01 -1.82803860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:67.64, Z:-1.83 [[ 3.74140305e-01 -9.27370956e-01 -1.46356778e-03 1.32933004e+02] [ 9.27365550e-01 3.74143129e-01 -3.17117654e-03 6.76369720e+01] [ 3.48844085e-03 -1.70797378e-04 9.99993901e-01 -1.82802081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:67.66, Z:-1.83 [[ 3.77187563e-01 -9.26135529e-01 -1.58887492e-03 1.32939878e+02] [ 9.26129136e-01 3.77190870e-01 -3.44551676e-03 6.76637070e+01] [ 3.79032460e-03 -1.71897287e-04 9.99992802e-01 -1.82827634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:132.95, Y:67.69, Z:-1.82 [[ 3.75870631e-01 -9.26622416e-01 -9.60035524e-03 1.32948473e+02] [ 9.26654856e-01 3.75906735e-01 -2.21473745e-03 6.76864817e+01] [ 5.66106356e-03 -8.06376104e-03 9.99951463e-01 -1.82401357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:67.72, Z:-1.83 [[ 3.80901322e-01 -9.24599246e-01 5.51524851e-03 1.32956891e+02] [ 9.24605460e-01 3.80862263e-01 -6.97716336e-03 6.77179170e+01] [ 4.35052995e-03 7.75703964e-03 9.99960450e-01 -1.83125606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:67.74, Z:-1.83 [[ 3.82514391e-01 -9.23948360e-01 -1.47245298e-03 1.32969668e+02] [ 9.23942841e-01 3.82517200e-01 -3.19647535e-03 6.77421912e+01] [ 3.51661675e-03 -1.37764565e-04 9.99993807e-01 -1.82818099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:67.77, Z:-1.83 [[ 3.86697967e-01 -9.22205207e-01 -1.49645809e-03 1.32977843e+02] [ 9.22199484e-01 3.86700843e-01 -3.25118873e-03 6.77688168e+01] [ 3.57694478e-03 -1.22804807e-04 9.99993595e-01 -1.82834672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:67.79, Z:-1.83 [[ 3.89305540e-01 -9.21106912e-01 -1.80386957e-03 1.32987792e+02] [ 9.21098582e-01 3.89309695e-01 -3.91960473e-03 6.77945104e+01] [ 4.31263892e-03 -1.35617873e-04 9.99990691e-01 -1.82816545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:67.82, Z:-1.83 [[ 3.89066945e-01 -9.21207720e-01 -1.80260262e-03 1.32999683e+02] [ 9.21199389e-01 3.89071097e-01 -3.92018777e-03 6.78205127e+01] [ 4.31264781e-03 -1.35340955e-04 9.99990691e-01 -1.82828122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:67.85, Z:-1.83 [[ 3.91640571e-01 -9.20116150e-01 -1.98348138e-03 1.33009734e+02] [ 9.20106034e-01 3.91645570e-01 -4.31658509e-03 6.78465627e+01] [ 4.74858135e-03 -1.34463345e-04 9.99988716e-01 -1.82871964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:67.87, Z:-1.83 [[ 3.94758389e-01 -9.18782646e-01 -2.06496500e-03 1.33019879e+02] [ 9.18771647e-01 3.94763771e-01 -4.49718455e-03 6.78728574e+01] [ 4.94710849e-03 -1.21929961e-04 9.99987756e-01 -1.82915441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:133.03, Y:67.90, Z:-1.83 [[ 3.97628823e-01 -9.17542698e-01 -2.59160508e-03 1.33029296e+02] [ 9.17525340e-01 3.97637246e-01 -5.64539514e-03 6.78980754e+01] [ 6.21040979e-03 -1.33091516e-04 9.99980706e-01 -1.83113097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:67.92, Z:-1.83 [[ 4.04747478e-01 -9.14424816e-01 -2.59527323e-03 1.33038524e+02] [ 9.14407310e-01 4.04755790e-01 -5.65878629e-03 6.79238104e+01] [ 6.22498647e-03 -8.27573374e-05 9.99980621e-01 -1.82983241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:67.95, Z:-1.83 [[ 4.07326612e-01 -9.13279800e-01 -2.24457591e-03 1.33049329e+02] [ 9.13266668e-01 4.07332792e-01 -4.89797204e-03 6.79495290e+01] [ 5.38750830e-03 -5.48220070e-05 9.99985486e-01 -1.82953345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:67.98, Z:-1.83 [[ 4.09308816e-01 -9.12394433e-01 -1.64057755e-03 1.33060485e+02] [ 9.12387397e-01 4.09312103e-01 -3.58331260e-03 6.79752604e+01] [ 3.94090272e-03 -3.01608394e-05 9.99992234e-01 -1.82880464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:68.00, Z:-1.83 [[ 4.10540029e-01 -9.11842057e-01 -9.73420556e-04 1.33071915e+02] [ 9.11839572e-01 4.10541183e-01 -2.12883198e-03 6.80006303e+01] [ 2.34078776e-03 -1.36326405e-05 9.99997260e-01 -1.82790124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:68.03, Z:-1.83 [[ 4.11325441e-01 -9.11488439e-01 -4.55333415e-04 1.33083566e+02] [ 9.11487893e-01 4.11325693e-01 -9.97976815e-04 6.80260329e+01] [ 1.09693466e-03 -4.53764201e-06 9.99999398e-01 -1.82726369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:68.05, Z:-1.83 [[ 4.12133065e-01 -9.11123641e-01 2.17180535e-04 1.33094800e+02] [ 9.11123519e-01 4.12133122e-01 4.72319681e-04 6.80519333e+01] [-5.19848920e-04 3.21973533e-06 9.99999865e-01 -1.82764999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:68.08, Z:-1.83 [[ 4.12429511e-01 -9.10989435e-01 3.84801535e-04 1.33106733e+02] [ 9.10989048e-01 4.12429690e-01 8.39574732e-04 6.80776783e+01] [-9.23547288e-04 4.28458844e-06 9.99999574e-01 -1.82807791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:68.10, Z:-1.83 [[ 4.13271106e-01 -9.10607888e-01 5.17455069e-04 1.33119577e+02] [ 9.10607186e-01 4.13271430e-01 1.13078348e-03 6.81027832e+01] [-1.24354975e-03 3.87816559e-06 9.99999227e-01 -1.82810467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:68.13, Z:-1.83 [[ 4.13640867e-01 -9.10439955e-01 5.66874860e-04 1.33131999e+02] [ 9.10439111e-01 4.13641255e-01 1.23997951e-03 6.81281414e+01] [-1.36340971e-03 3.19884608e-06 9.99999071e-01 -1.82844969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:68.15, Z:-1.83 [[ 4.13749761e-01 -9.10390620e-01 2.33963498e-04 1.33143457e+02] [ 9.10390476e-01 4.13749827e-01 5.10761117e-04 6.81526668e+01] [-5.61794487e-04 1.67085076e-06 9.99999842e-01 -1.82914803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:68.18, Z:-1.83 [[ 4.13897335e-01 -9.10323531e-01 -2.53534786e-04 1.33155742e+02] [ 9.10323359e-01 4.13897413e-01 -5.59385044e-04 6.81779523e+01] [ 6.14158761e-04 7.29341480e-07 9.99999811e-01 -1.82976475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:68.20, Z:-1.83 [[ 4.13896110e-01 -9.10323572e-01 -1.00238022e-03 1.33168189e+02] [ 9.10320902e-01 4.13897324e-01 -2.20463592e-03 6.82021964e+01] [ 2.42181454e-03 2.56444684e-09 9.99997067e-01 -1.83049999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:68.22, Z:-1.83 [[ 4.12007523e-01 -9.11127647e-01 -9.80879113e-03 1.33181490e+02] [ 9.11158918e-01 4.12047912e-01 -2.43822533e-03 6.82236302e+01] [ 6.26322642e-03 -7.93280033e-03 9.99948920e-01 -1.82839225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:68.25, Z:-1.83 [[ 4.12893976e-01 -9.10760162e-01 -5.87294109e-03 1.33193179e+02] [ 9.10741898e-01 4.12926807e-01 -6.37552433e-03 6.82496575e+01] [ 8.23166839e-03 -2.71631793e-03 9.99962430e-01 -1.82991427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:68.28, Z:-1.84 [[ 4.15879564e-01 -9.09396167e-01 6.54207942e-03 1.33205007e+02] [ 9.09387394e-01 4.15793397e-01 -1.14200911e-02 6.82781007e+01] [ 7.66523363e-03 1.06986671e-02 9.99913388e-01 -1.83761372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:133.22, Y:68.30, Z:-1.84 [[ 4.15871742e-01 -9.09415683e-01 -3.71609384e-03 1.33222993e+02] [ 9.09378864e-01 4.15888344e-01 -8.18335377e-03 6.83010021e+01] [ 8.98755037e-03 2.38883913e-05 9.99959611e-01 -1.83598068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:68.32, Z:-1.83 [[ 4.17580701e-01 -9.08631121e-01 -3.98043493e-03 1.33238317e+02] [ 9.08588775e-01 4.17599669e-01 -8.77231511e-03 6.83242281e+01] [ 9.63302682e-03 4.65709919e-05 9.99953600e-01 -1.83382993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96762800000002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:133.25, Y:68.35, Z:-1.84 [[ 4.17446509e-01 -9.08692078e-01 -4.13769830e-03 1.33251867e+02] [ 9.08646258e-01 4.17467011e-01 -9.12534560e-03 6.83490165e+01] [ 1.00194818e-02 4.96395803e-05 9.99949803e-01 -1.83681072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:68.37, Z:-1.83 [[ 4.17862658e-01 -9.08502999e-01 -3.61932367e-03 1.33265571e+02] [ 9.08467880e-01 4.17878329e-01 -7.98834503e-03 6.83736404e+01] [ 8.76987235e-03 4.99917839e-05 9.99961543e-01 -1.83408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:68.40, Z:-1.83 [[ 4.17676983e-01 -9.08591985e-01 -2.55790727e-03 1.33281821e+02] [ 9.08574412e-01 4.17684814e-01 -5.65103807e-03 6.83963386e+01] [ 6.20288692e-03 3.62594429e-05 9.99980761e-01 -1.83336061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:68.42, Z:-1.83 [[ 4.17050400e-01 -9.08881395e-01 -1.89029659e-03 1.33295830e+02] [ 9.08871784e-01 4.17054683e-01 -4.17988532e-03 6.84208177e+01] [ 4.58737705e-03 2.51856099e-05 9.99989478e-01 -1.83266675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:68.45, Z:-1.83 [[ 4.16179230e-01 -9.09281690e-01 -1.28713043e-03 1.33309750e+02] [ 9.09277226e-01 4.16181220e-01 -2.84920719e-03 6.84457756e+01] [ 3.12641144e-03 1.54224731e-05 9.99995113e-01 -1.83229868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:68.47, Z:-1.83 [[ 4.14587908e-01 -9.10009162e-01 -4.37413814e-04 1.33326190e+02] [ 9.10008644e-01 4.14588138e-01 -9.70895869e-04 6.84694016e+01] [ 1.06487072e-03 4.47133468e-06 9.99999433e-01 -1.83173117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:68.49, Z:-1.83 [[ 4.13892816e-01 -9.10325621e-01 -2.13188455e-05 1.33339200e+02] [ 9.10325620e-01 4.13892816e-01 -4.93092960e-05 6.84931934e+01] [ 5.37112324e-05 1.00167210e-06 9.99999999e-01 -1.83114812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:68.52, Z:-1.83 [[ 4.14099874e-01 -9.10231351e-01 4.27668968e-04 1.33350866e+02] [ 9.10230860e-01 4.14100095e-01 9.44828676e-04 6.85186603e+01] [-1.03711044e-03 -1.97594253e-06 9.99999462e-01 -1.83110084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:133.36, Y:68.54, Z:-1.83 [[ 4.14139142e-01 -9.10213539e-01 2.89550941e-04 1.33361562e+02] [ 9.10213315e-01 4.14139244e-01 6.39184628e-04 6.85445899e+01] [-7.01708910e-04 -1.15825143e-06 9.99999754e-01 -1.83428249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:68.57, Z:-1.83 [[ 4.15426753e-01 -9.09626466e-01 -5.52738112e-04 1.33372055e+02] [ 9.09625635e-01 4.15427120e-01 -1.22958262e-03 6.85710182e+01] [ 1.34808330e-03 8.01675998e-06 9.99999091e-01 -1.83302952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:68.60, Z:-1.83 [[ 4.15391638e-01 -9.09641926e-01 -1.16351167e-03 1.33382352e+02] [ 9.09638249e-01 4.15393267e-01 -2.58651385e-03 6.85965395e+01] [ 2.83611635e-03 1.60415083e-05 9.99995978e-01 -1.83403287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:68.62, Z:-1.83 [[ 4.14998788e-01 -9.09820396e-01 -1.68918441e-03 1.33392693e+02] [ 9.09812639e-01 4.15002226e-01 -3.75699158e-03 6.86224356e+01] [ 4.11920285e-03 2.23056298e-05 9.99991516e-01 -1.83483587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:68.65, Z:-1.84 [[ 4.14629633e-01 -9.09989755e-01 9.55341537e-04 1.33401523e+02] [ 9.09966897e-01 4.14611239e-01 -7.60053395e-03 6.86488326e+01] [ 6.52031269e-03 4.02073578e-03 9.99970659e-01 -1.83733524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:133.42, Y:68.67, Z:-1.84 [[ 4.13756161e-01 -9.10365594e-01 -6.35009285e-03 1.33415608e+02] [ 9.10362983e-01 4.13786285e-01 -4.48882577e-03 6.86729002e+01] [ 6.71405387e-03 -3.92361015e-03 9.99969763e-01 -1.83648963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:68.70, Z:-1.84 [[ 4.13694223e-01 -9.10412541e-01 -2.46874619e-03 1.33425131e+02] [ 9.10395918e-01 4.13701588e-01 -5.50176764e-03 6.86998743e+01] [ 6.03020248e-03 2.85130375e-05 9.99981818e-01 -1.83537098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:133.44, Y:68.73, Z:-1.84 [[ 4.12284749e-01 -9.11052002e-01 -2.35275898e-03 1.33436013e+02] [ 9.11036890e-01 4.12291462e-01 -5.24738615e-03 6.87256413e+01] [ 5.75066410e-03 1.99670579e-05 9.99983465e-01 -1.83756796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:68.75, Z:-1.83 [[ 4.11715353e-01 -9.11310647e-01 -1.83635768e-03 1.33447231e+02] [ 9.11301427e-01 4.11719448e-01 -4.09935310e-03 6.87509111e+01] [ 4.49184829e-03 1.42912360e-05 9.99989911e-01 -1.83496944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:68.78, Z:-1.84 [[ 4.10322455e-01 -9.11939558e-01 -1.31367826e-03 1.33458586e+02] [ 9.11934832e-01 4.10324558e-01 -2.93587757e-03 6.87759098e+01] [ 3.21637734e-03 6.66752999e-06 9.99994827e-01 -1.83517107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:68.80, Z:-1.84 [[ 4.08810755e-01 -9.12617549e-01 1.72492326e-03 1.33468532e+02] [ 9.12613312e-01 4.08800619e-01 -4.35854707e-03 6.88019231e+01] [ 3.27253685e-03 3.35600885e-03 9.99989014e-01 -1.83650514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:68.83, Z:-1.83 [[ 4.04673923e-01 -9.14455621e-01 -3.15170840e-03 1.33483438e+02] [ 9.14460997e-01 4.04672695e-01 1.04674888e-03 6.88268338e+01] [ 3.18204935e-04 -3.30570638e-03 9.99994486e-01 -1.83367217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:68.85, Z:-1.84 [[ 4.02747833e-01 -9.15310946e-01 2.35143819e-04 1.33493774e+02] [ 9.15310796e-01 4.02747902e-01 5.23068403e-04 6.88515922e+01] [-5.73473914e-04 4.56501023e-06 9.99999836e-01 -1.83520501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59762800000001 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:133.51, Y:68.88, Z:-1.84 [[ 3.99747048e-01 -9.16625247e-01 6.74641245e-04 1.33506114e+02] [ 9.16624007e-01 3.99747617e-01 1.50761156e-03 6.88772614e+01] [-1.65160104e-03 1.57290916e-05 9.99998636e-01 -1.83657336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:68.90, Z:-1.84 [[ 3.99604931e-01 -9.16686810e-01 1.09192856e-03 1.33517474e+02] [ 9.16683552e-01 3.99606422e-01 2.44388836e-03 6.89024039e+01] [-2.67662189e-03 2.43631106e-05 9.99996418e-01 -1.83534168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:68.93, Z:-1.84 [[ 3.99436324e-01 -9.16760032e-01 1.29084982e-03 1.33528573e+02] [ 9.16755473e-01 3.99438409e-01 2.89145612e-03 6.89272938e+01] [-3.16638640e-03 2.84410299e-05 9.99994987e-01 -1.83534932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:68.95, Z:-1.84 [[ 4.00112037e-01 -9.16465282e-01 1.32055464e-03 1.33539692e+02] [ 9.16460501e-01 4.00114216e-01 2.96046681e-03 6.89526747e+01] [-3.24153774e-03 2.57177620e-05 9.99994746e-01 -1.83564658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:68.98, Z:-1.84 [[ 4.02660088e-01 -9.15349273e-01 7.49167899e-04 1.33549828e+02] [ 9.15347733e-01 4.02660785e-01 1.67949856e-03 6.89794626e+01] [-1.83898832e-03 9.48210220e-06 9.99998309e-01 -1.83712011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:69.01, Z:-1.84 [[ 4.04192203e-01 -9.14674046e-01 2.28057221e-04 1.33560461e+02] [ 9.14673904e-01 4.04192267e-01 5.09627623e-04 6.90051548e+01] [-5.58322126e-04 2.61047755e-06 9.99999844e-01 -1.83820502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:69.03, Z:-1.84 [[ 4.05590061e-01 -9.14054996e-01 -4.07435164e-04 1.33571101e+02] [ 9.14054534e-01 4.05590266e-01 -9.18945810e-04 6.90299786e+01] [ 1.00521875e-03 2.97328519e-07 9.99999495e-01 -1.83875391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:69.06, Z:-1.84 [[ 4.06302642e-01 -9.13738230e-01 -7.80810216e-04 1.33582345e+02] [ 9.13736535e-01 4.06303392e-01 -1.76030940e-03 6.90556071e+01] [ 1.92570784e-03 1.76354115e-06 9.99998146e-01 -1.83923605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:69.08, Z:-1.84 [[ 4.06987324e-01 -9.13433326e-01 -9.36641024e-04 1.33593871e+02] [ 9.13430883e-01 4.06988402e-01 -2.11263765e-03 6.90813370e+01] [ 2.31095567e-03 4.25990591e-06 9.99997330e-01 -1.83963640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:69.11, Z:-1.84 [[ 4.08048453e-01 -9.12959985e-01 -7.25901849e-04 1.33605110e+02] [ 9.12958513e-01 4.08049098e-01 -1.63921949e-03 6.91066866e+01] [ 1.79274539e-03 6.16270372e-06 9.99998393e-01 -1.83980874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:69.13, Z:-1.84 [[ 4.08299101e-01 -9.12847927e-01 -7.11089902e-04 1.33616253e+02] [ 9.12846513e-01 4.08299720e-01 -1.60706852e-03 6.91326856e+01] [ 1.75734697e-03 7.04869429e-06 9.99998456e-01 -1.83977379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:69.16, Z:-1.84 [[ 4.08860330e-01 -9.12596878e-01 -4.11597830e-04 1.33627039e+02] [ 9.12596402e-01 4.08860537e-01 -9.32134286e-04 6.91582129e+01] [ 1.01894895e-03 5.49003290e-06 9.99999481e-01 -1.84015916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:69.18, Z:-1.84 [[ 4.09667635e-01 -9.12234822e-01 -2.40841722e-04 1.33637793e+02] [ 9.12234658e-01 4.09667706e-01 -5.47059430e-04 6.91838543e+01] [ 5.97711737e-04 4.40837692e-06 9.99999821e-01 -1.84043522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:69.21, Z:-1.84 [[ 4.10826663e-01 -9.11713399e-01 3.60711293e-04 1.33647992e+02] [ 9.11713037e-01 4.10826822e-01 8.12547421e-04 6.92089717e+01] [-8.89000246e-04 -4.95095707e-06 9.99999605e-01 -1.84078385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:69.23, Z:-1.84 [[ 4.10586410e-01 -9.11821373e-01 7.64210981e-04 1.33659037e+02] [ 9.11819739e-01 4.10587121e-01 1.72643850e-03 6.92347059e+01] [-1.88797871e-03 -1.20295293e-05 9.99998218e-01 -1.84085858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:69.26, Z:-1.84 [[ 4.10325701e-01 -9.11938215e-01 1.22890629e-03 1.33670280e+02] [ 9.11933978e-01 4.10327541e-01 2.78010207e-03 6.92601235e+01] [-3.03953542e-03 -2.00659291e-05 9.99995380e-01 -1.84096491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:69.29, Z:-1.84 [[ 4.09630497e-01 -9.12250161e-01 1.58111133e-03 1.33681596e+02] [ 9.12243135e-01 4.09633548e-01 3.58043467e-03 6.92859473e+01] [-3.91392835e-03 -2.42972784e-05 9.99992340e-01 -1.84125105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:69.31, Z:-1.84 [[ 4.07519304e-01 -9.13195378e-01 1.48962612e-03 1.33692933e+02] [ 9.13189138e-01 4.07522027e-01 3.37568357e-03 6.93120684e+01] [-3.68971409e-03 -1.53458287e-05 9.99993193e-01 -1.84176720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:69.34, Z:-1.84 [[ 4.06198788e-01 -9.13784177e-01 1.01068469e-03 1.33704114e+02] [ 9.13781305e-01 4.06200046e-01 2.29116022e-03 6.93382160e+01] [-2.50416612e-03 -7.12172991e-06 9.99996865e-01 -1.84221265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:69.36, Z:-1.84 [[ 4.05016327e-01 -9.14309332e-01 4.69735263e-04 1.33715030e+02] [ 9.14308712e-01 4.05016600e-01 1.06406144e-03 6.93637876e+01] [-1.16313189e-03 -1.47921432e-06 9.99999324e-01 -1.84304406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:69.39, Z:-1.85 [[ 4.03525754e-01 -9.14955818e-01 4.77676366e-03 1.33723693e+02] [ 9.14966828e-01 4.03510289e-01 -3.89226961e-03 6.93901690e+01] [ 1.63378144e-03 5.94121132e-03 9.99981016e-01 -1.84687918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:69.41, Z:-1.84 [[ 4.02490802e-01 -9.15402533e-01 -6.27346888e-03 1.33739917e+02] [ 9.15422819e-01 4.02491964e-01 1.13206260e-03 6.94127556e+01] [ 1.48872783e-03 -6.19852135e-03 9.99979681e-01 -1.84180115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:69.44, Z:-1.84 [[ 4.02293840e-01 -9.15510409e-01 -5.98307321e-04 1.33748849e+02] [ 9.15509393e-01 4.02294285e-01 -1.36398031e-03 6.94400522e+01] [ 1.48943379e-03 9.64904961e-07 9.99998891e-01 -1.84464887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.287628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:133.76, Y:69.47, Z:-1.85 [[ 4.00875933e-01 -9.16120244e-01 4.71017897e-03 1.33757230e+02] [ 9.16114927e-01 4.00831300e-01 -8.22862017e-03 6.94683660e+01] [ 5.65041835e-03 7.61372105e-03 9.99955051e-01 -1.84977917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:69.49, Z:-1.84 [[ 4.01595009e-01 -9.15785938e-01 -7.58717021e-03 1.33774138e+02] [ 9.15814883e-01 4.01599433e-01 9.97999182e-04 6.94912871e+01] [ 2.13304964e-03 -7.34923489e-03 9.99970719e-01 -1.84131192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:69.52, Z:-1.84 [[ 4.01071963e-01 -9.16046178e-01 -8.25286869e-04 1.33782104e+02] [ 9.16044240e-01 4.01072812e-01 -1.88396869e-03 6.95189612e+01] [ 2.05680244e-03 -3.92262548e-07 9.99997885e-01 -1.84475077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:69.54, Z:-1.85 [[ 3.98880127e-01 -9.17002971e-01 -4.42711680e-04 1.33792070e+02] [ 9.17002411e-01 3.98880373e-01 -1.01293618e-03 6.95439472e+01] [ 1.10545449e-03 -1.92756387e-06 9.99999389e-01 -1.84511033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:69.57, Z:-1.85 [[ 3.97134057e-01 -9.17760578e-01 -2.50203205e-04 1.33803077e+02] [ 9.17760398e-01 3.97134135e-01 -5.74054515e-04 6.95698037e+01] [ 6.26208836e-04 -1.64999445e-06 9.99999804e-01 -1.84502943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:69.59, Z:-1.84 [[ 3.95256942e-01 -9.18570601e-01 3.04955632e-05 1.33813687e+02] [ 9.18570599e-01 3.95256943e-01 6.66496918e-05 6.95945016e+01] [-7.32760306e-05 1.66857438e-06 9.99999997e-01 -1.84499942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:69.62, Z:-1.84 [[ 3.91992581e-01 -9.19968290e-01 4.02940855e-04 1.33825439e+02] [ 9.19967831e-01 3.91992788e-01 9.18453589e-04 6.96201830e+01] [-1.00289809e-03 1.06656315e-05 9.99999497e-01 -1.84448865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:69.65, Z:-1.84 [[ 3.90779335e-01 -9.20484167e-01 6.40052817e-04 1.33836917e+02] [ 9.20483007e-01 3.90779858e-01 1.46172898e-03 6.96457516e+01] [-1.59561814e-03 1.79442616e-05 9.99998727e-01 -1.84429710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:69.67, Z:-1.84 [[ 3.89954088e-01 -9.20833871e-01 8.89504476e-04 1.33848064e+02] [ 9.20831625e-01 3.89955102e-01 2.03407511e-03 6.96716539e+01] [-2.21991206e-03 2.58879471e-05 9.99997536e-01 -1.84421797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:69.70, Z:-1.84 [[ 3.89629325e-01 -9.20971265e-01 9.58697461e-04 1.33858206e+02] [ 9.20968651e-01 3.89630503e-01 2.19414237e-03 6.96963534e+01] [-2.39427984e-03 2.80280986e-05 9.99997133e-01 -1.84418781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:69.72, Z:-1.84 [[ 3.89718082e-01 -9.20933575e-01 1.08035398e-03 1.33868223e+02] [ 9.20930250e-01 3.89719579e-01 2.47498804e-03 6.97216624e+01] [-2.70033468e-03 3.03830720e-05 9.99996354e-01 -1.84499602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:69.75, Z:-1.85 [[ 3.90663977e-01 -9.20533144e-01 6.23423266e-04 1.33877320e+02] [ 9.20532036e-01 3.90664474e-01 1.42814995e-03 6.97481758e+01] [-1.55820868e-03 1.59543511e-05 9.99998786e-01 -1.84636934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:69.77, Z:-1.85 [[ 3.91358890e-01 -9.20238081e-01 3.05943934e-04 1.33887940e+02] [ 9.20237815e-01 3.91359009e-01 6.99912809e-04 6.97747504e+01] [-7.63820335e-04 7.62407720e-06 9.99999708e-01 -1.84667451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:69.80, Z:-1.85 [[ 3.92398014e-01 -9.19795520e-01 -1.81434351e-05 1.33898558e+02] [ 9.19795519e-01 3.92398014e-01 -4.43267842e-05 6.98001210e+01] [ 4.78910253e-05 7.05491734e-07 9.99999999e-01 -1.84676324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:69.83, Z:-1.85 [[ 3.93251930e-01 -9.19430709e-01 -3.00362771e-04 1.33909797e+02] [ 9.19430448e-01 3.93252045e-01 -6.93867847e-04 6.98262540e+01] [ 7.56081681e-04 -3.29780696e-06 9.99999714e-01 -1.84712966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:69.85, Z:-1.85 [[ 3.95451797e-01 -9.18486549e-01 -5.79769872e-04 1.33921097e+02] [ 9.18485575e-01 3.95452222e-01 -1.33771885e-03 6.98517227e+01] [ 1.45794805e-03 -3.50694305e-06 9.99998937e-01 -1.84686763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.767628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:133.93, Y:69.88, Z:-1.85 [[ 3.95576253e-01 -9.18432388e-01 -1.17328290e-03 1.33931762e+02] [ 9.18428401e-01 3.95577993e-01 -2.70630884e-03 6.98771923e+01] [ 2.94968658e-03 -7.02482714e-06 9.99995650e-01 -1.84867436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:69.90, Z:-1.85 [[ 3.96295655e-01 -9.18122712e-01 -6.63607618e-04 1.33942380e+02] [ 9.18121432e-01 3.96296210e-01 -1.53310839e-03 6.99029912e+01] [ 1.67056681e-03 -1.70818364e-06 9.99998605e-01 -1.84709127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:69.93, Z:-1.85 [[ 3.96739212e-01 -9.17931168e-01 -6.07584971e-04 1.33953166e+02] [ 9.17930093e-01 3.96739677e-01 -1.40501610e-03 6.99292522e+01] [ 1.53076114e-03 -2.95547521e-07 9.99998828e-01 -1.84737464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:69.95, Z:-1.85 [[ 3.97238577e-01 -9.17715303e-01 -3.68675190e-04 1.33963695e+02] [ 9.17714905e-01 3.97238749e-01 -8.54338971e-04 6.99548468e+01] [ 9.30492019e-04 1.03768059e-06 9.99999567e-01 -1.84729390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:69.98, Z:-1.85 [[ 3.97213581e-01 -9.17726187e-01 -1.27557661e-04 1.33974639e+02] [ 9.17726139e-01 3.97213602e-01 -2.97697137e-04 6.99805723e+01] [ 3.23872097e-04 1.18634619e-06 9.99999948e-01 -1.84734748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:70.01, Z:-1.85 [[ 3.96945145e-01 -9.17842333e-01 5.83496566e-05 1.33985934e+02] [ 9.17842324e-01 3.96945149e-01 1.32063901e-04 7.00061567e+01] [-1.44375452e-04 1.13365997e-06 9.99999990e-01 -1.84712261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:70.03, Z:-1.85 [[ 3.95778295e-01 -9.18345791e-01 7.41216955e-04 1.33998617e+02] [ 9.18344194e-01 3.95778989e-01 1.71286219e-03 7.00312162e+01] [-1.86635788e-03 2.77860957e-06 9.99998258e-01 -1.84661973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:70.06, Z:-1.85 [[ 3.94829486e-01 -9.18753633e-01 1.19965204e-03 1.34010714e+02] [ 9.18749438e-01 3.94831308e-01 2.77619385e-03 7.00568212e+01] [-3.02429837e-03 6.05644311e-06 9.99995427e-01 -1.84654133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:70.08, Z:-1.85 [[ 3.93615001e-01 -9.19274348e-01 1.37976524e-03 1.34021852e+02] [ 9.19268793e-01 3.93617420e-01 3.19591282e-03 7.00820054e+01] [-3.48102031e-03 1.04158959e-05 9.99993941e-01 -1.84610725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:70.11, Z:-1.85 [[ 3.92760085e-01 -9.19639468e-01 1.66265176e-03 1.34032951e+02] [ 9.19631388e-01 3.92763604e-01 3.85495417e-03 7.01076412e+01] [-4.19819710e-03 1.49546181e-05 9.99991187e-01 -1.84656367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:70.13, Z:-1.85 [[ 3.90521536e-01 -9.20592275e-01 1.67107776e-03 1.34043560e+02] [ 9.20584110e-01 3.90525111e-01 3.87751915e-03 7.01323296e+01] [-4.22221200e-03 2.41128950e-05 9.99991086e-01 -1.84734705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:70.16, Z:-1.85 [[ 3.89212144e-01 -9.21147099e-01 1.38908980e-03 1.34054884e+02] [ 9.21141452e-01 3.89214622e-01 3.22535558e-03 7.01577461e+01] [-3.51168099e-03 2.42006386e-05 9.99993834e-01 -1.84771703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:70.18, Z:-1.85 [[ 3.87787539e-01 -9.21748252e-01 9.92018023e-04 1.34066435e+02] [ 9.21745372e-01 3.87788807e-01 2.30431301e-03 7.01834242e+01] [-2.50868997e-03 2.08041523e-05 9.99996853e-01 -1.84806142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:70.21, Z:-1.85 [[ 3.85721612e-01 -9.22615186e-01 2.37482446e-04 1.34077499e+02] [ 9.22615022e-01 3.85721685e-01 5.49854071e-04 7.02088802e+01] [-5.98905846e-04 7.01427327e-06 9.99999821e-01 -1.84815002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:70.23, Z:-1.85 [[ 3.84376665e-01 -9.23176350e-01 8.15128342e-05 1.34087573e+02] [ 9.23176331e-01 3.84376673e-01 1.86816583e-04 7.02335864e+01] [-2.03796283e-04 3.44278419e-06 9.99999979e-01 -1.84843096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:70.26, Z:-1.85 [[ 3.82621294e-01 -9.23905255e-01 -1.55261690e-04 1.34097921e+02] [ 9.23905183e-01 3.82621326e-01 -3.64844905e-04 7.02595558e+01] [ 3.96488559e-04 -3.84965088e-06 9.99999921e-01 -1.84866365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:70.29, Z:-1.85 [[ 3.80169335e-01 -9.24916844e-01 -3.27926728e-04 1.34108067e+02] [ 9.24916526e-01 3.80169476e-01 -7.67991675e-04 7.02852492e+01] [ 8.34996169e-04 -1.13379658e-05 9.99999651e-01 -1.84921535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.12, Y:70.31, Z:-1.85 [[ 3.74271028e-01 -9.27319211e-01 -5.27605207e-04 1.34116896e+02] [ 9.27318389e-01 3.74271399e-01 -1.23501868e-03 7.03105361e+01] [ 1.34272408e-03 -2.70263010e-05 9.99999098e-01 -1.85033332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:70.34, Z:-1.85 [[ 3.70986062e-01 -9.28638319e-01 -4.62644727e-04 1.34127375e+02] [ 9.28637687e-01 3.70986350e-01 -1.08400279e-03 7.03362361e+01] [ 1.17828141e-03 -2.74794018e-05 9.99999305e-01 -1.85101137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:70.36, Z:-1.85 [[ 3.67449215e-01 -9.30043356e-01 -6.56133142e-04 1.34138096e+02] [ 9.30042086e-01 3.67449798e-01 -1.53740289e-03 7.03622333e+01] [ 1.67094733e-03 -4.53139525e-05 9.99998603e-01 -1.85093427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:134.15, Y:70.39, Z:-1.85 [[ 3.63917945e-01 -9.31430672e-01 -7.95196560e-04 1.34149122e+02] [ 9.31428809e-01 3.63918808e-01 -1.86407284e-03 7.03885575e+01] [ 2.02564160e-03 -6.22994295e-05 9.99997946e-01 -1.85280650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:70.41, Z:-1.85 [[ 3.60831274e-01 -9.32630945e-01 -5.58374598e-04 1.34159773e+02] [ 9.32630025e-01 3.60831703e-01 -1.31080880e-03 7.04149542e+01] [ 1.42398011e-03 -4.77761052e-05 9.99998985e-01 -1.85149916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:70.44, Z:-1.85 [[ 3.57575244e-01 -9.33884226e-01 -4.44777575e-04 1.34170032e+02] [ 9.33883641e-01 3.57575518e-01 -1.04554035e-03 7.04408772e+01] [ 1.13545521e-03 -4.15111562e-05 9.99999355e-01 -1.85176976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:70.47, Z:-1.85 [[ 3.52658068e-01 -9.35752238e-01 -1.88894704e-04 1.34178285e+02] [ 9.35752132e-01 3.52658118e-01 -4.46251483e-04 7.04665730e+01] [ 4.84196074e-04 -1.93844364e-05 9.99999883e-01 -1.85244477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:70.49, Z:-1.85 [[ 3.51094315e-01 -9.36340099e-01 2.63728514e-05 1.34188070e+02] [ 9.36340097e-01 3.51094316e-01 5.90732498e-05 7.04930385e+01] [-6.45720110e-05 3.95367605e-06 9.99999998e-01 -1.85284311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:70.52, Z:-1.85 [[ 3.49834502e-01 -9.36811518e-01 4.35833012e-05 1.34197490e+02] [ 9.36811512e-01 3.49834505e-01 9.94945194e-05 7.05194966e+01] [-1.08454554e-04 6.02272269e-06 9.99999994e-01 -1.85317889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:70.55, Z:-1.85 [[ 3.50337622e-01 -9.36623480e-01 8.27612025e-05 1.34206051e+02] [ 9.36623461e-01 3.50337632e-01 1.91669804e-04 7.05460215e+01] [-2.08516803e-04 1.03669406e-05 9.99999978e-01 -1.85342406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:70.57, Z:-1.85 [[ 3.51413954e-01 -9.36220177e-01 -1.16678057e-04 1.34215630e+02] [ 9.36220136e-01 3.51413973e-01 -2.77689841e-04 7.05712024e+01] [ 3.00981132e-04 -1.16522613e-05 9.99999955e-01 -1.85359664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:70.60, Z:-1.85 [[ 3.53174068e-01 -9.35557617e-01 -1.48851402e-04 1.34225566e+02] [ 9.35557551e-01 3.53174099e-01 -3.53553750e-04 7.05979946e+01] [ 3.83340364e-04 -1.43930366e-05 9.99999926e-01 -1.85449034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:70.62, Z:-1.85 [[ 3.54805237e-01 -9.34940133e-01 -4.38241166e-04 1.34234522e+02] [ 9.34939560e-01 3.54805505e-01 -1.03556535e-03 7.06231347e+01] [ 1.12368198e-03 -4.23049936e-05 9.99999368e-01 -1.85466544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:70.65, Z:-1.86 [[ 3.58878236e-01 -9.33384360e-01 -2.18920663e-04 1.34243084e+02] [ 9.33384216e-01 3.58878302e-01 -5.19334217e-04 7.06498382e+01] [ 5.63304312e-04 -1.79593433e-05 9.99999841e-01 -1.85578957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:70.68, Z:-1.86 [[ 3.61093416e-01 -9.32529643e-01 -1.02202801e-04 1.34253196e+02] [ 9.32529611e-01 3.61093430e-01 -2.44221822e-04 7.06762579e+01] [ 2.64648849e-04 -7.12024644e-06 9.99999965e-01 -1.85552877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:70.70, Z:-1.86 [[ 3.63989920e-01 -9.31402851e-01 2.57520970e-04 1.34263082e+02] [ 9.31402655e-01 3.63990011e-01 6.05284022e-04 7.07015141e+01] [-6.57498325e-04 1.95384326e-05 9.99999784e-01 -1.85543793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:70.73, Z:-1.86 [[ 3.66922825e-01 -9.30251100e-01 7.28708657e-04 1.34273428e+02] [ 9.30249511e-01 3.66923545e-01 1.71996895e-03 7.07276919e+01] [-1.86738337e-03 4.67850070e-05 9.99998255e-01 -1.85516929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:70.75, Z:-1.85 [[ 3.74152731e-01 -9.27365895e-01 1.49327348e-03 1.34284184e+02] [ 9.27359177e-01 3.74155706e-01 3.53064481e-03 7.07524636e+01] [-3.83291638e-03 6.38004681e-05 9.99992652e-01 -1.85448009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:70.78, Z:-1.85 [[ 3.77784929e-01 -9.25891738e-01 1.74233451e-03 1.34294780e+02] [ 9.25882564e-01 3.77788943e-01 4.12219125e-03 7.07779822e+01] [-4.47493754e-03 5.58954170e-05 9.99989986e-01 -1.85476384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:70.80, Z:-1.86 [[ 3.81253962e-01 -9.24468299e-01 1.94437334e-03 1.34304626e+02] [ 9.24456836e-01 3.81258918e-01 4.60396482e-03 7.08032529e+01] [-4.99752920e-03 4.22093981e-05 9.99987511e-01 -1.85549438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:70.83, Z:-1.86 [[ 3.87684886e-01 -9.21789933e-01 1.93634779e-03 1.34314724e+02] [ 9.21778517e-01 3.87689721e-01 4.58762658e-03 7.08292127e+01] [-4.97953013e-03 6.33030905e-06 9.99987602e-01 -1.85640762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:70.85, Z:-1.86 [[ 3.90335953e-01 -9.20670657e-01 1.84007498e-03 1.34325356e+02] [ 9.20660319e-01 3.90340290e-01 4.36281017e-03 7.08541302e+01] [-4.73496670e-03 -8.87764587e-06 9.99988790e-01 -1.85699850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:70.88, Z:-1.86 [[ 3.92367533e-01 -9.19807081e-01 1.62840244e-03 1.34336138e+02] [ 9.19798968e-01 3.92370912e-01 3.86339831e-03 7.08797134e+01] [-4.19251888e-03 -1.80691832e-05 9.99991211e-01 -1.85758778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:70.90, Z:-1.86 [[ 3.94143430e-01 -9.19047668e-01 1.52983366e-03 1.34347159e+02] [ 9.19040491e-01 3.94146398e-01 3.63225937e-03 7.09042059e+01] [-3.94119793e-03 -2.56520933e-05 9.99992233e-01 -1.85853833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:70.93, Z:-1.86 [[ 3.96225319e-01 -9.18152631e-01 1.11507275e-03 1.34360107e+02] [ 9.18148811e-01 3.96226887e-01 2.64856034e-03 7.09295638e+01] [-2.87360445e-03 -2.56239417e-05 9.99995871e-01 -1.85937211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:70.96, Z:-1.86 [[ 3.96409422e-01 -9.18073419e-01 8.75920788e-04 1.34371940e+02] [ 9.18071060e-01 3.96410389e-01 2.08154048e-03 7.09555498e+01] [-2.25823108e-03 -2.09847312e-05 9.99997450e-01 -1.85995693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:70.98, Z:-1.86 [[ 3.96722324e-01 -9.17938423e-01 6.70389525e-04 1.34383532e+02] [ 9.17937039e-01 3.96722890e-01 1.59424484e-03 7.09798372e+01] [-1.72937746e-03 -1.70971419e-05 9.99998504e-01 -1.86026420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:71.00, Z:-1.86 [[ 3.95791045e-01 -9.18340594e-01 -4.20044475e-05 1.34397350e+02] [ 9.18340588e-01 3.95791047e-01 -1.03076995e-04 7.10040828e+01] [ 1.11284773e-04 2.22256238e-06 9.99999994e-01 -1.86144104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:71.03, Z:-1.86 [[ 3.94304797e-01 -9.18979527e-01 -5.96312676e-04 1.34409885e+02] [ 9.18978422e-01 3.94305248e-01 -1.42510215e-03 7.10288340e+01] [ 1.54476892e-03 1.39261320e-05 9.99998807e-01 -1.86171830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:71.06, Z:-1.86 [[ 3.94064905e-01 -9.19082420e-01 -5.96007448e-04 1.34420869e+02] [ 9.19081315e-01 3.94065356e-01 -1.42522992e-03 7.10552350e+01] [ 1.54476966e-03 1.38537864e-05 9.99998807e-01 -1.86183498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:71.08, Z:-1.86 [[ 3.92270666e-01 -9.19849168e-01 -1.10991786e-03 1.34433299e+02] [ 9.19845339e-01 3.92272236e-01 -2.65429068e-03 7.10788934e+01] [ 2.87693704e-03 2.02476046e-05 9.99995861e-01 -1.86237074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:71.10, Z:-1.86 [[ 3.89787888e-01 -9.20903559e-01 -1.42748464e-03 1.34446189e+02] [ 9.20897225e-01 3.89790502e-01 -3.41548404e-03 7.11038687e+01] [ 3.70175137e-03 1.67476679e-05 9.99993148e-01 -1.86283903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:71.13, Z:-1.86 [[ 3.88793523e-01 -9.21323694e-01 -1.49889853e-03 1.34456558e+02] [ 9.21316706e-01 3.88796412e-01 -3.58846839e-03 7.11290085e+01] [ 3.88890733e-03 1.42130092e-05 9.99992438e-01 -1.86283214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:71.16, Z:-1.86 [[ 3.87738714e-01 -9.21768446e-01 -1.27363048e-03 1.34465695e+02] [ 9.21763392e-01 3.87740806e-01 -3.05227545e-03 7.11560187e+01] [ 3.30732971e-03 9.49940768e-06 9.99994531e-01 -1.86364361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:134.48, Y:71.18, Z:-1.86 [[ 3.86085584e-01 -9.22461937e-01 -1.37755649e-03 1.34475876e+02] [ 9.22456021e-01 3.86088041e-01 -3.30370883e-03 7.11820457e+01] [ 3.57940373e-03 4.77906869e-06 9.99993594e-01 -1.86338477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.327628 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:134.49, Y:71.21, Z:-1.86 [[ 3.83595480e-01 -9.23500336e-01 -1.27960084e-03 1.34485262e+02] [ 9.23495233e-01 3.83597614e-01 -3.06997179e-03 7.12071738e+01] [ 3.32597181e-03 -4.07797865e-06 9.99994469e-01 -1.86389113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:134.50, Y:71.23, Z:-1.86 [[ 3.80375008e-01 -9.24831699e-01 -1.08727072e-03 1.34495324e+02] [ 9.24828011e-01 3.80376562e-01 -2.61165815e-03 7.12332195e+01] [ 2.82891654e-03 -1.21289321e-05 9.99995999e-01 -1.86402678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.387628 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:134.51, Y:71.26, Z:-1.86 [[ 3.71531360e-01 -9.28420402e-01 -7.71609432e-05 1.34507355e+02] [ 9.28420383e-01 3.71531368e-01 -1.88261567e-04 7.12589489e+01] [ 2.03453590e-04 -1.69271634e-06 9.99999979e-01 -1.86234362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:134.52, Y:71.28, Z:-1.86 [[ 3.66730138e-01 -9.30327218e-01 5.23035873e-04 1.34518357e+02] [ 9.30326373e-01 3.66730510e-01 1.25393514e-03 7.12847779e+01] [-1.35838321e-03 2.67382584e-05 9.99999077e-01 -1.86116941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.447628 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:134.53, Y:71.31, Z:-1.86 [[ 3.61807183e-01 -9.32252601e-01 8.06301872e-04 1.34528509e+02] [ 9.32250592e-01 3.61808078e-01 1.93615750e-03 7.13110689e+01] [-2.09671439e-03 5.11597062e-05 9.99997801e-01 -1.86072189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.477628 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:134.54, Y:71.34, Z:-1.86 [[ 3.57063488e-01 -9.34079701e-01 8.81907069e-04 1.34538255e+02] [ 9.34077298e-01 3.57064571e-01 2.11966438e-03 7.13376442e+01] [-2.29483324e-03 6.69146151e-05 9.99997365e-01 -1.86124485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.507628 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:134.55, Y:71.36, Z:-1.86 [[ 3.48934195e-01 -9.37147193e-01 2.58806789e-04 1.34545731e+02] [ 9.37146988e-01 3.48934290e-01 6.20268980e-04 7.13639436e+01] [-6.71589897e-04 2.61069456e-05 9.99999774e-01 -1.86263986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.537628 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:134.55, Y:71.39, Z:-1.86 [[ 3.46668914e-01 -9.37987505e-01 -3.24634057e-04 1.34554037e+02] [ 9.37987396e-01 3.46669037e-01 -4.73627926e-04 7.13885428e+01] [ 5.56797652e-04 -1.40310575e-04 9.99999835e-01 -1.86305932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567628 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:134.57, Y:71.41, Z:-1.85 [[ 3.44243479e-01 -9.38713271e-01 -1.77150240e-02 1.34569777e+02] [ 9.38866104e-01 3.44281116e-01 9.75517086e-04 7.14134764e+01] [ 5.18321740e-03 -1.69678510e-02 9.99842601e-01 -1.85076681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59762800000001 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:134.56, Y:71.45, Z:-1.87 [[ 3.41613250e-01 -9.39728002e-01 1.45488830e-02 1.34563996e+02] [ 9.39835453e-01 3.41519115e-01 -8.60327931e-03 7.14472221e+01] [ 3.11602084e-03 1.66125502e-02 9.99857147e-01 -1.87122340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62762800000002 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:134.58, Y:71.47, Z:-1.86 [[ 3.41376652e-01 -9.39926308e-01 -7.19598437e-04 1.34580532e+02] [ 9.39924700e-01 3.41377400e-01 -1.74015525e-03 7.14707716e+01] [ 1.88127235e-03 -8.23199716e-05 9.99998227e-01 -1.86313797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65762800000002 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:134.59, Y:71.50, Z:-1.86 [[ 3.41606033e-01 -9.39843139e-01 -4.38800684e-04 1.34589853e+02] [ 9.39842539e-01 3.41606312e-01 -1.06314454e-03 7.14976038e+01] [ 1.14908618e-03 -4.92269612e-05 9.99999339e-01 -1.86252286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68762800000002 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:134.60, Y:71.52, Z:-1.86 [[ 3.42653619e-01 -9.39461809e-01 -8.73330720e-05 1.34598401e+02] [ 9.39461785e-01 3.42653630e-01 -2.13332754e-04 7.15237493e+01] [ 2.30342968e-04 -8.94684369e-06 9.99999973e-01 -1.86224027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71762800000002 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:134.61, Y:71.55, Z:-1.86 [[ 3.47365499e-01 -9.37729720e-01 4.26136963e-04 1.34605163e+02] [ 9.37729158e-01 3.47365758e-01 1.02780184e-03 7.15508970e+01] [-1.11182572e-03 4.25781572e-05 9.99999381e-01 -1.86194552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74762800000002 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:134.61, Y:71.58, Z:-1.86 [[ 3.50153480e-01 -9.36692117e-01 6.46210324e-04 1.34613482e+02] [ 9.36690817e-01 3.50154071e-01 1.56166642e-03 7.15766053e+01] [-1.68907381e-03 5.84763438e-05 9.99998572e-01 -1.86201241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77762800000002 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:134.62, Y:71.60, Z:-1.86 [[ 3.53266826e-01 -9.35522104e-01 9.70715481e-04 1.34622452e+02] [ 9.35519159e-01 3.53268151e-01 2.34888350e-03 7.16030086e+01] [-2.54035530e-03 7.83403122e-05 9.99996770e-01 -1.86214013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80762800000002 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:134.63, Y:71.63, Z:-1.86 [[ 3.56859363e-01 -9.34157475e-01 1.09852544e-03 1.34631680e+02] [ 9.34153689e-01 3.56861046e-01 2.66079030e-03 7.16289157e+01] [-2.87761809e-03 7.66636558e-05 9.99995857e-01 -1.86228404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83762800000002 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:134.64, Y:71.66, Z:-1.86 [[ 3.64773320e-01 -9.31095745e-01 1.06688323e-03 1.34639979e+02] [ 9.31092156e-01 3.64774877e-01 2.58583699e-03 7.16558415e+01] [-2.79683401e-03 5.01222650e-05 9.99996088e-01 -1.86179319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86762800000002 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:134.65, Y:71.68, Z:-1.86 [[ 3.68429032e-01 -9.29655415e-01 9.26309774e-04 1.34648827e+02] [ 9.29652701e-01 3.68430195e-01 2.24642926e-03 7.16814097e+01] [-2.42968561e-03 3.34966268e-05 9.99997048e-01 -1.86234541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89762800000003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:134.66, Y:71.71, Z:-1.86 [[ 3.71972659e-01 -9.28243427e-01 6.93062121e-04 1.34658085e+02] [ 9.28241905e-01 3.71973304e-01 1.68146909e-03 7.17076740e+01] [-1.81861324e-03 1.78687743e-05 9.99998346e-01 -1.86269719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92762800000003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:134.67, Y:71.73, Z:-1.86 [[ 3.75723595e-01 -9.26731643e-01 4.92720866e-04 1.34667492e+02] [ 9.26730871e-01 3.75723918e-01 1.19604776e-03 7.17327634e+01] [-1.29354232e-03 7.23627204e-06 9.99999163e-01 -1.86311738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95762800000003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:134.68, Y:71.76, Z:-1.86 [[ 3.81895345e-01 -9.24205560e-01 1.68786708e-04 1.34676795e+02] [ 9.24205470e-01 3.81895382e-01 4.07713470e-04 7.17587715e+01] [-4.41269920e-04 2.89722402e-07 9.99999903e-01 -1.86353483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98762800000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:134.69, Y:71.78, Z:-1.86 [[ 3.83969454e-01 -9.23345792e-01 7.91560525e-05 1.34686994e+02] [ 9.23345773e-01 3.83969462e-01 1.89542152e-04 7.17843912e+01] [-2.05406456e-04 3.10009969e-07 9.99999979e-01 -1.86397583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:134.70, Y:71.81, Z:-1.86 [[ 3.84802487e-01 -9.22998941e-01 -2.32880611e-05 1.34697786e+02] [ 9.22998939e-01 3.84802488e-01 -5.99229307e-05 7.18105316e+01] [ 6.42701054e-05 1.56363712e-06 9.99999998e-01 -1.86409172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.047628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:134.71, Y:71.84, Z:-1.86 [[ 3.84821794e-01 -9.22990849e-01 -2.81330086e-04 1.34708658e+02] [ 9.22990592e-01 3.84821897e-01 -6.88397037e-04 7.18350836e+01] [ 7.43646143e-04 5.24516017e-06 9.99999723e-01 -1.86368503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.72, Y:71.86, Z:-1.86 [[ 3.82422275e-01 -9.23987544e-01 -4.70454708e-04 1.34721498e+02] [ 9.23986827e-01 3.82422564e-01 -1.15164433e-03 7.18599915e+01] [ 1.24401752e-03 5.72049376e-06 9.99999226e-01 -1.86302555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.107628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.73, Y:71.88, Z:-1.86 [[ 3.79735304e-01 -9.25095074e-01 -4.50507815e-04 1.34732849e+02] [ 9.25094416e-01 3.79735571e-01 -1.10342421e-03 7.18842637e+01] [ 1.19184614e-03 2.24686333e-06 9.99999290e-01 -1.86285857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:71.91, Z:-1.86 [[ 3.76637626e-01 -9.26360624e-01 -3.04430677e-04 1.34744851e+02] [ 9.26360322e-01 3.76637749e-01 -7.47439008e-04 7.19100090e+01] [ 8.07058151e-04 -4.98845762e-07 9.99999674e-01 -1.86295722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:71.94, Z:-1.86 [[ 3.73090732e-01 -9.27794817e-01 -2.87713829e-04 1.34757206e+02] [ 9.27794548e-01 3.73090843e-01 -7.07156780e-04 7.19354954e+01] [ 7.63439790e-04 -3.10568114e-06 9.99999709e-01 -1.86284871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:71.96, Z:-1.86 [[ 3.66225808e-01 -9.30525981e-01 -2.37063915e-04 1.34771540e+02] [ 9.30525798e-01 3.66225885e-01 -5.83665810e-04 7.19602596e+01] [ 6.29935143e-04 -6.84060572e-06 9.99999802e-01 -1.86252578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:71.98, Z:-1.86 [[ 3.62861680e-01 -9.31842926e-01 -4.02401320e-04 1.34783579e+02] [ 9.31842401e-01 3.62861903e-01 -9.89573421e-04 7.19849235e+01] [ 1.06814310e-03 -1.58963378e-05 9.99999429e-01 -1.86206127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:72.01, Z:-1.86 [[ 3.59593269e-01 -9.33108985e-01 -5.49934584e-04 1.34795680e+02] [ 9.33108006e-01 3.59593689e-01 -1.35204329e-03 7.20106267e+01] [ 1.45935675e-03 -2.69626954e-05 9.99998935e-01 -1.86261799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:72.04, Z:-1.86 [[ 3.56878382e-01 -9.34150515e-01 -7.97269593e-04 1.34807800e+02] [ 9.34148459e-01 3.56879270e-01 -1.96027559e-03 7.20363049e+01] [ 2.11572144e-03 -4.51881802e-05 9.99997761e-01 -1.86292420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:72.06, Z:-1.86 [[ 3.53412011e-01 -9.35466521e-01 -1.52957694e-03 1.34821852e+02] [ 9.35458965e-01 3.53415306e-01 -3.76105307e-03 7.20613136e+01] [ 4.05891513e-03 -1.01655131e-04 9.99991757e-01 -1.86323540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:72.09, Z:-1.86 [[ 3.52142212e-01 -9.35944869e-01 -1.75033225e-03 1.34834219e+02] [ 9.35934968e-01 3.52146541e-01 -4.30688689e-03 7.20868915e+01] [ 4.64738214e-03 -1.21560478e-04 9.99989193e-01 -1.86335936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:72.11, Z:-1.86 [[ 3.51510616e-01 -9.36181674e-01 -2.03970670e-03 1.34845999e+02] [ 9.36168211e-01 3.51516504e-01 -5.02283770e-03 7.21111939e+01] [ 5.41927917e-03 -1.43927801e-04 9.99985305e-01 -1.86348458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:72.14, Z:-1.86 [[ 3.52218416e-01 -9.35913350e-01 -2.89634512e-03 1.34858563e+02] [ 9.35886159e-01 3.52230269e-01 -7.13688296e-03 7.21352552e+01] [ 7.69968446e-03 -1.96907702e-04 9.99970338e-01 -1.86379881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:72.16, Z:-1.86 [[ 3.53095207e-01 -9.35581675e-01 -3.27166036e-03 1.34870155e+02] [ 9.35546915e-01 3.53110300e-01 -8.06750547e-03 7.21612386e+01] [ 8.70306726e-03 -2.12194238e-04 9.99962105e-01 -1.86407689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:72.19, Z:-1.86 [[ 3.54378899e-01 -9.35095833e-01 -3.37314990e-03 1.34881541e+02] [ 9.35058803e-01 3.54394894e-01 -8.32433408e-03 7.21866360e+01] [ 8.97947722e-03 -2.04125156e-04 9.99959663e-01 -1.86442317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:72.21, Z:-1.86 [[ 3.55838895e-01 -9.34540635e-01 -3.53312709e-03 1.34892935e+02] [ 9.34499917e-01 3.55856381e-01 -8.72595552e-03 7.22118814e+01] [ 9.41204583e-03 -1.96672596e-04 9.99955686e-01 -1.86439347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:72.24, Z:-1.86 [[ 3.59112561e-01 -9.33286552e-01 -3.79215045e-03 1.34905297e+02] [ 9.33239499e-01 3.59132541e-01 -9.37314542e-03 7.22375334e+01] [ 1.01097152e-02 -1.72970334e-04 9.99948881e-01 -1.86479056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:72.26, Z:-1.87 [[ 3.60618615e-01 -9.32705441e-01 -3.84376557e-03 1.34916761e+02] [ 9.32656987e-01 3.60639066e-01 -9.50837842e-03 7.22637042e+01] [ 1.02547283e-02 -1.56016558e-04 9.99947407e-01 -1.86511390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:72.29, Z:-1.87 [[ 3.61954849e-01 -9.32188458e-01 -3.65605281e-03 1.34927819e+02] [ 9.32144515e-01 3.61973289e-01 -9.05211363e-03 7.22885259e+01] [ 9.76166931e-03 -1.31513148e-04 9.99952345e-01 -1.86523876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:72.31, Z:-1.87 [[ 3.63350173e-01 -9.31646655e-01 -3.34100954e-03 1.34939178e+02] [ 9.31609877e-01 3.63365518e-01 -8.27875339e-03 7.23140757e+01] [ 8.92688057e-03 -1.04431010e-04 9.99960149e-01 -1.86500722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:72.34, Z:-1.86 [[ 3.66353771e-01 -9.30471920e-01 -2.63072265e-03 1.34951236e+02] [ 9.30449046e-01 3.66363212e-01 -6.52454903e-03 7.23390694e+01] [ 7.03470966e-03 -5.74602333e-05 9.99975254e-01 -1.86386978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:72.36, Z:-1.86 [[ 3.67260722e-01 -9.30115384e-01 -2.22131590e-03 1.34962512e+02] [ 9.30099039e-01 3.67267437e-01 -5.51423402e-03 7.23648454e+01] [ 5.94469089e-03 -4.08822166e-05 9.99982329e-01 -1.86324333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:72.39, Z:-1.86 [[ 3.68077779e-01 -9.29792978e-01 -1.94064393e-03 1.34973108e+02] [ 9.29780486e-01 3.68082894e-01 -4.81990974e-03 7.23892580e+01] [ 5.19583607e-03 -3.02711815e-05 9.99986501e-01 -1.86250120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:72.41, Z:-1.86 [[ 3.68565387e-01 -9.29600562e-01 -1.53308046e-03 1.34984909e+02] [ 9.29592746e-01 3.68568575e-01 -3.81208519e-03 7.24148684e+01] [ 4.10876182e-03 -2.01378171e-05 9.99991559e-01 -1.86169892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:72.44, Z:-1.86 [[ 3.67877805e-01 -9.29873244e-01 -1.29214908e-03 1.34995470e+02] [ 9.29867682e-01 3.67880074e-01 -3.21642591e-03 7.24400514e+01] [ 3.46622430e-03 -1.82759602e-05 9.99993992e-01 -1.86179052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:72.47, Z:-1.86 [[ 3.67067353e-01 -9.30193630e-01 -1.17033997e-03 1.35005843e+02] [ 9.30189060e-01 3.67069218e-01 -2.91582099e-03 7.24662715e+01] [ 3.14187389e-03 -1.83347499e-05 9.99995064e-01 -1.86204643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:72.49, Z:-1.86 [[ 3.66174573e-01 -9.30545450e-01 -1.16115666e-03 1.35015295e+02] [ 9.30540951e-01 3.66176413e-01 -2.89355683e-03 7.24917348e+01] [ 3.11777433e-03 -2.09568893e-05 9.99995140e-01 -1.86287546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:72.52, Z:-1.86 [[ 3.64562075e-01 -9.31178279e-01 -1.22689827e-03 1.35025623e+02] [ 9.31173251e-01 3.64564139e-01 -3.06039184e-03 7.25181509e+01] [ 3.29705352e-03 -2.67520532e-05 9.99994564e-01 -1.86369320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:72.54, Z:-1.86 [[ 3.59911433e-01 -9.32985370e-01 -1.43491447e-03 1.35036702e+02] [ 9.32978496e-01 3.59914290e-01 -3.58185375e-03 7.25443869e+01] [ 3.85826337e-03 -4.95942254e-05 9.99992556e-01 -1.86366791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:72.57, Z:-1.86 [[ 3.57158119e-01 -9.34042778e-01 -1.47187829e-03 1.35047169e+02] [ 9.34035543e-01 3.57161146e-01 -3.67702089e-03 7.25707033e+01] [ 3.96019254e-03 -6.15087697e-05 9.99992157e-01 -1.86395668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:72.60, Z:-1.86 [[ 3.53860404e-01 -9.35296983e-01 -1.53867290e-03 1.35057247e+02] [ 9.35289075e-01 3.53863741e-01 -3.84694049e-03 7.25973305e+01] [ 4.14251238e-03 -7.78240354e-05 9.99991417e-01 -1.86432535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:72.62, Z:-1.86 [[ 3.50462484e-01 -9.36575308e-01 -1.65534834e-03 1.35067239e+02] [ 9.36566153e-01 3.50466379e-01 -4.14216895e-03 7.26225105e+01] [ 4.45959709e-03 -9.86684093e-05 9.99990051e-01 -1.86442543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:72.65, Z:-1.86 [[ 3.43787054e-01 -9.39046243e-01 -1.61710716e-03 1.35076326e+02] [ 9.39037519e-01 3.43790834e-01 -4.04961911e-03 7.26486546e+01] [ 4.35872623e-03 -1.26317676e-04 9.99990493e-01 -1.86492177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:72.67, Z:-1.87 [[ 3.40481853e-01 -9.40249066e-01 -1.94968677e-03 1.35085181e+02] [ 9.40236386e-01 3.40487393e-01 -4.88617029e-03 7.26739942e+01] [ 5.25806082e-03 -1.69514126e-04 9.99986162e-01 -1.86516804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:72.70, Z:-1.87 [[ 3.40238411e-01 -9.40337188e-01 -1.94856018e-03 1.35095716e+02] [ 9.40324506e-01 3.40243948e-01 -4.88661979e-03 7.27005780e+01] [ 5.25805612e-03 -1.69663138e-04 9.99986162e-01 -1.86528739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:135.11, Y:72.73, Z:-1.87 [[ 3.37136590e-01 -9.41452637e-01 -2.41900759e-03 1.35105363e+02] [ 9.41433092e-01 3.37145189e-01 -6.07074834e-03 7.27269866e+01] [ 6.53087881e-03 -2.30662399e-04 9.99978647e-01 -1.86758471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:72.75, Z:-1.87 [[ 3.34154889e-01 -9.42514986e-01 -2.45197165e-03 1.35114473e+02] [ 9.42494900e-01 3.34163789e-01 -6.15832346e-03 7.27531538e+01] [ 6.62367228e-03 -2.53136885e-04 9.99978031e-01 -1.86665893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:72.78, Z:-1.87 [[ 3.29720307e-01 -9.44074166e-01 -2.91346936e-03 1.35123054e+02] [ 9.44045825e-01 3.29733008e-01 -7.32287563e-03 7.27801851e+01] [ 7.87400472e-03 -3.35947783e-04 9.99968943e-01 -1.86681954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:72.81, Z:-1.87 [[ 3.28164003e-01 -9.44615839e-01 -3.05005463e-03 1.35132725e+02] [ 9.44584751e-01 3.28177976e-01 -7.67227377e-03 7.28070730e+01] [ 8.24831209e-03 -3.63271021e-04 9.99965916e-01 -1.86658209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:72.83, Z:-1.87 [[ 3.27209975e-01 -9.44947355e-01 -2.85124159e-03 1.35141499e+02] [ 9.44920153e-01 3.27222215e-01 -7.17822860e-03 7.28339044e+01] [ 7.71603771e-03 -3.45407641e-04 9.99970171e-01 -1.86669524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:72.86, Z:-1.87 [[ 3.27335621e-01 -9.44904167e-01 -2.73975474e-03 1.35149344e+02] [ 9.44879025e-01 3.27346920e-01 -6.90092279e-03 7.28598778e+01] [ 7.41756098e-03 -3.29818942e-04 9.99972435e-01 -1.86666297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:72.89, Z:-1.87 [[ 3.30367052e-01 -9.43849466e-01 -2.40748668e-03 1.35155770e+02] [ 9.43829984e-01 3.30375716e-01 -6.07023056e-03 7.28876386e+01] [ 6.52475901e-03 -2.66853939e-04 9.99978678e-01 -1.86629396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:72.91, Z:-1.87 [[ 3.33012883e-01 -9.42919271e-01 -2.38097218e-03 1.35163854e+02] [ 9.42900164e-01 3.33021305e-01 -6.00756600e-03 7.29131452e+01] [ 6.45756422e-03 -2.44422185e-04 9.99979120e-01 -1.86586804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:72.94, Z:-1.87 [[ 3.36160904e-01 -9.41801760e-01 -2.30012845e-03 1.35172245e+02] [ 9.41783872e-01 3.36168705e-01 -5.80865910e-03 7.29399310e+01] [ 6.24383657e-03 -2.13579782e-04 9.99980484e-01 -1.86583427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:72.97, Z:-1.87 [[ 3.43205235e-01 -9.39258390e-01 -1.96061579e-03 1.35179373e+02] [ 9.39245324e-01 3.43210806e-01 -4.95617367e-03 7.29667440e+01] [ 5.32803223e-03 -1.40514464e-04 9.99985796e-01 -1.86556438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:72.99, Z:-1.87 [[ 3.46900031e-01 -9.37899961e-01 -2.00812688e-03 1.35187591e+02] [ 9.37886209e-01 3.46905822e-01 -5.08026735e-03 7.29927388e+01] [ 5.46141345e-03 -1.21049610e-04 9.99985079e-01 -1.86559442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:73.02, Z:-1.87 [[ 3.51111395e-01 -9.36331047e-01 -2.22705436e-03 1.35195922e+02] [ 9.36314075e-01 3.51118442e-01 -5.63847177e-03 7.30197420e+01] [ 6.06143603e-03 -1.05490661e-04 9.99981624e-01 -1.86592124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:73.05, Z:-1.87 [[ 3.55581424e-01 -9.34642508e-01 -2.28777709e-03 1.35204212e+02] [ 9.34624539e-01 3.55588775e-01 -5.79612130e-03 7.30458824e+01] [ 6.23080920e-03 -7.72195450e-05 9.99980585e-01 -1.86626428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:73.07, Z:-1.87 [[ 3.64091961e-01 -9.31360915e-01 -1.97216183e-03 1.35211782e+02] [ 9.31347487e-01 3.64097302e-01 -5.00137315e-03 7.30734675e+01] [ 5.37614228e-03 -1.58081977e-05 9.99985548e-01 -1.86587706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:73.10, Z:-1.87 [[ 3.67887674e-01 -9.29868638e-01 -1.72483605e-03 1.35221035e+02] [ 9.29858331e-01 3.67891717e-01 -4.37824998e-03 7.30996645e+01] [ 4.70575024e-03 6.85103475e-06 9.99988928e-01 -1.86579516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:73.13, Z:-1.87 [[ 3.71030656e-01 -9.28619323e-01 -1.55079964e-03 1.35230245e+02] [ 9.28610967e-01 3.71033896e-01 -3.93945706e-03 7.31252248e+01] [ 4.23365519e-03 2.15697816e-05 9.99991038e-01 -1.86564134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:73.15, Z:-1.87 [[ 3.73491494e-01 -9.27632353e-01 -1.52380084e-03 1.35240377e+02] [ 9.27624262e-01 3.73494601e-01 -3.87440695e-03 7.31519143e+01] [ 4.16315662e-03 3.35434070e-05 9.99991333e-01 -1.86535401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:73.18, Z:-1.87 [[ 3.76085403e-01 -9.26583425e-01 1.71037352e-03 1.35249404e+02] [ 9.26572716e-01 3.76070269e-01 -5.84421551e-03 7.31784989e+01] [ 4.77193260e-03 3.78270959e-03 9.99981460e-01 -1.86712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:73.20, Z:-1.86 [[ 3.76028669e-01 -9.26594809e-01 -4.94981596e-03 1.35262626e+02] [ 9.26598791e-01 3.76043409e-01 -2.45683439e-03 7.32025589e+01] [ 4.13783566e-03 -3.66265332e-03 9.99984732e-01 -1.86446819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:73.23, Z:-1.87 [[ 3.75763474e-01 -9.26714267e-01 -1.57470309e-03 1.35272323e+02] [ 9.26705577e-01 3.75766770e-01 -4.01339407e-03 7.32292547e+01] [ 4.31099064e-03 4.88007575e-05 9.99990706e-01 -1.86617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:135.29, Y:73.25, Z:-1.87 [[ 3.73791822e-01 -9.27510777e-01 -1.85265316e-03 1.35285083e+02] [ 9.27498742e-01 3.73796410e-01 -4.72510981e-03 7.32544272e+01] [ 5.07510537e-03 4.78739342e-05 9.99987120e-01 -1.86734208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:73.28, Z:-1.86 [[ 3.73372181e-01 -9.27679912e-01 -1.78759587e-03 1.35297081e+02] [ 9.27668691e-01 3.73376458e-01 -4.56299741e-03 7.32794298e+01] [ 4.90044725e-03 4.53995743e-05 9.99987992e-01 -1.86478593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:73.30, Z:-1.86 [[ 3.71995899e-01 -9.28232454e-01 -1.88744911e-03 1.35308178e+02] [ 9.28219932e-01 3.72000685e-01 -4.82160325e-03 7.33047538e+01] [ 5.17770098e-03 4.16487483e-05 9.99986595e-01 -1.86484801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:73.33, Z:-1.87 [[ 3.70789507e-01 -9.28714768e-01 -2.00543077e-03 1.35319144e+02] [ 9.28700617e-01 3.70794928e-01 -5.12691735e-03 7.33306187e+01] [ 5.50504741e-03 3.85623581e-05 9.99984846e-01 -1.86543955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:73.36, Z:-1.87 [[ 3.68821999e-01 -9.29497046e-01 -2.36089055e-03 1.35330875e+02] [ 9.29477423e-01 3.68829554e-01 -6.03993952e-03 7.33559624e+01] [ 6.48487215e-03 3.32681056e-05 9.99978972e-01 -1.86655647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:73.38, Z:-1.87 [[ 3.67828843e-01 -9.29890267e-01 -2.45647858e-03 1.35342664e+02] [ 9.29868998e-01 3.67837044e-01 -6.28937473e-03 7.33815279e+01] [ 6.75201216e-03 2.92101558e-05 9.99977204e-01 -1.86686752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:73.41, Z:-1.87 [[ 3.66989785e-01 -9.30221380e-01 -2.58516600e-03 1.35354722e+02] [ 9.30197796e-01 3.66998889e-01 -6.62393350e-03 7.34073875e+01] [ 7.11047761e-03 2.62002143e-05 9.99974720e-01 -1.86685725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:73.43, Z:-1.87 [[ 3.65706680e-01 -9.30725572e-01 -2.92134298e-03 1.35368076e+02] [ 9.30695423e-01 3.65718347e-01 -7.49135938e-03 7.34315082e+01] [ 8.04078847e-03 2.07596250e-05 9.99967672e-01 -1.86613165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:73.46, Z:-1.87 [[ 3.64906425e-01 -9.31039097e-01 -3.08243077e-03 1.35379370e+02] [ 9.31005493e-01 3.64919443e-01 -7.91029360e-03 7.34572309e+01] [ 8.48963153e-03 1.67569759e-05 9.99963962e-01 -1.86612406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:73.48, Z:-1.87 [[ 3.63836657e-01 -9.31457512e-01 -3.12881375e-03 1.35390268e+02] [ 9.31422851e-01 3.63850110e-01 -8.03554330e-03 7.34827884e+01] [ 8.62318640e-03 9.37658945e-06 9.99962820e-01 -1.86622714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:73.51, Z:-1.87 [[ 3.61295176e-01 -9.32445935e-01 -3.22097350e-03 1.35402487e+02] [ 9.32409206e-01 3.61309533e-01 -8.27604346e-03 7.35073164e+01] [ 8.88073151e-03 -1.31707660e-05 9.99960565e-01 -1.86607038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:73.53, Z:-1.87 [[ 3.59337529e-01 -9.33201983e-01 -3.25568325e-03 1.35414389e+02] [ 9.33164425e-01 3.59352276e-01 -8.37237789e-03 7.35332628e+01] [ 8.98305683e-03 -2.95782029e-05 9.99959651e-01 -1.86586105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:73.56, Z:-1.87 [[ 3.56925919e-01 -9.34126832e-01 -3.30918749e-03 1.35426171e+02] [ 9.34088010e-01 3.56941256e-01 -8.51644959e-03 7.35586339e+01] [ 9.13662961e-03 -5.13307583e-05 9.99958259e-01 -1.86561016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.44, Y:73.58, Z:-1.87 [[ 3.54200971e-01 -9.35162803e-01 -3.49344014e-03 1.35438203e+02] [ 9.35119518e-01 3.54218189e-01 -8.99780933e-03 7.35841231e+01] [ 9.65185664e-03 -7.97512545e-05 9.99953417e-01 -1.86538690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:73.61, Z:-1.86 [[ 3.48002677e-01 -9.37488095e-01 -3.19521990e-03 1.35451391e+02] [ 9.37451944e-01 3.48017321e-01 -8.23394052e-03 7.36079161e+01] [ 8.83121308e-03 -1.29931768e-04 9.99960996e-01 -1.86495247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:73.63, Z:-1.86 [[ 3.44742118e-01 -9.38692134e-01 -3.15443305e-03 1.35463408e+02] [ 9.38656887e-01 3.44756514e-01 -8.13604508e-03 7.36337913e+01] [ 8.72475286e-03 -1.56092894e-04 9.99961926e-01 -1.86455034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:73.66, Z:-1.86 [[ 3.40999715e-01 -9.40058839e-01 -2.92786900e-03 1.35474780e+02] [ 9.40028474e-01 3.41012240e-01 -7.55781902e-03 7.36595574e+01] [ 8.10323374e-03 -1.75066097e-04 9.99967153e-01 -1.86437129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:73.68, Z:-1.86 [[ 3.37684045e-01 -9.41255643e-01 -2.70199595e-03 1.35485916e+02] [ 9.41229773e-01 3.37694804e-01 -6.98092817e-03 7.36846155e+01] [ 7.48328803e-03 -1.85850973e-04 9.99971983e-01 -1.86360608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:73.71, Z:-1.86 [[ 3.34387557e-01 -9.42433157e-01 -2.16922878e-03 1.35495477e+02] [ 9.42416477e-01 3.34394551e-01 -5.60966907e-03 7.37101078e+01] [ 6.01211642e-03 -1.68513409e-04 9.99981913e-01 -1.86261272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.267628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:135.51, Y:73.73, Z:-1.86 [[ 3.33686897e-01 -9.42640747e-01 -9.02647740e-03 1.35507664e+02] [ 9.42676563e-01 3.33706921e-01 -7.67019834e-04 7.37328978e+01] [ 3.73522213e-03 -8.25310422e-03 9.99958966e-01 -1.86084148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:73.76, Z:-1.87 [[ 3.32854811e-01 -9.42963408e-01 5.26185610e-03 1.35511793e+02] [ 9.42961148e-01 3.32810201e-01 -7.85132945e-03 7.37630958e+01] [ 5.65231698e-03 7.57507865e-03 9.99955334e-01 -1.86500922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:73.79, Z:-1.86 [[ 3.31755116e-01 -9.43363408e-01 -2.00610944e-03 1.35524542e+02] [ 9.43349103e-01 3.31761139e-01 -5.19771788e-03 7.37872510e+01] [ 5.56888601e-03 -1.68092039e-04 9.99984480e-01 -1.86148029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:73.81, Z:-1.86 [[ 3.31275582e-01 -9.43532035e-01 -1.94609789e-03 1.35533516e+02] [ 9.43518551e-01 3.31281258e-01 -5.04699535e-03 7.38119813e+01] [ 5.40670755e-03 -1.64233133e-04 9.99985370e-01 -1.86146144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:73.84, Z:-1.86 [[ 3.31027829e-01 -9.43619257e-01 -1.80925906e-03 1.35543055e+02] [ 9.43607587e-01 3.31032738e-01 -4.69562249e-03 7.38387395e+01] [ 5.02980379e-03 -1.52848859e-04 9.99987339e-01 -1.86144762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:73.87, Z:-1.86 [[ 3.31894865e-01 -9.43314846e-01 -1.70314572e-03 1.35551201e+02] [ 9.43304481e-01 3.31899206e-01 -4.42406900e-03 7.38657062e+01] [ 4.73856267e-03 -1.38259206e-04 9.99988763e-01 -1.86156838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:73.89, Z:-1.86 [[ 3.32735257e-01 -9.43018666e-01 -1.74490008e-03 1.35559289e+02] [ 9.43007764e-01 3.32739805e-01 -4.53636711e-03 7.38924600e+01] [ 4.85847658e-03 -1.36045048e-04 9.99988188e-01 -1.86207141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:73.92, Z:-1.86 [[ 3.33576641e-01 -9.42721127e-01 -1.87098945e-03 1.35566699e+02] [ 9.42708567e-01 3.33581859e-01 -4.86840136e-03 7.39182710e+01] [ 5.21367296e-03 -1.39812810e-04 9.99986399e-01 -1.86250313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.507628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.57, Y:73.95, Z:-1.86 [[ 3.36652324e-01 -9.41626339e-01 -2.24745102e-03 1.35573734e+02] [ 9.41608165e-01 3.36659794e-01 -5.85199740e-03 7.39458042e+01] [ 6.26702128e-03 -1.46129708e-04 9.99980351e-01 -1.86275256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.537628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:135.58, Y:73.97, Z:-1.87 [[ 3.37053885e-01 -9.41481877e-01 -2.55998789e-03 1.35582715e+02] [ 9.41458257e-01 3.37063568e-01 -6.67094015e-03 7.39719990e+01] [ 7.14344790e-03 -1.61655444e-04 9.99974472e-01 -1.86517900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:135.59, Y:74.00, Z:-1.87 [[ 3.38489634e-01 -9.40965791e-01 -2.85440538e-03 1.35592368e+02] [ 9.40936360e-01 3.38501628e-01 -7.44402470e-03 7.39985235e+01] [ 7.97079346e-03 -1.66088617e-04 9.99968219e-01 -1.86526931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:74.02, Z:-1.86 [[ 3.41746876e-01 -9.39786496e-01 -3.22723691e-03 1.35601299e+02] [ 9.39748761e-01 3.41762079e-01 -8.42306194e-03 7.40249372e+01] [ 9.01882706e-03 -1.54236786e-04 9.99959318e-01 -1.86360571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62762800000002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:135.61, Y:74.05, Z:-1.87 [[ 3.42085130e-01 -9.39662065e-01 -3.60110940e-03 1.35610914e+02] [ 9.39614996e-01 3.42104044e-01 -9.40647825e-03 7.40512600e+01] [ 1.00708649e-02 -1.65840061e-04 9.99949274e-01 -1.86626621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:74.08, Z:-1.86 [[ 3.43782976e-01 -9.39043266e-01 -3.31829336e-03 1.35620917e+02] [ 9.39003210e-01 3.43798964e-01 -8.67429480e-03 7.40769533e+01] [ 9.28636394e-03 -1.33813240e-04 9.99956872e-01 -1.86375370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:74.10, Z:-1.86 [[ 3.44967759e-01 -9.38608623e-01 -3.33150258e-03 1.35630351e+02] [ 9.38568156e-01 3.44983824e-01 -8.71649720e-03 7.41030785e+01] [ 9.33069393e-03 -1.19931726e-04 9.99956461e-01 -1.86357860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71762800000002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:135.64, Y:74.13, Z:-1.87 [[ 3.46919561e-01 -9.37888864e-01 -3.36121909e-03 1.35638752e+02] [ 9.37847596e-01 3.46935829e-01 -8.79864759e-03 7.41290416e+01] [ 9.41828092e-03 -9.98882809e-05 9.99955642e-01 -1.86547550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:74.16, Z:-1.86 [[ 3.48130574e-01 -9.37441443e-01 -2.94021482e-03 1.35649323e+02] [ 9.37409785e-01 3.48142982e-01 -7.70450416e-03 7.41555369e+01] [ 8.24613665e-03 -7.40126894e-05 9.99965997e-01 -1.86341846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:74.18, Z:-1.86 [[ 3.48663181e-01 -9.37243922e-01 -2.79571229e-03 1.35659419e+02] [ 9.37215264e-01 3.48674383e-01 -7.32959094e-03 7.41804053e+01] [ 7.84440782e-03 -6.46257410e-05 9.99969230e-01 -1.86325415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:135.67, Y:74.21, Z:-1.86 [[ 3.48303124e-01 -9.37376846e-01 -3.09542665e-03 1.35670107e+02] [ 9.37341655e-01 3.48316871e-01 -8.12277123e-03 7.42066497e+01] [ 8.69228701e-03 -7.22857412e-05 9.99962219e-01 -1.86449564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:74.23, Z:-1.86 [[ 3.49049513e-01 -9.37099745e-01 -2.91649666e-03 1.35681739e+02] [ 9.37068439e-01 3.49061692e-01 -7.66002579e-03 7.42323389e+01] [ 8.19624547e-03 -5.92286998e-05 9.99966408e-01 -1.86252847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:74.26, Z:-1.86 [[ 3.49071739e-01 -9.37091862e-01 -2.78637301e-03 1.35692132e+02] [ 9.37063237e-01 3.49082855e-01 -7.32457593e-03 7.42584334e+01] [ 7.83647555e-03 -5.42052586e-05 9.99969293e-01 -1.86304555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:74.28, Z:-1.86 [[ 3.48745559e-01 -9.37213164e-01 -2.83208734e-03 1.35702347e+02] [ 9.37183545e-01 3.48757053e-01 -7.45116596e-03 7.42846712e+01] [ 7.97104126e-03 -5.56246211e-05 9.99968229e-01 -1.86308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:74.31, Z:-1.86 [[ 3.48050571e-01 -9.37471874e-01 -2.69932587e-03 1.35713278e+02] [ 9.37444947e-01 3.48061033e-01 -7.10550718e-03 7.43091061e+01] [ 7.60074328e-03 -5.73935722e-05 9.99971112e-01 -1.86299339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:74.34, Z:-1.86 [[ 3.47815195e-01 -9.37559232e-01 -2.69735871e-03 1.35723352e+02] [ 9.37532303e-01 3.47825650e-01 -7.10625436e-03 7.43358636e+01] [ 7.60074493e-03 -5.71976730e-05 9.99971112e-01 -1.86312576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:74.36, Z:-1.86 [[ 3.47069954e-01 -9.37835331e-01 -2.70919260e-03 1.35734392e+02] [ 9.37808127e-01 3.47080522e-01 -7.14335341e-03 7.43616398e+01] [ 7.63959719e-03 -6.14594975e-05 9.99970816e-01 -1.86321444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:135.75, Y:74.39, Z:-1.86 [[ 3.44804373e-01 -9.38669514e-01 -3.08021807e-03 1.35746790e+02] [ 9.38634325e-01 3.44818120e-01 -8.12828582e-03 7.43869425e+01] [ 8.69188910e-03 -8.85299164e-05 9.99962221e-01 -1.86468056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:74.41, Z:-1.86 [[ 3.44857198e-01 -9.38651404e-01 -2.65617241e-03 1.35757570e+02] [ 9.38614519e-01 3.44867218e-01 -8.32990224e-03 7.44117365e+01] [ 8.73490122e-03 3.79504756e-04 9.99961778e-01 -1.86294443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:74.44, Z:-1.86 [[ 3.43890977e-01 -9.39002485e-01 -3.65081963e-03 1.35769336e+02] [ 9.38965200e-01 3.43909925e-01 -8.38549171e-03 7.44378926e+01] [ 9.12955066e-03 -5.44297645e-04 9.99958177e-01 -1.86257426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:74.46, Z:-1.86 [[ 3.43387898e-01 -9.39187504e-01 -3.40342407e-03 1.35780321e+02] [ 9.39144361e-01 3.43404748e-01 -9.00267086e-03 7.44637569e+01] [ 9.62394796e-03 -1.04898300e-04 9.99953683e-01 -1.86288317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:74.49, Z:-1.86 [[ 3.43011595e-01 -9.39324308e-01 -3.59028979e-03 1.35790913e+02] [ 9.39276218e-01 3.43030366e-01 -9.50551995e-03 7.44884174e+01] [ 1.01603444e-02 -1.11770256e-04 9.99948376e-01 -1.86300129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.167628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:135.80, Y:74.51, Z:-1.86 [[ 3.42385801e-01 -9.39551777e-01 -3.79751712e-03 1.35802211e+02] [ 9.39497900e-01 3.42406838e-01 -1.00624286e-02 7.45144141e+01] [ 1.07544685e-02 -1.22526697e-04 9.99942162e-01 -1.86484475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:74.54, Z:-1.86 [[ 3.42799540e-01 -9.39399777e-01 -4.06616455e-03 1.35814522e+02] [ 9.39337934e-01 3.42823633e-01 -1.07797644e-02 7.45389967e+01] [ 1.15204856e-02 -1.24204316e-04 9.99933629e-01 -1.86339786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:74.56, Z:-1.86 [[ 3.43664404e-01 -9.39084352e-01 -3.91883711e-03 1.35824617e+02] [ 9.39026771e-01 3.43686731e-01 -1.03997368e-02 7.45641123e+01] [ 1.11130824e-02 -1.05873606e-04 9.99938242e-01 -1.86324122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:74.59, Z:-1.86 [[ 3.45823022e-01 -9.38294283e-01 -3.20556244e-03 1.35836028e+02] [ 9.38255653e-01 3.45837873e-01 -8.51440978e-03 7.45900764e+01] [ 9.09762692e-03 -6.31581596e-05 9.99958614e-01 -1.86183555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.287628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:135.85, Y:74.62, Z:-1.86 [[ 3.46253925e-01 -9.38136390e-01 -2.88661385e-03 1.35846330e+02] [ 9.38105003e-01 3.46265954e-01 -7.67415043e-03 7.46157878e+01] [ 8.19893588e-03 -5.07421852e-05 9.99966387e-01 -1.86109795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.86, Y:74.64, Z:-1.86 [[ 3.46671505e-01 -9.37982852e-01 -2.65257793e-03 1.35856047e+02] [ 9.37956297e-01 3.46681651e-01 -7.05823789e-03 7.46418883e+01] [ 7.54010621e-03 -4.11122138e-05 9.99971572e-01 -1.86076225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:74.67, Z:-1.86 [[ 3.47017219e-01 -9.37855968e-01 -2.28759610e-03 1.35865173e+02] [ 9.37836175e-01 3.47024758e-01 -6.09321712e-03 7.46670171e+01] [ 6.50841253e-03 -3.09391131e-05 9.99978820e-01 -1.86125634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:74.69, Z:-1.86 [[ 3.47859328e-01 -9.37544894e-01 -1.85993081e-03 1.35875605e+02] [ 9.37531781e-01 3.47864300e-01 -4.95873243e-03 7.46932474e+01] [ 5.29603780e-03 -1.88029172e-05 9.99985976e-01 -1.86154876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:74.72, Z:-1.86 [[ 3.48124850e-01 -9.37446445e-01 -1.80314424e-03 1.35885575e+02] [ 9.37434096e-01 3.48129519e-01 -4.81189314e-03 7.47183491e+01] [ 5.13861985e-03 -1.51893138e-05 9.99986797e-01 -1.86136728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:74.74, Z:-1.86 [[ 3.48392043e-01 -9.37347253e-01 -1.76382581e-03 1.35895609e+02] [ 9.37335416e-01 3.48396508e-01 -4.71085062e-03 7.47441946e+01] [ 5.03021364e-03 -1.20735261e-05 9.99987348e-01 -1.86101535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:74.77, Z:-1.86 [[ 3.48590635e-01 -9.37273331e-01 -1.80909682e-03 1.35905210e+02] [ 9.37260856e-01 3.48595330e-01 -4.83578313e-03 7.47709571e+01] [ 5.16309326e-03 -9.88691587e-06 9.99986671e-01 -1.86123776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:74.80, Z:-1.86 [[ 3.49917043e-01 -9.36780623e-01 3.55868723e-04 1.35912314e+02] [ 9.36755673e-01 3.49904896e-01 -7.44130053e-03 7.47970781e+01] [ 6.84634594e-03 2.93719992e-03 9.99972250e-01 -1.86296371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:74.82, Z:-1.85 [[ 3.47868848e-01 -9.37432533e-01 -1.44052282e-02 1.35923102e+02] [ 9.37511870e-01 3.47941782e-01 -2.83030718e-03 7.48179658e+01] [ 7.66540280e-03 -1.25204967e-02 9.99892234e-01 -1.85432110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:74.85, Z:-1.87 [[ 3.50876142e-01 -9.36395513e-01 7.02683522e-03 1.35928752e+02] [ 9.36401712e-01 3.50809462e-01 -9.19535711e-03 7.48507475e+01] [ 6.14541085e-03 9.80637196e-03 9.99933032e-01 -1.86589668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:74.87, Z:-1.86 [[ 3.51038594e-01 -9.36358486e-01 -2.16605615e-03 1.35942585e+02] [ 9.36340518e-01 3.51045276e-01 -5.80074946e-03 7.48749740e+01] [ 6.19196476e-03 8.12079282e-06 9.99980830e-01 -1.86079669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.94, Y:74.90, Z:-1.87 [[ 3.46585617e-01 -9.38017260e-01 1.42513851e-03 1.35943619e+02] [ 9.38010611e-01 3.46576192e-01 -4.58662729e-03 7.48973464e+01] [ 3.80841649e-03 2.92645409e-03 9.99988466e-01 -1.86554788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:74.92, Z:-1.86 [[ 3.46745393e-01 -9.37958237e-01 -1.40638502e-03 1.35955484e+02] [ 9.37949412e-01 3.46748233e-01 -4.06970950e-03 7.49238762e+01] [ 4.30487907e-03 9.20350229e-05 9.99990730e-01 -1.86389653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:74.95, Z:-1.86 [[ 3.46787763e-01 -9.37943513e-01 -4.62173096e-04 1.35966131e+02] [ 9.37931663e-01 3.46785786e-01 -4.88006713e-03 7.49517100e+01] [ 4.73750237e-03 1.25886078e-03 9.99987986e-01 -1.86482855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:74.98, Z:-1.86 [[ 3.45482908e-01 -9.38419786e-01 -3.14105914e-03 1.35977464e+02] [ 9.38404004e-01 3.45495640e-01 -5.53968609e-03 7.49776707e+01] [ 6.28377327e-03 -1.03371561e-03 9.99979723e-01 -1.86404351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:75.01, Z:-1.86 [[ 3.48082153e-01 -9.37447337e-01 -5.59511695e-03 1.35994633e+02] [ 9.37427149e-01 3.48115202e-01 -6.79318455e-03 7.50059940e+01] [ 8.31599803e-03 -2.88042822e-03 9.99961273e-01 -1.86103709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:75.03, Z:-1.86 [[ 3.46536069e-01 -9.38032187e-01 -2.89304240e-03 1.36003445e+02] [ 9.38000223e-01 3.46548144e-01 -7.74378663e-03 7.50328952e+01] [ 8.26649958e-03 -3.01730395e-05 9.99965831e-01 -1.86255826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:75.06, Z:-1.86 [[ 3.45271851e-01 -9.38498899e-01 -2.67698733e-03 1.36013585e+02] [ 9.38471492e-01 3.45282226e-01 -7.17236563e-03 7.50581083e+01] [ 7.65557339e-03 -3.58603409e-05 9.99970695e-01 -1.86294833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.827628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.02, Y:75.08, Z:-1.87 [[ 3.40804942e-01 -9.40133488e-01 1.00807729e-03 1.36017119e+02] [ 9.40117964e-01 3.40792654e-01 -6.21138898e-03 7.50820915e+01] [ 5.49598945e-03 3.06458363e-03 9.99980201e-01 -1.86708773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:136.03, Y:75.11, Z:-1.87 [[ 3.37675988e-01 -9.41262407e-01 -9.55291930e-05 1.36027560e+02] [ 9.41256982e-01 3.37674383e-01 -3.36227593e-03 7.51071255e+01] [ 3.19704170e-03 1.04544233e-03 9.99994343e-01 -1.86726015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.887628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:136.04, Y:75.14, Z:-1.87 [[ 3.37746950e-01 -9.41236329e-01 -1.08244893e-03 1.36039357e+02] [ 9.41231862e-01 3.37748682e-01 -2.89995090e-03 7.51351797e+01] [ 3.09513484e-03 -3.93858465e-05 9.99995209e-01 -1.86604714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:75.16, Z:-1.86 [[ 3.39852825e-01 -9.40464167e-01 -5.21607362e-03 1.36055318e+02] [ 9.40468168e-01 3.39869980e-01 -2.83235733e-03 7.51623204e+01] [ 4.43651742e-03 -3.94296656e-03 9.99982385e-01 -1.86239507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:75.19, Z:-1.86 [[ 3.35214673e-01 -9.42133274e-01 -4.00226297e-03 1.36057959e+02] [ 9.42134650e-01 3.35225633e-01 -2.46481107e-03 7.51854192e+01] [ 3.66384166e-03 -2.94442978e-03 9.99988953e-01 -1.86405590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:75.22, Z:-1.87 [[ 3.37639040e-01 -9.41274335e-01 1.58281720e-03 1.36071348e+02] [ 9.41269298e-01 3.37630093e-01 -4.24601066e-03 7.52159015e+01] [ 3.46225414e-03 2.92347619e-03 9.99989733e-01 -1.86631928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:75.24, Z:-1.86 [[ 3.36417336e-01 -9.41712560e-01 -9.11614434e-04 1.36082367e+02] [ 9.41709371e-01 3.36418570e-01 -2.45069037e-03 7.52421270e+01] [ 2.61452992e-03 -3.40211300e-05 9.99996582e-01 -1.86466792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:75.27, Z:-1.86 [[ 3.36013294e-01 -9.41856837e-01 -8.74965458e-04 1.36091604e+02] [ 9.41853894e-01 3.36014432e-01 -2.35466790e-03 7.52676972e+01] [ 2.51176108e-03 -3.28899057e-05 9.99996845e-01 -1.86452344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:75.29, Z:-1.86 [[ 3.35670173e-01 -9.41979120e-01 -9.34262296e-04 1.36100621e+02] [ 9.41975761e-01 3.35671471e-01 -2.51589710e-03 7.52939359e+01] [ 2.68352774e-03 -3.55408219e-05 9.99996399e-01 -1.86480683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09762800000001 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:136.11, Y:75.32, Z:-1.87 [[ 3.35529447e-01 -9.42029324e-01 -8.61883989e-04 1.36109429e+02] [ 9.42026459e-01 3.35530552e-01 -2.32354075e-03 7.53198790e+01] [ 2.47803193e-03 -3.23011821e-05 9.99996929e-01 -1.86582475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12762800000002 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:136.11, Y:75.34, Z:-1.86 [[ 3.31617829e-01 -9.43395460e-01 -5.88397818e-03 1.36113393e+02] [ 9.43410160e-01 3.31627443e-01 -7.13036802e-04 7.53407744e+01] [ 2.62396432e-03 -5.31454908e-03 9.99982435e-01 -1.86400535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15762800000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:136.13, Y:75.37, Z:-1.87 [[ 3.36205451e-01 -9.41780080e-01 4.02198724e-03 1.36125512e+02] [ 9.41784105e-01 3.36187462e-01 -4.54856931e-03 7.53724749e+01] [ 2.93161028e-03 5.31709745e-03 9.99981567e-01 -1.86950110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18762800000002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:136.13, Y:75.39, Z:-1.87 [[ 3.32476868e-01 -9.43104652e-01 -3.57033310e-03 1.36130041e+02] [ 9.43108875e-01 3.32482370e-01 -1.06003999e-03 7.53925728e+01] [ 2.18680145e-03 -3.01477406e-03 9.99993064e-01 -1.86604336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21762800000002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:136.14, Y:75.42, Z:-1.87 [[ 3.33224383e-01 -9.42845189e-01 -2.11172414e-03 1.36139729e+02] [ 9.42842400e-01 3.33229132e-01 -2.56014527e-03 7.54193013e+01] [ 3.11750866e-03 -1.13792023e-03 9.99994493e-01 -1.86635765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24762800000002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:136.15, Y:75.45, Z:-1.87 [[ 3.37204351e-01 -9.41427965e-01 2.57127179e-03 1.36154657e+02] [ 9.41423916e-01 3.37189440e-01 -4.92866463e-03 7.54506120e+01] [ 3.77297702e-03 4.08262392e-03 9.99984548e-01 -1.86891575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27762800000002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:136.17, Y:75.48, Z:-1.87 [[ 3.36263891e-01 -9.41766691e-01 -1.44776530e-03 1.36165513e+02] [ 9.41762410e-01 3.36266770e-01 -2.86755137e-03 7.54766955e+01] [ 3.18739973e-03 -3.99196957e-04 9.99994841e-01 -1.86630703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30762800000002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:136.17, Y:75.50, Z:-1.87 [[ 3.37484269e-01 -9.41330759e-01 -8.78063107e-04 1.36173594e+02] [ 9.41324629e-01 3.37485254e-01 -3.41250660e-03 7.55028156e+01] [ 3.50863078e-03 3.25124866e-04 9.99993792e-01 -1.86655423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33762800000002 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:136.18, Y:75.53, Z:-1.87 [[ 3.34336593e-01 -9.42452623e-01 -1.44811203e-03 1.36175925e+02] [ 9.42452381e-01 3.34338322e-01 -1.18141350e-03 7.55255885e+01] [ 1.59758559e-03 -9.69786868e-04 9.99998254e-01 -1.86716150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36762800000002 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:136.19, Y:75.56, Z:-1.87 [[ 3.38408669e-01 -9.40999240e-01 6.36655806e-05 1.36190944e+02] [ 9.40995953e-01 3.38407306e-01 -2.66681467e-03 7.55556872e+01] [ 2.48792568e-03 9.62382257e-04 9.99996442e-01 -1.86669924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39762800000003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:136.20, Y:75.58, Z:-1.87 [[ 3.36550432e-01 -9.41664429e-01 -1.38175980e-03 1.36195476e+02] [ 9.41664396e-01 3.36551884e-01 -9.97599748e-04 7.55790475e+01] [ 1.40443806e-03 -9.65411383e-04 9.99998548e-01 -1.86631892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42762800000003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:136.21, Y:75.61, Z:-1.87 [[ 3.39717097e-01 -9.40527543e-01 4.83982765e-04 1.36208352e+02] [ 9.40526853e-01 3.39716080e-01 -1.49102369e-03 7.56088086e+01] [ 1.23793212e-03 9.61725025e-04 9.99998771e-01 -1.86650353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45762800000003 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:136.22, Y:75.64, Z:-1.87 [[ 3.39533335e-01 -9.40593952e-01 -3.62842622e-04 1.36217384e+02] [ 9.40593436e-01 3.39533529e-01 -9.85314867e-04 7.56358209e+01] [ 1.04997844e-03 -6.74014622e-06 9.99999449e-01 -1.86642177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48762800000003 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:136.22, Y:75.66, Z:-1.87 [[ 3.36642611e-01 -9.41631982e-01 -9.81080413e-04 1.36221494e+02] [ 9.41632473e-01 3.36642636e-01 1.44034629e-04 7.56593692e+01] [ 1.94645883e-04 -9.72305369e-04 9.99999508e-01 -1.86710052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51762800000003 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:136.24, Y:75.69, Z:-1.87 [[ 3.39534734e-01 -9.40593460e-01 3.26336023e-04 1.36235239e+02] [ 9.40591942e-01 3.39533511e-01 -1.94774124e-03 7.56887748e+01] [ 1.72123066e-03 9.68274840e-04 9.99998050e-01 -1.86707371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.547628 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:136.24, Y:75.72, Z:-1.87 [[ 3.39262981e-01 -9.40650620e-01 8.77724618e-03 1.36240067e+02] [ 9.40675311e-01 3.39187490e-01 -9.04470342e-03 7.57167356e+01] [ 5.53077378e-03 1.13250718e-02 9.99920573e-01 -1.87214673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:136.26, Y:75.74, Z:-1.86 [[ 3.36853354e-01 -9.41487745e-01 -1.14299541e-02 1.36258863e+02] [ 9.41550293e-01 3.36872330e-01 2.80299400e-04 7.57410636e+01] [ 3.58653681e-03 -1.08562964e-02 9.99934637e-01 -1.86215155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.607628 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:136.26, Y:75.77, Z:-1.87 [[ 3.35269964e-01 -9.42121473e-01 -1.08725530e-03 1.36264223e+02] [ 9.42116845e-01 3.35271725e-01 -2.95319283e-03 7.57693927e+01] [ 3.14679234e-03 -3.42046780e-05 9.99995048e-01 -1.86670669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:136.27, Y:75.79, Z:-1.86 [[ 3.31026192e-01 -9.43608604e-01 -4.94594592e-03 1.36271050e+02] [ 9.43617551e-01 3.31035527e-01 -1.18216922e-03 7.57922018e+01] [ 2.75278886e-03 -4.27575240e-03 9.99987070e-01 -1.86394911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.667628 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:136.28, Y:75.82, Z:-1.87 [[ 3.29136962e-01 -9.44266836e-01 5.38541891e-03 1.36278671e+02] [ 9.44281433e-01 3.29124107e-01 -3.14612444e-03 7.58210292e+01] [ 1.19830978e-03 6.12085692e-03 9.99980549e-01 -1.86848537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:136.29, Y:75.84, Z:-1.86 [[ 3.25506799e-01 -9.45534781e-01 -3.04998770e-03 1.36290116e+02] [ 9.45539676e-01 3.25505820e-01 8.25984615e-04 7.58440542e+01] [ 2.11791564e-04 -3.15274799e-03 9.99995008e-01 -1.86471058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.727628 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:136.30, Y:75.87, Z:-1.87 [[ 3.26425804e-01 -9.45222822e-01 1.02717144e-04 1.36303139e+02] [ 9.45221424e-01 3.26425130e-01 -1.75875880e-03 7.58723167e+01] [ 1.62888950e-03 6.71194701e-04 9.99998448e-01 -1.86558341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.757628 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:136.31, Y:75.90, Z:-1.87 [[ 3.25661737e-01 -9.45485908e-01 -9.11693443e-04 1.36313588e+02] [ 9.45482631e-01 3.25663009e-01 -2.48979679e-03 7.58983550e+01] [ 2.65097261e-03 -5.11587683e-05 9.99996485e-01 -1.86544855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.787628 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:136.32, Y:75.92, Z:-1.87 [[ 3.26314288e-01 -9.45260239e-01 -1.43727419e-03 1.36324198e+02] [ 9.45252085e-01 3.26317444e-01 -3.92690566e-03 7.59241189e+01] [ 4.18095543e-03 -7.71810042e-05 9.99991257e-01 -1.86592172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817628 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:136.33, Y:75.95, Z:-1.87 [[ 3.26721327e-01 -9.45118873e-01 -1.86818888e-03 1.36334464e+02] [ 9.45105076e-01 3.26726653e-01 -5.10783646e-03 7.59503478e+01] [ 5.43789974e-03 -9.67956851e-05 9.99985210e-01 -1.86582027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84762800000001 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:136.34, Y:75.98, Z:-1.87 [[ 3.27602943e-01 -9.44812860e-01 -2.22984580e-03 1.36344495e+02] [ 9.44793165e-01 3.27610514e-01 -6.10134259e-03 7.59762080e+01] [ 6.49514786e-03 -1.07925283e-04 9.99978900e-01 -1.86561273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87762800000002 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:136.35, Y:76.00, Z:-1.87 [[ 3.27357887e-01 -9.44897798e-01 -2.22832077e-03 1.36354244e+02] [ 9.44878102e-01 3.27365453e-01 -6.10189983e-03 7.60030926e+01] [ 6.49514695e-03 -1.07986463e-04 9.99978900e-01 -1.86571036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90762800000002 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:136.36, Y:76.03, Z:-1.87 [[ 3.27916975e-01 -9.44703221e-01 -2.50650988e-03 1.36363825e+02] [ 9.44678252e-01 3.27926534e-01 -6.86944542e-03 7.60297598e+01] [ 7.31153831e-03 -1.15237607e-04 9.99973264e-01 -1.86625915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93762800000002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:136.37, Y:76.06, Z:-1.87 [[ 3.28052054e-01 -9.44655665e-01 -2.74294637e-03 1.36373033e+02] [ 9.44625712e-01 3.28063498e-01 -7.52363867e-03 7.60558145e+01] [ 8.00710847e-03 -1.22912551e-04 9.99967935e-01 -1.86624856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96762800000002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:136.38, Y:76.08, Z:-1.87 [[ 3.28865863e-01 -9.44371743e-01 -3.04239431e-03 1.36382542e+02] [ 9.44334843e-01 3.28879911e-01 -8.34918669e-03 7.60811316e+01] [ 8.88531835e-03 -1.27276470e-04 9.99960517e-01 -1.86543429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99762800000002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:136.39, Y:76.11, Z:-1.86 [[ 3.28484647e-01 -9.44504826e-01 -2.91036846e-03 1.36392193e+02] [ 9.44471001e-01 3.28497517e-01 -7.99435957e-03 7.61070782e+01] [ 8.50676001e-03 -1.22734226e-04 9.99963809e-01 -1.86487392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02762800000002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:136.40, Y:76.13, Z:-1.86 [[ 3.29686797e-01 -9.44052065e-01 -8.50376358e-03 1.36404338e+02] [ 9.44073897e-01 3.29720873e-01 -2.93663517e-03 7.61287457e+01] [ 5.57620484e-03 -7.06001137e-03 9.99959530e-01 -1.86172831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05762800000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:136.41, Y:76.16, Z:-1.87 [[ 3.27626510e-01 -9.44797561e-01 4.29390397e-03 1.36408553e+02] [ 9.44783610e-01 3.27582709e-01 -8.57313413e-03 7.61586571e+01] [ 6.69326753e-03 6.86559611e-03 9.99954031e-01 -1.86690679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08762800000002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:136.42, Y:76.18, Z:-1.86 [[ 3.27185614e-01 -9.44960087e-01 9.23042644e-05 1.36420118e+02] [ 9.44932884e-01 3.27175451e-01 -7.62036983e-03 7.61838032e+01] [ 7.17074565e-03 2.58049672e-03 9.99970960e-01 -1.86429133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11762800000002 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:136.43, Y:76.21, Z:-1.86 [[ 3.25982585e-01 -9.45365105e-01 -4.49131017e-03 1.36432600e+02] [ 9.45358139e-01 3.26001844e-01 -4.55923844e-03 7.62090979e+01] [ 5.77432033e-03 -2.75966429e-03 9.99979521e-01 -1.86137564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14762800000003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:136.44, Y:76.24, Z:-1.87 [[ 3.24659245e-01 -9.45812462e-01 5.92967837e-03 1.36436817e+02] [ 9.45799396e-01 3.24590710e-01 -1.02163192e-02 7.62361331e+01] [ 7.73800349e-03 8.92510870e-03 9.99930230e-01 -1.86630618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:136.45, Y:76.26, Z:-1.87 [[ 3.23076609e-01 -9.46369157e-01 2.63125251e-03 1.36445720e+02] [ 9.46366836e-01 3.23063436e-01 -4.45286184e-03 7.62590214e+01] [ 3.36398963e-03 3.92874562e-03 9.99986624e-01 -1.86866482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:136.47, Y:76.29, Z:-1.85 [[ 3.24464071e-01 -9.45764676e-01 -1.58822017e-02 1.36466144e+02] [ 9.45878721e-01 3.24518970e-01 -9.39316688e-04 7.62850207e+01] [ 6.04244829e-03 -1.47178621e-02 9.99873429e-01 -1.85350869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23762800000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:136.47, Y:76.31, Z:-1.86 [[ 3.24314302e-01 -9.45947259e-01 -2.00427592e-03 1.36469658e+02] [ 9.45931203e-01 3.24320477e-01 -5.51251669e-03 7.63136648e+01] [ 5.86457777e-03 -1.08119134e-04 9.99982797e-01 -1.85982908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:136.48, Y:76.34, Z:-1.86 [[ 3.24554973e-01 -9.45865019e-01 -1.85354543e-03 1.36478944e+02] [ 9.45851260e-01 3.24560251e-01 -5.10275728e-03 7.63392337e+01] [ 5.42810678e-03 -9.70530340e-05 9.99985263e-01 -1.85943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:136.49, Y:76.37, Z:-1.86 [[ 3.25347436e-01 -9.45593000e-01 -1.71016313e-03 1.36488467e+02] [ 9.45581262e-01 3.25351920e-01 -4.71216479e-03 7.63654564e+01] [ 5.01219490e-03 -8.40074806e-05 9.99987435e-01 -1.85891212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.327628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:136.50, Y:76.39, Z:-1.86 [[ 3.25801069e-01 -9.45436610e-01 -1.81082158e-03 1.36497628e+02] [ 9.45423424e-01 3.25806090e-01 -4.99410398e-03 7.63912326e+01] [ 5.31158544e-03 -8.49087228e-05 9.99985890e-01 -1.85861542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:76.42, Z:-1.86 [[ 3.26399992e-01 -9.45229676e-01 -1.97597838e-03 1.36506930e+02] [ 9.45213945e-01 3.26405961e-01 -5.45409458e-03 7.64175749e+01] [ 5.80034318e-03 -8.75058930e-05 9.99983174e-01 -1.85865735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:76.44, Z:-1.86 [[ 3.28343951e-01 -9.44555345e-01 -2.33480263e-03 1.36515619e+02] [ 9.44533327e-01 3.28352240e-01 -6.44985720e-03 7.64438064e+01] [ 6.85888476e-03 -8.75273051e-05 9.99976474e-01 -1.85944198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:76.47, Z:-1.86 [[ 3.29082051e-01 -9.44297880e-01 -2.55313499e-03 1.36524722e+02] [ 9.44271499e-01 3.29091943e-01 -7.05895013e-03 7.64699462e+01] [ 7.50596780e-03 -8.78788216e-05 9.99971826e-01 -1.85953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:76.50, Z:-1.86 [[ 3.29962839e-01 -9.43990098e-01 -2.68686760e-03 1.36533754e+02] [ 9.43960818e-01 3.29973768e-01 -7.43542703e-03 7.64953388e+01] [ 7.90556532e-03 -8.28831280e-05 9.99968747e-01 -1.85995944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:76.52, Z:-1.86 [[ 3.31398320e-01 -9.43485937e-01 -3.07237360e-03 1.36542237e+02] [ 9.43447565e-01 3.31412552e-01 -8.50957362e-03 7.65218062e+01] [ 9.04688622e-03 -7.85649858e-05 9.99959073e-01 -1.85980574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.507628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.55, Y:76.55, Z:-1.86 [[ 3.32107616e-01 -9.43236685e-01 -3.01463213e-03 1.36551170e+02] [ 9.43199664e-01 3.32121291e-01 -8.35710171e-03 7.65484158e+01] [ 8.88394843e-03 -6.79428833e-05 9.99960535e-01 -1.86029712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:76.57, Z:-1.86 [[ 3.32855865e-01 -9.42972579e-01 -3.11265673e-03 1.36559738e+02] [ 9.42933026e-01 3.32870413e-01 -8.63696546e-03 7.65739936e+01] [ 9.18053293e-03 -6.01622195e-05 9.99957856e-01 -1.86036247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:76.60, Z:-1.86 [[ 3.34664155e-01 -9.42320260e-01 -5.69484599e-03 1.36568921e+02] [ 9.42299604e-01 3.34698771e-01 -6.94179820e-03 7.65982349e+01] [ 8.44745504e-03 -3.04308010e-03 9.99959689e-01 -1.85887422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:76.63, Z:-1.86 [[ 3.34268624e-01 -9.42477825e-01 1.88391042e-04 1.36575942e+02] [ 9.42444895e-01 3.34255260e-01 -8.42864597e-03 7.66274579e+01] [ 7.88084123e-03 2.99498007e-03 9.99964461e-01 -1.86196093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:76.65, Z:-1.86 [[ 3.33567970e-01 -9.42722664e-01 -2.52748590e-03 1.36586492e+02] [ 9.42696479e-01 3.33577543e-01 -7.02650191e-03 7.66524838e+01] [ 7.46715513e-03 -3.88360781e-05 9.99972120e-01 -1.86029769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:76.68, Z:-1.86 [[ 3.32651592e-01 -9.43046766e-01 -2.39087041e-03 1.36595895e+02] [ 9.43023302e-01 3.32660181e-01 -6.65252878e-03 7.66786962e+01] [ 7.06899313e-03 -4.16722163e-05 9.99975013e-01 -1.85979428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:76.71, Z:-1.86 [[ 3.31263910e-01 -9.43535861e-01 -2.07389102e-03 1.36605541e+02] [ 9.43518184e-01 3.31270399e-01 -5.77574307e-03 7.67053547e+01] [ 6.13663942e-03 -4.34586561e-05 9.99981170e-01 -1.85976401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:76.73, Z:-1.86 [[ 3.28670794e-01 -9.44442720e-01 -1.85925159e-03 1.36614811e+02] [ 9.44428500e-01 3.28676049e-01 -5.18293475e-03 7.67306929e+01] [ 5.50607646e-03 -5.24509063e-05 9.99984840e-01 -1.85981262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:76.76, Z:-1.86 [[ 3.27188864e-01 -9.44956864e-01 -1.99296827e-03 1.36623838e+02] [ 9.44940517e-01 3.27194927e-01 -5.55868956e-03 7.67557077e+01] [ 5.90481096e-03 -6.44951448e-05 9.99982564e-01 -1.85959197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:76.78, Z:-1.86 [[ 3.25555925e-01 -9.45520449e-01 -2.10251130e-03 1.36633632e+02] [ 9.45502234e-01 3.25562705e-01 -5.86951404e-03 7.67824105e+01] [ 6.23424482e-03 -7.70740592e-05 9.99980564e-01 -1.85949459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:76.81, Z:-1.86 [[ 3.23761207e-01 -9.46136306e-01 -2.18448142e-03 1.36642912e+02] [ 9.46116621e-01 3.23768564e-01 -6.10388486e-03 7.68074141e+01] [ 6.48237348e-03 -9.05730536e-05 9.99978985e-01 -1.85910312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:76.83, Z:-1.86 [[ 3.22022572e-01 -9.46728882e-01 -2.42621632e-03 1.36652903e+02] [ 9.46704576e-01 3.22031693e-01 -6.78491673e-03 7.68341732e+01] [ 7.20479518e-03 -1.12013759e-04 9.99974039e-01 -1.85915734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:76.86, Z:-1.86 [[ 3.18561153e-01 -9.47897862e-01 -2.90427622e-03 1.36662027e+02] [ 9.47863020e-01 3.18574350e-01 -8.12895097e-03 7.68595458e+01] [ 8.63064316e-03 -1.63288036e-04 9.99962742e-01 -1.85981869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:76.89, Z:-1.86 [[ 3.16887282e-01 -9.48458261e-01 -3.06220948e-03 1.36671583e+02] [ 9.48419486e-01 3.16902023e-01 -8.57828860e-03 7.68858447e+01] [ 9.10656907e-03 -1.85908581e-04 9.99958517e-01 -1.86025293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:76.91, Z:-1.86 [[ 3.15170441e-01 -9.49029778e-01 -3.17381405e-03 1.36681156e+02] [ 9.48988079e-01 3.15186352e-01 -8.89885248e-03 7.69122077e+01] [ 9.44561887e-03 -2.07256440e-04 9.99955368e-01 -1.86051879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:76.94, Z:-1.86 [[ 3.12710721e-01 -9.49843342e-01 -3.10326895e-03 1.36690735e+02] [ 9.49803466e-01 3.12726037e-01 -8.70643498e-03 7.69370692e+01] [ 9.24022230e-03 -2.24900046e-04 9.99957283e-01 -1.86004141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:76.96, Z:-1.86 [[ 3.11652389e-01 -9.50191841e-01 -2.87288522e-03 1.36700421e+02] [ 9.50157618e-01 3.11665555e-01 -8.06738228e-03 7.69631918e+01] [ 8.56094019e-03 -2.15474820e-04 9.99963331e-01 -1.85985077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:76.99, Z:-1.86 [[ 3.10984601e-01 -9.50411691e-01 -2.48906451e-03 1.36710094e+02] [ 9.50385962e-01 3.10994504e-01 -6.99585377e-03 7.69900099e+01] [ 7.42302660e-03 -1.89969176e-04 9.99972431e-01 -1.85975200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:77.02, Z:-1.86 [[ 3.11555386e-01 -9.50225920e-01 -1.98539956e-03 1.36718873e+02] [ 9.50209517e-01 3.11561677e-01 -5.58530332e-03 7.70163629e+01] [ 5.92587440e-03 -1.46414222e-04 9.99982431e-01 -1.85886308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:77.04, Z:-1.86 [[ 3.12439351e-01 -9.49935896e-01 -1.85605193e-03 1.36727219e+02] [ 9.49921528e-01 3.12444837e-01 -5.22634798e-03 7.70418318e+01] [ 5.54460939e-03 -1.30186912e-04 9.99984620e-01 -1.85894703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:77.07, Z:-1.86 [[ 3.13718888e-01 -9.49514159e-01 -1.82219125e-03 1.36735672e+02] [ 9.49500280e-01 3.13724157e-01 -5.13537270e-03 7.70685236e+01] [ 5.44777451e-03 -1.19107692e-04 9.99985154e-01 -1.85902994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:77.10, Z:-1.86 [[ 3.15434373e-01 -9.48945700e-01 -1.79306789e-03 1.36744241e+02] [ 9.48932228e-01 3.15439451e-01 -5.05762351e-03 7.70952946e+01] [ 5.36501444e-03 -1.06151606e-04 9.99985603e-01 -1.85899360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:77.12, Z:-1.86 [[ 3.16869028e-01 -9.48467461e-01 -1.86935868e-03 1.36752557e+02] [ 9.48452783e-01 3.16874526e-01 -5.27758731e-03 7.71214945e+01] [ 5.59797199e-03 -1.00694487e-04 9.99984326e-01 -1.85927046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:77.15, Z:-1.86 [[ 3.20043462e-01 -9.47400812e-01 -1.97074620e-03 1.36760343e+02] [ 9.47384449e-01 3.20049519e-01 -5.56873435e-03 7.71475429e+01] [ 5.90655982e-03 -8.48172791e-05 9.99982553e-01 -1.85923258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:77.17, Z:-1.88 [[ 3.17724449e-01 -9.48016376e-01 1.77798887e-02 1.36753368e+02] [ 9.48182254e-01 3.17643386e-01 -7.28649526e-03 7.71734387e+01] [ 1.26005279e-03 1.91736726e-02 9.99815374e-01 -1.87681889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:77.20, Z:-1.85 [[ 3.23112428e-01 -9.46143905e-01 -2.02501832e-02 1.36785537e+02] [ 9.46339823e-01 3.23173103e-01 2.91149362e-04 7.71978642e+01] [ 6.26884536e-03 -1.92576288e-02 9.99794902e-01 -1.85079847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:77.23, Z:-1.86 [[ 3.25933066e-01 -9.45390278e-01 -2.20410782e-03 1.36785214e+02] [ 9.45369707e-01 3.25940514e-01 -6.23684919e-03 7.72261903e+01] [ 6.61466463e-03 -5.09013888e-05 9.99978122e-01 -1.85921781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:77.25, Z:-1.87 [[ 3.23464436e-01 -9.46222403e-01 5.82428509e-03 1.36783816e+02] [ 9.46234514e-01 3.23434743e-01 -5.49655488e-03 7.72506628e+01] [ 3.31718722e-03 7.28907959e-03 9.99967932e-01 -1.86792674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:77.28, Z:-1.86 [[ 3.28182930e-01 -9.44575399e-01 -8.56034074e-03 1.36805950e+02] [ 9.44599005e-01 3.28215561e-01 -2.69563099e-03 7.72775988e+01] [ 5.35586375e-03 -7.20142926e-03 9.99959726e-01 -1.85563310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:77.30, Z:-1.86 [[ 3.28861526e-01 -9.44377061e-01 -1.43665602e-03 1.36811791e+02] [ 9.44368289e-01 3.28864663e-01 -4.07027008e-03 7.73031384e+01] [ 4.31633509e-03 -1.81771650e-05 9.99990684e-01 -1.85805322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:77.33, Z:-1.86 [[ 3.29464499e-01 -9.44167439e-01 -9.96091452e-04 1.36821200e+02] [ 9.44163213e-01 3.29466004e-01 -2.82487791e-03 7.73290414e+01] [ 2.99533601e-03 -9.77592264e-06 9.99995514e-01 -1.85733273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:77.35, Z:-1.86 [[ 3.29155675e-01 -9.44275204e-01 -9.38904701e-04 1.36830062e+02] [ 9.44271442e-01 3.29157014e-01 -2.66535629e-03 7.73541947e+01] [ 2.82587692e-03 -9.26374879e-06 9.99996007e-01 -1.85732683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:77.38, Z:-1.86 [[ 3.28558612e-01 -9.44483170e-01 -8.82822714e-04 1.36839014e+02] [ 9.44479839e-01 3.28559798e-01 -2.50844025e-03 7.73798763e+01] [ 2.65923965e-03 -9.63860842e-06 9.99996464e-01 -1.85743437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:77.41, Z:-1.86 [[ 3.27922211e-01 -9.44704365e-01 -8.28647297e-04 1.36847856e+02] [ 9.44701425e-01 3.27923258e-01 -2.35669476e-03 7.74056331e+01] [ 2.49811255e-03 -1.00117267e-05 9.99996880e-01 -1.85748421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:77.43, Z:-1.86 [[ 3.26544605e-01 -9.45181553e-01 -6.72740686e-04 1.36856494e+02] [ 9.45179614e-01 3.26545298e-01 -1.91461479e-03 7.74308489e+01] [ 2.02933889e-03 -1.06536501e-05 9.99997941e-01 -1.85814474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:77.46, Z:-1.86 [[ 3.25333886e-01 -9.45599009e-01 -6.13671035e-04 1.36865434e+02] [ 9.45597393e-01 3.25334465e-01 -1.74827284e-03 7.74564783e+01] [ 1.85281340e-03 -1.15133330e-05 9.99998283e-01 -1.85854530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:77.48, Z:-1.86 [[ 3.24240285e-01 -9.45974512e-01 -6.78063145e-04 1.36874493e+02] [ 9.45972537e-01 3.24240994e-01 -1.93336713e-03 7.74823096e+01] [ 2.04877190e-03 -1.45536035e-05 9.99997901e-01 -1.85882316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:77.51, Z:-1.86 [[ 3.23358127e-01 -9.46276164e-01 -9.71055460e-04 1.36883151e+02] [ 9.46272107e-01 3.23359584e-01 -2.77110535e-03 7.75069065e+01] [ 2.93623103e-03 -2.28232622e-05 9.99995689e-01 -1.85929854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:77.53, Z:-1.86 [[ 3.21636466e-01 -9.46861779e-01 -1.65962777e-03 1.36892077e+02] [ 9.46849916e-01 3.21640745e-01 -4.73996572e-03 7.75315928e+01] [ 5.02189629e-03 -4.68725902e-05 9.99987389e-01 -1.85964804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:77.56, Z:-1.86 [[ 3.20434134e-01 -9.47268777e-01 -1.95707979e-03 1.36901019e+02] [ 9.47252260e-01 3.20440105e-01 -5.59423689e-03 7.75574783e+01] [ 5.92637279e-03 -6.12638013e-05 9.99982437e-01 -1.86033009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:77.58, Z:-1.86 [[ 3.19530457e-01 -9.47573193e-01 -2.30869514e-03 1.36910262e+02] [ 9.47550177e-01 3.19538788e-01 -6.60495985e-03 7.75830529e+01] [ 6.99640055e-03 -7.71186458e-05 9.99975522e-01 -1.86055153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:77.61, Z:-1.86 [[ 3.18538725e-01 -9.47906240e-01 -2.61566495e-03 1.36919553e+02] [ 9.47876655e-01 3.18549450e-01 -7.48959085e-03 7.76084104e+01] [ 7.93264853e-03 -9.36030210e-05 9.99968532e-01 -1.86063041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:77.63, Z:-1.86 [[ 3.18357757e-01 -9.47967037e-01 -2.61429803e-03 1.36928554e+02] [ 9.47937451e-01 3.18368477e-01 -7.49006811e-03 7.76346464e+01] [ 7.93264776e-03 -9.36697280e-05 9.99968532e-01 -1.86065342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:77.66, Z:-1.86 [[ 3.15332056e-01 -9.48976583e-01 -3.02322370e-03 1.36938455e+02] [ 9.48937009e-01 3.15346519e-01 -8.66746602e-03 7.76593586e+01] [ 9.17858536e-03 -1.35718974e-04 9.99957867e-01 -1.86053325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:77.68, Z:-1.86 [[ 3.13300290e-01 -9.49648999e-01 -3.11572195e-03 1.36948271e+02] [ 9.49606925e-01 3.13315742e-01 -8.94056220e-03 7.76845626e+01] [ 9.46660067e-03 -1.57630415e-04 9.99955178e-01 -1.86019412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:77.71, Z:-1.86 [[ 3.10704078e-01 -9.50501745e-01 -3.06751331e-03 1.36957901e+02] [ 9.50460933e-01 3.10719169e-01 -8.80985578e-03 7.77097289e+01] [ 9.32691848e-03 -1.78293447e-04 9.99956487e-01 -1.85985446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:77.73, Z:-1.86 [[ 3.07691666e-01 -9.51481540e-01 -2.95252203e-03 1.36967375e+02] [ 9.51443701e-01 3.07705768e-01 -8.48782685e-03 7.77348076e+01] [ 8.98451862e-03 -1.97524899e-04 9.99959619e-01 -1.85945899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:77.76, Z:-1.86 [[ 3.00501803e-01 -9.53778366e-01 -2.34394342e-03 1.36976842e+02] [ 9.53754537e-01 3.00510872e-01 -6.74523038e-03 7.77586183e+01] [ 7.13783530e-03 -2.08592782e-04 9.99974504e-01 -1.85930574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:77.78, Z:-1.86 [[ 2.96069575e-01 -9.55164429e-01 -1.92893885e-03 1.36986012e+02] [ 9.55148288e-01 2.96075793e-01 -5.55632313e-03 7.77833224e+01] [ 5.87831431e-03 -1.97364415e-04 9.99982703e-01 -1.85924286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:77.81, Z:-1.86 [[ 2.91705709e-01 -9.56506677e-01 -1.66032280e-03 1.36995638e+02] [ 9.56494717e-01 2.91710372e-01 -4.78707155e-03 7.78086067e+01] [ 5.06319928e-03 -1.91673879e-04 9.99987164e-01 -1.85868399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:77.83, Z:-1.86 [[ 2.87178631e-01 -9.57875981e-01 -1.42821391e-03 1.37005602e+02] [ 9.57867131e-01 2.87182123e-01 -4.12153028e-03 7.78346018e+01] [ 4.35807236e-03 -1.84423736e-04 9.99990487e-01 -1.85838198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:77.86, Z:-1.86 [[ 2.78696556e-01 -9.60378705e-01 -9.85940070e-04 1.37015792e+02] [ 9.60374494e-01 2.78698258e-01 -2.84809958e-03 7.78597364e+01] [ 3.01003397e-03 -1.53116151e-04 9.99995458e-01 -1.85729460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:77.89, Z:-1.86 [[ 2.74973774e-01 -9.61451434e-01 -7.50762945e-04 1.37024936e+02] [ 9.61448991e-01 2.74974771e-01 -2.17085620e-03 7.78859349e+01] [ 2.29361367e-03 -1.24891754e-04 9.99997362e-01 -1.85699430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:77.91, Z:-1.86 [[ 2.70275887e-01 -9.62782720e-01 -6.16357117e-04 1.37031815e+02] [ 9.62781073e-01 2.70276567e-01 -1.78406620e-03 7.79108773e+01] [ 1.88425499e-03 -1.11226893e-04 9.99998219e-01 -1.85674330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:77.94, Z:-1.86 [[ 2.69276562e-01 -9.63062592e-01 -7.59887926e-04 1.37039274e+02] [ 9.63060086e-01 2.69277599e-01 -2.20142740e-03 7.79375791e+01] [ 2.32473317e-03 -1.39024930e-04 9.99997288e-01 -1.85709437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:77.96, Z:-1.86 [[ 2.69539137e-01 -9.62988715e-01 -1.17796002e-03 1.37045613e+02] [ 9.62982682e-01 2.69541626e-01 -3.41561047e-03 7.79628649e+01] [ 3.60670359e-03 -2.13714397e-04 9.99993473e-01 -1.85760903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:77.99, Z:-1.86 [[ 2.70709452e-01 -9.62659548e-01 -1.72830526e-03 1.37052087e+02] [ 9.62646530e-01 2.70714796e-01 -5.01568912e-03 7.79890235e+01] [ 5.29627883e-03 -3.05952609e-04 9.99985928e-01 -1.85816769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:137.06, Y:78.02, Z:-1.86 [[ 2.71999716e-01 -9.62294794e-01 -2.21006008e-03 1.37058929e+02] [ 9.62273456e-01 2.72008429e-01 -6.41962249e-03 7.80151397e+01] [ 6.77872427e-03 -3.80546652e-04 9.99976952e-01 -1.86096132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:78.04, Z:-1.86 [[ 2.75101957e-01 -9.61412135e-01 -2.37076931e-03 1.37066365e+02] [ 9.61387506e-01 2.75111905e-01 -6.89223251e-03 7.80423517e+01] [ 7.27850283e-03 -3.83161346e-04 9.99973438e-01 -1.85810776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:78.07, Z:-1.86 [[ 2.80960814e-01 -9.59716568e-01 -2.26516598e-03 1.37071064e+02] [ 9.59693986e-01 2.80969761e-01 -6.59143720e-03 7.80702457e+01] [ 6.96235463e-03 -3.21930604e-04 9.99975711e-01 -1.85766047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:137.08, Y:78.10, Z:-1.86 [[ 2.83022782e-01 -9.59110735e-01 -2.16848110e-03 1.37077134e+02] [ 9.59089981e-01 2.83030939e-01 -6.31636559e-03 7.80972816e+01] [ 6.67184128e-03 -2.92093138e-04 9.99977700e-01 -1.85966452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:78.12, Z:-1.86 [[ 2.86089159e-01 -9.58201507e-01 -1.69238574e-03 1.37083182e+02] [ 9.58188833e-01 2.86094088e-01 -4.93281701e-03 7.81238378e+01] [ 5.21081425e-03 -2.10399646e-04 9.99986401e-01 -1.85706770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:78.15, Z:-1.86 [[ 2.88322228e-01 -9.57532222e-01 -1.52861078e-03 1.37089408e+02] [ 9.57521853e-01 2.88326225e-01 -4.45962125e-03 7.81509625e+01] [ 4.71096961e-03 -1.77870289e-04 9.99988888e-01 -1.85674499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:78.18, Z:-1.86 [[ 2.92337128e-01 -9.56314363e-01 -1.35736521e-03 1.37093937e+02] [ 9.56306159e-01 2.92340246e-01 -3.96383634e-03 7.81789578e+01] [ 4.18748610e-03 -1.39280178e-04 9.99991223e-01 -1.85651592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:78.21, Z:-1.86 [[ 2.93461687e-01 -9.55970131e-01 -1.16056414e-03 1.37100462e+02] [ 9.55964118e-01 2.93463960e-01 -3.39262278e-03 7.82058834e+01] [ 3.58382980e-03 -1.13852869e-04 9.99993572e-01 -1.85654394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:78.23, Z:-1.86 [[ 2.94535904e-01 -9.55639930e-01 -9.61842548e-04 1.37107520e+02] [ 9.55635790e-01 2.94537460e-01 -2.81438459e-03 7.82334632e+01] [ 2.97283696e-03 -9.02338546e-05 9.99995577e-01 -1.85649821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:78.26, Z:-1.86 [[ 2.94501207e-01 -9.55650854e-01 -6.95918165e-04 1.37112045e+02] [ 9.55648682e-01 2.94502022e-01 -2.03836052e-03 7.82620411e+01] [ 2.15291028e-03 -6.47536440e-05 9.99997680e-01 -1.85674393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:78.29, Z:-1.86 [[ 2.93403042e-01 -9.55988600e-01 -6.72535328e-04 1.37118736e+02] [ 9.55986568e-01 2.93403806e-01 -1.97185134e-03 7.82885970e+01] [ 2.08239183e-03 -6.43875576e-05 9.99997830e-01 -1.85681364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:78.32, Z:-1.86 [[ 2.88743075e-01 -9.57392736e-01 5.15619610e-03 1.37119285e+02] [ 9.57406576e-01 2.88737231e-01 -1.86011722e-03 7.83153457e+01] [ 2.92076931e-04 5.47367202e-03 9.99984977e-01 -1.86326392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:78.34, Z:-1.85 [[ 2.90389768e-01 -9.56888055e-01 -6.24759115e-03 1.37135520e+02] [ 9.56903724e-01 2.90402665e-01 -1.24714644e-03 7.83420966e+01] [ 3.00769665e-03 -5.61618467e-03 9.99979706e-01 -1.85479371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:78.37, Z:-1.86 [[ 2.84842088e-01 -9.58568107e-01 3.48830577e-03 1.37133895e+02] [ 9.58571080e-01 2.84829544e-01 -3.69000032e-03 7.83700557e+01] [ 2.54354408e-03 4.39485643e-03 9.99987108e-01 -1.86303389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:78.40, Z:-1.86 [[ 2.82299856e-01 -9.59326216e-01 -5.42767186e-05 1.37141807e+02] [ 9.59324057e-01 2.82299340e-01 -2.10628721e-03 7.83954708e+01] [ 2.03593882e-03 5.42535615e-04 9.99997780e-01 -1.86246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.667628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.16, Y:78.42, Z:-1.86 [[ 2.82908291e-01 -9.59124922e-01 -6.50255718e-03 1.37155747e+02] [ 9.59135568e-01 2.82931476e-01 -2.95659295e-03 7.84228818e+01] [ 4.67552009e-03 -5.40038921e-03 9.99974487e-01 -1.85806370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:78.45, Z:-1.86 [[ 2.81679741e-01 -9.59507355e-01 -1.46965341e-03 1.37161302e+02] [ 9.59497625e-01 2.81683510e-01 -4.32518966e-03 7.84501321e+01] [ 4.56402842e-03 -1.91810648e-04 9.99989566e-01 -1.85861269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:78.48, Z:-1.86 [[ 2.80064273e-01 -9.59980147e-01 -1.45636051e-03 1.37168780e+02] [ 9.59970581e-01 2.80067991e-01 -4.28993229e-03 7.84772932e+01] [ 4.52612979e-03 -1.96606472e-04 9.99989738e-01 -1.85881225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:78.50, Z:-1.86 [[ 2.78870414e-01 -9.60327637e-01 -1.45688502e-03 1.37176496e+02] [ 9.60318051e-01 2.78874147e-01 -4.29539310e-03 7.85039023e+01] [ 4.53127227e-03 -2.01214929e-04 9.99989713e-01 -1.85889998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:78.53, Z:-1.86 [[ 2.76045567e-01 -9.61143464e-01 -1.44431439e-03 1.37183040e+02] [ 9.61134037e-01 2.76049264e-01 -4.26227368e-03 7.85315796e+01] [ 4.49535841e-03 -2.11597962e-04 9.99989873e-01 -1.85846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.19, Y:78.56, Z:-1.86 [[ 2.74190512e-01 -9.61674304e-01 -1.44796798e-03 1.37190795e+02] [ 9.61664818e-01 2.74194247e-01 -4.27701647e-03 7.85587006e+01] [ 4.51012132e-03 -2.19742531e-04 9.99989805e-01 -1.85825985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:78.59, Z:-1.86 [[ 2.72153455e-01 -9.62253074e-01 -1.23205944e-03 1.37198283e+02] [ 9.62246199e-01 2.72156174e-01 -3.64276758e-03 7.85857275e+01] [ 3.84057689e-03 -1.94152733e-04 9.99992606e-01 -1.85869749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87762800000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:137.21, Y:78.61, Z:-1.86 [[ 2.69170690e-01 -9.63091503e-01 -1.37691411e-03 1.37205616e+02] [ 9.63082911e-01 2.69174114e-01 -4.07475780e-03 7.86133408e+01] [ 4.29499425e-03 -2.29277079e-04 9.99990750e-01 -1.86120058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90762800000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:137.21, Y:78.64, Z:-1.86 [[ 2.64917585e-01 -9.64269563e-01 -1.69784912e-03 1.37211805e+02] [ 9.64256496e-01 2.64922851e-01 -5.02932855e-03 7.86398375e+01] [ 5.29942748e-03 -3.04804467e-04 9.99985911e-01 -1.86138560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:78.67, Z:-1.86 [[ 2.63031994e-01 -9.64786047e-01 -1.43277035e-03 1.37219569e+02] [ 9.64776731e-01 2.63035763e-01 -4.24811608e-03 7.86671993e+01] [ 4.47539296e-03 -2.64913056e-04 9.99989950e-01 -1.85878128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:78.69, Z:-1.86 [[ 2.58083384e-01 -9.66108946e-01 -5.14504940e-03 1.37223993e+02] [ 9.66114156e-01 2.58099782e-01 -2.81783822e-03 7.86918034e+01] [ 4.05027484e-03 -4.24346784e-03 9.99982794e-01 -1.85804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:78.72, Z:-1.86 [[ 2.59282627e-01 -9.65798974e-01 2.20478063e-03 1.37229567e+02] [ 9.65786852e-01 2.59265452e-01 -6.09765445e-03 7.87222992e+01] [ 5.31748497e-03 3.71036401e-03 9.99978979e-01 -1.86040155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:78.75, Z:-1.86 [[ 2.59398772e-01 -9.65768964e-01 -1.60773836e-03 1.37237697e+02] [ 9.65757206e-01 2.59403564e-01 -4.77599062e-03 7.87495605e+01] [ 5.02955658e-03 -3.13798802e-04 9.99987302e-01 -1.85893077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:78.78, Z:-1.86 [[ 2.60401174e-01 -9.65499333e-01 -1.50518894e-03 1.37244142e+02] [ 9.65489003e-01 2.60405366e-01 -4.47547872e-03 7.87772096e+01] [ 4.71303100e-03 -2.87823454e-04 9.99988852e-01 -1.85914428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:78.80, Z:-1.86 [[ 2.61647427e-01 -9.65162434e-01 -1.44906080e-03 1.37250328e+02] [ 9.65152837e-01 2.61651300e-01 -4.31253285e-03 7.88048659e+01] [ 4.54144334e-03 -2.70202023e-04 9.99989651e-01 -1.85887099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:78.83, Z:-1.86 [[ 2.65885150e-01 -9.64004065e-01 -1.11761504e-03 1.37253354e+02] [ 9.63998335e-01 2.65887429e-01 -3.32943337e-03 7.88330310e+01] [ 3.50674709e-03 -1.92132150e-04 9.99993833e-01 -1.85875155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:78.86, Z:-1.86 [[ 2.68533527e-01 -9.63269865e-01 -9.55477158e-04 1.37259110e+02] [ 9.63265663e-01 2.68535182e-01 -2.84920291e-03 7.88609952e+01] [ 3.00113053e-03 -1.55271833e-04 9.99995485e-01 -1.85872686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17762800000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:137.26, Y:78.89, Z:-1.86 [[ 2.71346189e-01 -9.62481112e-01 -1.16436039e-03 1.37264596e+02] [ 9.62474854e-01 2.71348629e-01 -3.47517770e-03 7.88885541e+01] [ 3.66074049e-03 -1.77691372e-04 9.99993284e-01 -1.86113478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:78.92, Z:-1.86 [[ 2.78589065e-01 -9.60410007e-01 -8.67171576e-04 1.37267733e+02] [ 9.60406519e-01 2.78590392e-01 -2.59080267e-03 7.89170176e+01] [ 2.72981848e-03 -1.11067942e-04 9.99996268e-01 -1.85959796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:78.94, Z:-1.86 [[ 2.81978774e-01 -9.59420378e-01 -7.14099846e-04 1.37273873e+02] [ 9.59418005e-01 2.81979666e-01 -2.13534051e-03 7.89439192e+01] [ 2.25005083e-03 -8.29995517e-05 9.99997465e-01 -1.85986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:78.97, Z:-1.86 [[ 2.85378337e-01 -9.58414574e-01 -8.42730059e-04 1.37280461e+02] [ 9.58411258e-01 2.85379567e-01 -2.52241733e-03 7.89703963e+01] [ 2.65801947e-03 -8.78387136e-05 9.99996464e-01 -1.85952879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:79.00, Z:-1.86 [[ 2.88432661e-01 -9.57499854e-01 -7.93508424e-04 1.37287721e+02] [ 9.57496906e-01 2.88433743e-01 -2.37727267e-03 7.89976807e+01] [ 2.50511284e-03 -7.40987803e-05 9.99996859e-01 -1.85955690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.327628 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:137.29, Y:79.03, Z:-1.86 [[ 2.93620257e-01 -9.55921288e-01 -1.27881702e-03 1.37293956e+02] [ 9.55913603e-01 2.93623026e-01 -3.83440289e-03 7.90254022e+01] [ 4.04087748e-03 -9.65802250e-05 9.99991831e-01 -1.86197243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:79.05, Z:-1.86 [[ 2.95891352e-01 -9.55221381e-01 -6.48126517e-04 1.37301610e+02] [ 9.55219401e-01 2.95892059e-01 -1.94555845e-03 7.90521624e+01] [ 2.05021452e-03 -4.34291035e-05 9.99997897e-01 -1.85987088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:79.08, Z:-1.86 [[ 2.97427825e-01 -9.54744196e-01 -4.57517656e-04 1.37309209e+02] [ 9.54743207e-01 2.97428176e-01 -1.37425573e-03 7.90776606e+01] [ 1.44814132e-03 -2.80699819e-05 9.99998951e-01 -1.85995102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:79.10, Z:-1.86 [[ 2.98494606e-01 -9.54411277e-01 -2.90619797e-04 1.37317302e+02] [ 9.54410877e-01 2.98494747e-01 -8.74136324e-04 7.91042948e+01] [ 9.21034048e-04 -1.64457183e-05 9.99999576e-01 -1.86014395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:79.13, Z:-1.86 [[ 2.98950085e-01 -9.54268746e-01 -8.90144797e-05 1.37325045e+02] [ 9.54268708e-01 2.98950098e-01 -2.68522334e-04 7.91311341e+01] [ 2.82853358e-04 -4.66895811e-06 9.99999960e-01 -1.86096343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:79.15, Z:-1.85 [[ 2.97634481e-01 -9.54489812e-01 -1.90503314e-02 1.37339692e+02] [ 9.54665712e-01 2.97679594e-01 4.87872189e-04 7.91538866e+01] [ 5.20522587e-03 -1.83319058e-02 9.99818407e-01 -1.84964108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:79.19, Z:-1.87 [[ 2.97719706e-01 -9.54497859e-01 1.72282751e-02 1.37335307e+02] [ 9.54652782e-01 2.97651747e-01 -6.44235202e-03 7.91865450e+01] [ 1.02118504e-03 1.83650359e-02 9.99830827e-01 -1.86813673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:79.21, Z:-1.86 [[ 2.94709584e-01 -9.55586623e-01 -6.83487449e-04 1.37353045e+02] [ 9.55584402e-01 2.94710373e-01 -2.06077557e-03 7.92092789e+01] [ 2.17068040e-03 -4.57996368e-05 9.99997643e-01 -1.86256126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:79.24, Z:-1.86 [[ 2.91990124e-01 -9.56415451e-01 3.35453012e-03 1.37360894e+02] [ 9.56414473e-01 2.91972948e-01 -4.81192568e-03 7.92368733e+01] [ 3.62276802e-03 4.61335593e-03 9.99982796e-01 -1.86467770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:79.26, Z:-1.86 [[ 2.89481506e-01 -9.57169745e-01 -5.15134240e-03 1.37373650e+02] [ 9.57181445e-01 2.89488099e-01 -5.67726927e-04 7.92609873e+01] [ 2.03466336e-03 -4.76642292e-03 9.99986571e-01 -1.86162072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:79.29, Z:-1.86 [[ 2.86286427e-01 -9.58143882e-01 -6.19138032e-04 1.37381140e+02] [ 9.58142056e-01 2.86287091e-01 -1.87120581e-03 7.92884454e+01] [ 1.97013562e-03 -5.75213612e-05 9.99998058e-01 -1.86373122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:79.31, Z:-1.86 [[ 2.83111670e-01 -9.59086714e-01 -6.76922055e-04 1.37391117e+02] [ 9.59084530e-01 2.83112470e-01 -2.04769670e-03 7.93148701e+01] [ 2.15556378e-03 -6.94986383e-05 9.99997674e-01 -1.86371042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:79.34, Z:-1.86 [[ 2.82858742e-01 -9.59161339e-01 -6.76398443e-04 1.37400024e+02] [ 9.59159155e-01 2.82859542e-01 -2.04786976e-03 7.93420186e+01] [ 2.15556325e-03 -6.95158953e-05 9.99997674e-01 -1.86373837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:79.37, Z:-1.86 [[ 2.76325355e-01 -9.61063807e-01 -8.10522393e-04 1.37412033e+02] [ 9.61060675e-01 2.76326526e-01 -2.45582587e-03 7.93664218e+01] [ 2.58417419e-03 -1.00354242e-04 9.99996656e-01 -1.86403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74762800000002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:137.42, Y:79.39, Z:-1.87 [[ 2.72612806e-01 -9.62122719e-01 -1.45984978e-03 1.37422206e+02] [ 9.62112554e-01 2.72616643e-01 -4.42710681e-03 7.93917627e+01] [ 4.65739939e-03 -1.97653794e-04 9.99989135e-01 -1.86541731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:79.42, Z:-1.86 [[ 2.70557691e-01 -9.62702986e-01 -1.22342338e-03 1.37432616e+02] [ 9.62695838e-01 2.70560402e-01 -3.71368894e-03 7.94174587e+01] [ 3.90618935e-03 -1.73017495e-04 9.99992356e-01 -1.86392513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:79.44, Z:-1.86 [[ 2.68918364e-01 -9.63161734e-01 -1.54488858e-03 1.37441865e+02] [ 9.63150323e-01 2.68922707e-01 -4.69393309e-03 7.94432194e+01] [ 4.93647236e-03 -2.25675126e-04 9.99987790e-01 -1.86395125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:79.47, Z:-1.86 [[ 2.68220700e-01 -9.63355983e-01 -1.70458132e-03 1.37450856e+02] [ 9.63342069e-01 2.68225999e-01 -5.18382444e-03 7.94694693e+01] [ 5.45108131e-03 -2.51685873e-04 9.99985111e-01 -1.86472444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:79.50, Z:-1.86 [[ 2.69406612e-01 -9.63024646e-01 -1.89949910e-03 1.37460521e+02] [ 9.63007326e-01 2.69413171e-01 -5.78222422e-03 7.94950739e+01] [ 6.08017451e-03 -2.71462109e-04 9.99981479e-01 -1.86469892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:79.52, Z:-1.86 [[ 2.70273338e-01 -9.62782165e-01 -1.68117569e-03 1.37469715e+02] [ 9.62768565e-01 2.70278465e-01 -5.12259270e-03 7.95213493e+01] [ 5.38632647e-03 -2.34082877e-04 9.99985466e-01 -1.86479713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92762800000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:137.48, Y:79.55, Z:-1.87 [[ 2.72083831e-01 -9.62271238e-01 -2.11056812e-03 1.37479981e+02] [ 9.62249754e-01 2.72091873e-01 -6.43615597e-03 7.95468496e+01] [ 6.76759621e-03 -2.79719684e-04 9.99977060e-01 -1.86581019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95762800000003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.49, Y:79.57, Z:-1.87 [[ 2.73116831e-01 -9.61978819e-01 -1.98701932e-03 1.37489683e+02] [ 9.61959730e-01 2.73123940e-01 -6.06561977e-03 7.95721863e+01] [ 6.37770029e-03 -2.54809722e-04 9.99979630e-01 -1.86513069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:79.60, Z:-1.86 [[ 2.75198093e-01 -9.61386826e-01 -1.17464418e-03 1.37499702e+02] [ 9.61380136e-01 2.75200564e-01 -3.58947204e-03 7.95988023e+01] [ 3.77413387e-03 -1.41463725e-04 9.99992868e-01 -1.86259250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01762800000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.51, Y:79.62, Z:-1.86 [[ 2.76190101e-01 -9.61101995e-01 -1.40825350e-03 1.37508147e+02] [ 9.61092364e-01 2.76193642e-01 -4.30589970e-03 7.96245178e+01] [ 4.52735945e-03 -1.64214818e-04 9.99989738e-01 -1.86418915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:79.65, Z:-1.86 [[ 2.80895166e-01 -9.59738226e-01 -6.65791322e-04 1.37517101e+02] [ 9.59736064e-01 2.80895947e-01 -2.03818726e-03 7.96506919e+01] [ 2.14314431e-03 -6.64669944e-05 9.99997701e-01 -1.86237764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:79.68, Z:-1.86 [[ 2.82929970e-01 -9.59140429e-01 -5.19039205e-04 1.37526395e+02] [ 9.59139111e-01 2.82930443e-01 -1.59066004e-03 7.96773939e+01] [ 1.67251835e-03 -4.77854023e-05 9.99998600e-01 -1.86205861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.107628 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:137.54, Y:79.70, Z:-1.86 [[ 2.84262792e-01 -9.58746142e-01 -7.07626104e-04 1.37535655e+02] [ 9.58743687e-01 2.84263666e-01 -2.17036564e-03 7.97036577e+01] [ 2.28198207e-03 -6.14778630e-05 9.99997394e-01 -1.86305402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:79.73, Z:-1.86 [[ 2.86238128e-01 -9.58158511e-01 -4.26627964e-05 1.37544983e+02] [ 9.58158502e-01 2.86238131e-01 -1.31874158e-04 7.97290027e+01] [ 1.38568066e-04 -3.13030895e-06 9.99999990e-01 -1.86164078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:79.76, Z:-1.86 [[ 2.88105795e-01 -9.57598576e-01 1.31948711e-04 1.37554532e+02] [ 9.57598491e-01 2.88105825e-01 4.04456762e-04 7.97550895e+01] [-4.25322411e-04 9.82754979e-06 9.99999910e-01 -1.86127075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:79.78, Z:-1.85 [[ 2.89522642e-01 -9.57066061e-01 -1.41843354e-02 1.37568870e+02] [ 9.57166056e-01 2.89537724e-01 1.02347258e-03 7.97784961e+01] [ 3.12736931e-03 -1.38730829e-02 9.99898873e-01 -1.85084798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:79.81, Z:-1.86 [[ 2.94510750e-01 -9.55613711e-01 8.11508657e-03 1.37569515e+02] [ 9.55631672e-01 2.94445155e-01 -8.37609828e-03 7.98079625e+01] [ 5.61486643e-03 1.02218847e-02 9.99931991e-01 -1.86059107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:79.83, Z:-1.86 [[ 2.97039167e-01 -9.54859590e-01 3.30104858e-03 1.37582208e+02] [ 9.54864971e-01 2.97034438e-01 -1.85203100e-03 7.98341897e+01] [ 7.87904456e-04 3.70218140e-03 9.99992837e-01 -1.86323455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:79.86, Z:-1.86 [[ 2.99166259e-01 -9.54200858e-01 -5.21666089e-04 1.37593343e+02] [ 9.54199503e-01 2.99166713e-01 -1.60806923e-03 7.98605086e+01] [ 1.69048617e-03 -1.66934679e-05 9.99998571e-01 -1.86210277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:79.89, Z:-1.86 [[ 3.01221840e-01 -9.53553795e-01 -7.50125262e-04 1.37602748e+02] [ 9.53550987e-01 3.01222774e-01 -2.31435106e-03 7.98854107e+01] [ 2.43281305e-03 -1.81495977e-05 9.99997041e-01 -1.86266653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34762800000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.61, Y:79.91, Z:-1.86 [[ 3.04003595e-01 -9.52669414e-01 -1.67367457e-03 1.37614211e+02] [ 9.52655398e-01 3.04008201e-01 -5.16781020e-03 7.99108638e+01] [ 5.43202551e-03 -2.34022373e-05 9.99985246e-01 -1.86479647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:79.94, Z:-1.86 [[ 3.05488299e-01 -9.52194958e-01 -1.28865800e-03 1.37624953e+02] [ 9.52186627e-01 3.05491016e-01 -3.98318859e-03 7.99368741e+01] [ 4.18644554e-03 -1.02254031e-05 9.99991237e-01 -1.86290045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:79.96, Z:-1.86 [[ 3.06211007e-01 -9.51962734e-01 -1.33093267e-03 1.37635734e+02] [ 9.51953830e-01 3.06213900e-01 -4.11745513e-03 7.99616421e+01] [ 4.32721392e-03 -6.17637243e-06 9.99990638e-01 -1.86292885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:79.99, Z:-1.86 [[ 3.06484356e-01 -9.51874821e-01 -1.28995171e-03 1.37649409e+02] [ 9.51866438e-01 3.06487071e-01 -3.99489468e-03 7.99860776e+01] [ 4.19799318e-03 -3.48901586e-06 9.99991188e-01 -1.86225189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:80.01, Z:-1.86 [[ 3.06066382e-01 -9.52009318e-01 -1.27590188e-03 1.37660701e+02] [ 9.52001102e-01 3.06069041e-01 -3.95515126e-03 8.00117873e+01] [ 4.15585492e-03 -4.12116371e-06 9.99991364e-01 -1.86244975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:80.04, Z:-1.86 [[ 3.05411249e-01 -9.52219727e-01 -1.24949860e-03 1.37672164e+02] [ 9.52211834e-01 3.05413805e-01 -3.87708168e-03 8.00376768e+01] [ 4.07344777e-03 -5.68299321e-06 9.99991703e-01 -1.86263388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:80.06, Z:-1.86 [[ 3.04656782e-01 -9.52461354e-01 -1.27095250e-03 1.37683729e+02] [ 9.52453172e-01 3.04659433e-01 -3.94771728e-03 8.00626118e+01] [ 4.14725582e-03 -7.82389584e-06 9.99991400e-01 -1.86297335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:80.09, Z:-1.86 [[ 3.03467419e-01 -9.52840986e-01 -1.25710649e-03 1.37699823e+02] [ 9.52832970e-01 3.03470023e-01 -3.90845002e-03 8.00871722e+01] [ 4.10562550e-03 -1.17252700e-05 9.99991572e-01 -1.86289117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:80.11, Z:-1.86 [[ 3.02720449e-01 -9.53078382e-01 -1.38811031e-03 1.37711907e+02] [ 9.53068593e-01 3.02723631e-01 -4.31983289e-03 8.01124205e+01] [ 4.53735313e-03 -1.52625879e-05 9.99989706e-01 -1.86275630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:80.14, Z:-1.86 [[ 3.02187142e-01 -9.53247416e-01 -1.51505413e-03 1.37723719e+02] [ 9.53235732e-01 3.02190940e-01 -4.71965945e-03 8.01375313e+01] [ 4.95683880e-03 -1.79833279e-05 9.99987715e-01 -1.86231388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:80.16, Z:-1.86 [[ 3.01948342e-01 -9.53322774e-01 -1.69913886e-03 1.37735686e+02] [ 9.53308052e-01 3.01953123e-01 -5.29802585e-03 8.01634831e+01] [ 5.56378898e-03 -2.00726328e-05 9.99984522e-01 -1.86198326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:80.19, Z:-1.86 [[ 3.01829517e-01 -9.53360168e-01 -1.82556142e-03 1.37751091e+02] [ 9.53343142e-01 3.01835037e-01 -5.69767706e-03 8.01884347e+01] [ 5.98295676e-03 -2.06593457e-05 9.99982102e-01 -1.86108967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:80.21, Z:-1.86 [[ 3.01462178e-01 -9.53476398e-01 -1.82017972e-03 1.37762591e+02] [ 9.53459440e-01 3.01467673e-01 -5.68671947e-03 8.02130705e+01] [ 5.97087815e-03 -2.11366988e-05 9.99982174e-01 -1.86061713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:80.24, Z:-1.86 [[ 3.00851068e-01 -9.53669286e-01 -1.87839479e-03 1.37773959e+02] [ 9.53651193e-01 3.00856931e-01 -5.87446569e-03 8.02379170e+01] [ 6.16742559e-03 -2.39941519e-05 9.99980981e-01 -1.86086039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:80.26, Z:-1.86 [[ 2.98497185e-01 -9.54407928e-01 -2.22225972e-03 1.37788790e+02] [ 9.54382576e-01 2.98505454e-01 -6.95654810e-03 8.02614594e+01] [ 7.30274130e-03 -4.43759356e-05 9.99973334e-01 -1.86130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:80.29, Z:-1.86 [[ 2.96305985e-01 -9.55089945e-01 -2.44140487e-03 1.37800825e+02] [ 9.55059310e-01 2.96316035e-01 -7.64993745e-03 8.02872658e+01] [ 8.02980575e-03 -6.49641986e-05 9.99967758e-01 -1.86145773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:80.31, Z:-1.86 [[ 2.93588573e-01 -9.55928330e-01 -2.60333318e-03 1.37812633e+02] [ 9.55893457e-01 2.93600101e-01 -8.16572229e-03 8.03118053e+01] [ 8.57018416e-03 -9.11463941e-05 9.99963271e-01 -1.86172012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:80.34, Z:-1.86 [[ 2.90319448e-01 -9.56926056e-01 -2.67226753e-03 1.37824881e+02] [ 9.56889283e-01 2.90331721e-01 -8.38995243e-03 8.03372612e+01] [ 8.80440812e-03 -1.21297802e-04 9.99961233e-01 -1.86178238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:80.36, Z:-1.86 [[ 2.83861091e-01 -9.58861990e-01 -2.56218456e-03 1.37841549e+02] [ 9.58828192e-01 2.83872603e-01 -8.05258688e-03 8.03607635e+01] [ 8.44865348e-03 -1.70878690e-04 9.99964295e-01 -1.86063862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:80.39, Z:-1.86 [[ 2.80702082e-01 -9.59792094e-01 -2.34043644e-03 1.37853963e+02] [ 9.59763871e-01 2.80711781e-01 -7.36263729e-03 8.03862936e+01] [ 7.72358914e-03 -1.79558722e-04 9.99970157e-01 -1.86008283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.947628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:137.87, Y:80.41, Z:-1.86 [[ 2.78124743e-01 -9.60542008e-01 -2.38304718e-03 1.37865070e+02] [ 9.60512719e-01 2.78134879e-01 -7.50373057e-03 8.04126472e+01] [ 7.87045696e-03 -2.01973983e-04 9.99969007e-01 -1.86099065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:80.44, Z:-1.86 [[ 2.80768465e-01 -9.59774806e-01 -1.17902287e-03 1.37872661e+02] [ 9.59767620e-01 2.80770927e-01 -3.71523955e-03 8.04386053e+01] [ 3.89682867e-03 -8.84658618e-05 9.99992403e-01 -1.85832120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:80.47, Z:-1.86 [[ 2.81980242e-01 -9.59419710e-01 -9.81782856e-04 1.37881047e+02] [ 9.59414714e-01 2.81981943e-01 -3.09693317e-03 8.04653362e+01] [ 3.24810376e-03 -6.86629526e-05 9.99994723e-01 -1.85798074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.037628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:137.89, Y:80.49, Z:-1.86 [[ 2.82446985e-01 -9.59282116e-01 -1.23416521e-03 1.37889199e+02] [ 9.59274205e-01 2.82449669e-01 -3.89675247e-03 8.04916631e+01] [ 4.08667451e-03 -8.32768581e-05 9.99991646e-01 -1.86011165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:80.52, Z:-1.86 [[ 2.84121971e-01 -9.58787291e-01 -1.27895419e-03 1.37897534e+02] [ 9.58778774e-01 2.84124839e-01 -4.04206314e-03 8.05185766e+01] [ 4.23886142e-03 -7.77951811e-05 9.99991013e-01 -1.85775912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:137.90, Y:80.54, Z:-1.86 [[ 2.85064851e-01 -9.58506230e-01 -1.95928594e-03 1.37904663e+02] [ 9.58486195e-01 2.85071562e-01 -6.19819210e-03 8.05444131e+01] [ 6.49954244e-03 -1.11061820e-04 9.99978872e-01 -1.86108955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:80.57, Z:-1.86 [[ 2.85793679e-01 -9.58289239e-01 -1.92527906e-03 1.37912044e+02] [ 9.58269850e-01 2.85800146e-01 -6.09687066e-03 8.05702514e+01] [ 6.39281058e-03 -1.02489783e-04 9.99979561e-01 -1.85911431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:137.92, Y:80.60, Z:-1.86 [[ 2.84640057e-01 -9.58632021e-01 -2.16502747e-03 1.37918837e+02] [ 9.58607458e-01 2.84648264e-01 -6.86340151e-03 8.05958288e+01] [ 7.19574777e-03 -1.21812484e-04 9.99974103e-01 -1.86158026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:137.93, Y:80.62, Z:-1.86 [[ 2.82676729e-01 -9.59212434e-01 -2.31793060e-03 1.37926218e+02] [ 9.59184244e-01 2.82686196e-01 -7.35536812e-03 8.06231721e+01] [ 7.71060754e-03 -1.44131100e-04 9.99970262e-01 -1.86247445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:137.93, Y:80.65, Z:-1.86 [[ 2.79970401e-01 -9.60005780e-01 -2.34031626e-03 1.37933769e+02] [ 9.59977008e-01 2.79980134e-01 -7.43428825e-03 8.06491356e+01] [ 7.79220175e-03 -1.65269132e-04 9.99969627e-01 -1.86171375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:80.68, Z:-1.86 [[ 2.76885761e-01 -9.60900207e-01 -2.25101991e-03 1.37941798e+02] [ 9.60873566e-01 2.76894852e-01 -7.15763421e-03 8.06761055e+01] [ 7.50106802e-03 -1.81098533e-04 9.99971850e-01 -1.86011727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:80.70, Z:-1.86 [[ 2.69790929e-01 -9.62916470e-01 -2.17417674e-03 1.37949816e+02] [ 9.62891627e-01 2.69799595e-01 -6.92053438e-03 8.07024080e+01] [ 7.25048854e-03 -2.26399172e-04 9.99973689e-01 -1.85942532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:80.73, Z:-1.86 [[ 2.66561292e-01 -9.63815679e-01 -2.10128177e-03 1.37956993e+02] [ 9.63792469e-01 2.66569464e-01 -6.69301585e-03 8.07283289e+01] [ 7.01097117e-03 -2.41100600e-04 9.99975394e-01 -1.85947848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:80.76, Z:-1.86 [[ 2.61996060e-01 -9.65066383e-01 -2.22273608e-03 1.37964314e+02] [ 9.65040403e-01 2.62005330e-01 -7.08710645e-03 8.07553650e+01] [ 7.42189689e-03 -2.88236149e-04 9.99972416e-01 -1.85917055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:80.78, Z:-1.86 [[ 2.60248538e-01 -9.65539147e-01 -2.20316278e-03 1.37971521e+02] [ 9.65513603e-01 2.60257693e-01 -7.02956591e-03 8.07817082e+01] [ 7.36071114e-03 -2.97749388e-04 9.99972865e-01 -1.85919965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:137.98, Y:80.81, Z:-1.86 [[ 2.58804769e-01 -9.65926484e-01 -2.47375064e-03 1.37978619e+02] [ 9.65894230e-01 2.58816362e-01 -7.90104367e-03 8.08086469e+01] [ 8.27207448e-03 -3.44553687e-04 9.99965726e-01 -1.86160905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:80.84, Z:-1.86 [[ 2.59276676e-01 -9.65800547e-01 -2.21564252e-03 1.37985531e+02] [ 9.65774612e-01 2.59285966e-01 -7.08432256e-03 8.08351158e+01] [ 7.41652761e-03 -3.03011693e-04 9.99972451e-01 -1.85983902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:80.86, Z:-1.86 [[ 2.59763881e-01 -9.65669446e-01 -2.29047195e-03 1.37992197e+02] [ 9.65641687e-01 2.59773796e-01 -7.32849176e-03 8.08612149e+01] [ 7.67190518e-03 -3.08097739e-04 9.99970523e-01 -1.86001568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:80.89, Z:-1.86 [[ 2.62769664e-01 -9.64855929e-01 -2.26727355e-03 1.37998724e+02] [ 9.64828642e-01 2.62779297e-01 -7.26173761e-03 8.08887526e+01] [ 7.60232313e-03 -2.79366106e-04 9.99971063e-01 -1.85948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:80.92, Z:-1.86 [[ 2.64359055e-01 -9.64422398e-01 -1.93072573e-03 1.38005294e+02] [ 9.64402556e-01 2.64366009e-01 -6.19050186e-03 8.09151523e+01] [ 6.48067690e-03 -2.25481608e-04 9.99978975e-01 -1.85953051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:80.94, Z:-1.86 [[ 2.64105067e-01 -9.64491987e-01 -1.92912544e-03 1.38013745e+02] [ 9.64472143e-01 2.64112016e-01 -6.19100077e-03 8.09424734e+01] [ 6.48067584e-03 -2.25513073e-04 9.99978975e-01 -1.85955563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:80.97, Z:-1.86 [[ 2.66165200e-01 -9.63925951e-01 -1.68718605e-03 1.38020717e+02] [ 9.63910729e-01 2.66170484e-01 -5.42041425e-03 8.09691716e+01] [ 5.67395709e-03 -1.83571088e-04 9.99983886e-01 -1.85942972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:81.00, Z:-1.86 [[ 2.67886781e-01 -9.63449281e-01 -1.46822126e-03 1.38028050e+02] [ 9.63437722e-01 2.67890763e-01 -4.72168391e-03 8.09965626e+01] [ 4.94242588e-03 -1.49663040e-04 9.99987775e-01 -1.85904090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:81.02, Z:-1.86 [[ 2.71578095e-01 -9.62415952e-01 -9.34557280e-04 1.38034618e+02] [ 9.62411256e-01 2.71579690e-01 -3.00771227e-03 8.10228859e+01] [ 3.14847704e-03 -8.25996780e-05 9.99995040e-01 -1.85825714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:81.05, Z:-1.86 [[ 2.72931878e-01 -9.62033066e-01 -7.54791631e-04 1.38042248e+02] [ 9.62029994e-01 2.72932915e-01 -2.43194582e-03 8.10503278e+01] [ 2.54561978e-03 -6.23766475e-05 9.99996758e-01 -1.85792916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:138.05, Y:81.08, Z:-1.86 [[ 2.73535466e-01 -9.61861452e-01 -9.46890346e-04 1.38050117e+02] [ 9.61856607e-01 2.73537095e-01 -3.05382220e-03 8.10769492e+01] [ 3.19636349e-03 -7.54440543e-05 9.99994889e-01 -1.86118760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:81.10, Z:-1.86 [[ 2.75857048e-01 -9.61198231e-01 -9.21569441e-04 1.38057914e+02] [ 9.61193633e-01 2.75858579e-01 -2.97397571e-03 8.11025035e+01] [ 3.11280303e-03 -6.54145207e-05 9.99995153e-01 -1.85801287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:81.13, Z:-1.86 [[ 2.76979639e-01 -9.60875146e-01 -1.11076271e-03 1.38065915e+02] [ 9.60868449e-01 2.76981856e-01 -3.58829321e-03 8.11297244e+01] [ 3.75556288e-03 -7.34126894e-05 9.99992945e-01 -1.85826129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.787628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:138.07, Y:81.16, Z:-1.86 [[ 2.78987841e-01 -9.60293920e-01 -1.17149393e-03 1.38072807e+02] [ 9.60286449e-01 2.78990292e-01 -3.78853035e-03 8.11558363e+01] [ 3.96493809e-03 -6.80158433e-05 9.99992137e-01 -1.86233778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:81.18, Z:-1.86 [[ 2.80895893e-01 -9.59737766e-01 -9.58372646e-04 1.38080865e+02] [ 9.59732752e-01 2.80897524e-01 -3.10249244e-03 8.11825469e+01] [ 3.24678367e-03 -4.83042319e-05 9.99994728e-01 -1.85993424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:81.21, Z:-1.86 [[ 2.81888937e-01 -9.59446584e-01 -9.37715182e-04 1.38089167e+02] [ 9.59441773e-01 2.81890493e-01 -3.03866574e-03 8.12089389e+01] [ 3.17977046e-03 -4.31168634e-05 9.99994944e-01 -1.85973166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:81.23, Z:-1.86 [[ 2.83831627e-01 -9.58873872e-01 -7.10722286e-04 1.38098245e+02] [ 9.58871100e-01 2.83832516e-01 -2.30576624e-03 8.12346495e+01] [ 2.41266510e-03 -2.70416745e-05 9.99997089e-01 -1.85920088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:81.26, Z:-1.86 [[ 2.84511627e-01 -9.58672331e-01 -7.04923369e-04 1.38107162e+02] [ 9.58669598e-01 2.84512499e-01 -2.28917914e-03 8.12612176e+01] [ 2.39513221e-03 -2.44905222e-05 9.99997131e-01 -1.85903935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:81.29, Z:-1.86 [[ 2.84811251e-01 -9.58583306e-01 -7.72440066e-04 1.38116296e+02] [ 9.58580018e-01 2.84812298e-01 -2.51082938e-03 8.12881573e+01] [ 2.62683955e-03 -2.53331557e-05 9.99996550e-01 -1.85926609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:81.31, Z:-1.86 [[ 2.84998348e-01 -9.58527735e-01 -7.22745070e-04 1.38125227e+02] [ 9.58524850e-01 2.84999264e-01 -2.35184908e-03 8.13139039e+01] [ 2.46029438e-03 -2.24960085e-05 9.99996973e-01 -1.85989252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:81.34, Z:-1.87 [[ 2.82783106e-01 -9.59126491e-01 1.04923644e-02 1.38127804e+02] [ 9.59183759e-01 2.82771637e-01 -2.59188929e-03 8.13389956e+01] [-4.80993369e-04 1.07970480e-02 9.99941594e-01 -1.87091002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:81.36, Z:-1.86 [[ 2.85789629e-01 -9.58225028e-01 -1.13614955e-02 1.38149925e+02] [ 9.58285065e-01 2.85813690e-01 -5.19166044e-04 8.13632570e+01] [ 3.74474886e-03 -1.07391792e-02 9.99935321e-01 -1.85513276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:81.39, Z:-1.86 [[ 2.85948878e-01 -9.58244110e-01 -1.21039825e-03 1.38155527e+02] [ 9.58235977e-01 2.85951438e-01 -3.94800307e-03 8.13913740e+01] [ 4.12926580e-03 -3.09201068e-05 9.99991474e-01 -1.85986608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:81.42, Z:-1.86 [[ 2.86155020e-01 -9.58182635e-01 -1.15862935e-03 1.38164980e+02] [ 9.58175166e-01 2.86157365e-01 -3.78326186e-03 8.14172221e+01] [ 3.95660614e-03 -2.75704936e-05 9.99992172e-01 -1.86023419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:81.44, Z:-1.86 [[ 2.86784991e-01 -9.57994305e-01 -1.13204614e-03 1.38175879e+02] [ 9.57987159e-01 2.86787224e-01 -3.70009568e-03 8.14434948e+01] [ 3.86932696e-03 -2.33537643e-05 9.99992514e-01 -1.86100891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.19, Y:81.47, Z:-1.86 [[ 2.85902538e-01 -9.58257963e-01 -1.18971213e-03 1.38185351e+02] [ 9.58250057e-01 2.85905012e-01 -3.89265930e-03 8.14692401e+01] [ 4.07031643e-03 -2.71205397e-05 9.99991716e-01 -1.86358008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:81.49, Z:-1.86 [[ 2.86308110e-01 -9.58137204e-01 -8.73768784e-04 1.38195175e+02] [ 9.58132930e-01 2.86309443e-01 -2.86207916e-03 8.14941891e+01] [ 2.99243278e-03 -1.77501689e-05 9.99995523e-01 -1.86119822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:81.52, Z:-1.86 [[ 2.85237159e-01 -9.58449024e-01 3.90271488e-03 1.38205590e+02] [ 9.58451893e-01 2.85220031e-01 -4.41611261e-03 8.15207905e+01] [ 3.11948636e-03 5.00020388e-03 9.99982633e-01 -1.86360373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:81.55, Z:-1.86 [[ 2.84912804e-01 -9.58552701e-01 -1.18922702e-03 1.38216485e+02] [ 9.58551338e-01 2.84914558e-01 -1.73994396e-03 8.15471484e+01] [ 2.00665607e-03 -6.44202841e-04 9.99997779e-01 -1.86074543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:81.57, Z:-1.86 [[ 2.85008116e-01 -9.58516411e-01 -4.08218393e-03 1.38225250e+02] [ 9.58524819e-01 2.85002163e-01 1.98477914e-03 8.15736069e+01] [-7.39012125e-04 -4.47855277e-03 9.99989698e-01 -1.85912946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:81.60, Z:-1.86 [[ 2.84525128e-01 -9.58668504e-01 3.88701308e-04 1.38231354e+02] [ 9.58667655e-01 2.84525394e-01 1.27599545e-03 8.16010082e+01] [-1.33385204e-03 9.58260214e-06 9.99999110e-01 -1.86141206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:81.63, Z:-1.86 [[ 2.83606865e-01 -9.58940486e-01 5.38668753e-04 1.38238926e+02] [ 9.58938852e-01 2.83607376e-01 1.77036878e-03 8.16279979e+01] [-1.85044873e-03 1.44616566e-05 9.99998288e-01 -1.86181271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:81.66, Z:-1.86 [[ 2.81683686e-01 -9.59507133e-01 6.02216553e-04 1.38246279e+02] [ 9.59505088e-01 2.81684329e-01 1.98131668e-03 8.16551741e+01] [-2.07072245e-03 1.97252607e-05 9.99997856e-01 -1.86232466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.387628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:138.25, Y:81.68, Z:-1.87 [[ 2.79235711e-01 -9.60222541e-01 2.98811941e-04 1.38253759e+02] [ 9.60222037e-01 2.79235871e-01 9.83707445e-04 8.16808702e+01] [-1.02801707e-03 1.22395631e-05 9.99999472e-01 -1.86521281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:81.71, Z:-1.86 [[ 2.78889866e-01 -9.60322918e-01 5.80103293e-04 1.38261801e+02] [ 9.60321013e-01 2.78890468e-01 1.91252821e-03 8.17074648e+01] [-1.99842995e-03 2.37006469e-05 9.99998003e-01 -1.86228885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:81.73, Z:-1.86 [[ 2.77256372e-01 -9.60795864e-01 4.59463084e-04 1.38269278e+02] [ 9.60794668e-01 2.77256752e-01 1.51617315e-03 8.17344582e+01] [-1.58412213e-03 2.10810155e-05 9.99998745e-01 -1.86278470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:81.76, Z:-1.86 [[ 2.71877356e-01 -9.62331849e-01 3.39185608e-04 1.38275199e+02] [ 9.62331198e-01 2.71877567e-01 1.12022412e-03 8.17613047e+01] [-1.17024430e-03 2.18453208e-05 9.99999315e-01 -1.86476739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:81.79, Z:-1.87 [[ 2.68474896e-01 -9.63286650e-01 2.45197933e-04 1.38282594e+02] [ 9.63286309e-01 2.68475008e-01 8.10448560e-04 8.17884002e+01] [-8.46523795e-04 1.86107189e-05 9.99999642e-01 -1.86525164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:81.81, Z:-1.87 [[ 2.65031078e-01 -9.64239836e-01 2.56323435e-04 1.38289594e+02] [ 9.64239464e-01 2.65031201e-01 8.48115706e-04 8.18145203e+01] [-8.85720657e-04 2.23801514e-05 9.99999608e-01 -1.86584274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:81.84, Z:-1.87 [[ 2.61647332e-01 -9.65163494e-01 3.20605593e-04 1.38297343e+02] [ 9.65162910e-01 2.61647527e-01 1.06213438e-03 8.18418788e+01] [-1.10901899e-03 3.15320001e-05 9.99999385e-01 -1.86614972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:81.87, Z:-1.87 [[ 2.55394655e-01 -9.66836821e-01 3.63002802e-04 1.38303744e+02] [ 9.66836072e-01 2.55394910e-01 1.20391239e-03 8.18688302e+01] [-1.25669589e-03 4.34914141e-05 9.99999209e-01 -1.86610682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:81.89, Z:-1.87 [[ 2.52881964e-01 -9.67497034e-01 4.49753055e-04 1.38310406e+02] [ 9.67495883e-01 2.52882357e-01 1.49315172e-03 8.18945944e+01] [-1.55835447e-03 5.75430917e-05 9.99998784e-01 -1.86657587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:81.92, Z:-1.87 [[ 2.51236982e-01 -9.67925502e-01 4.49292784e-04 1.38317487e+02] [ 9.67924352e-01 2.51237377e-01 1.49294290e-03 8.19215026e+01] [-1.55793664e-03 5.97989592e-05 9.99998785e-01 -1.86700040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:81.95, Z:-1.87 [[ 2.50391208e-01 -9.68144699e-01 2.89760544e-04 1.38324132e+02] [ 9.68144221e-01 2.50391373e-01 9.63546357e-04 8.19484099e+01] [-1.00540584e-03 3.92664591e-05 9.99999494e-01 -1.86768962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:81.97, Z:-1.87 [[ 2.50991199e-01 -9.67989289e-01 3.93796917e-04 1.38330764e+02] [ 9.67988402e-01 2.50991503e-01 1.31118428e-03 8.19742546e+01] [-1.36805202e-03 5.20951336e-05 9.99999063e-01 -1.86813699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:82.00, Z:-1.87 [[ 2.52566395e-01 -9.67579375e-01 6.06765849e-04 1.38337133e+02] [ 9.67577265e-01 2.52567113e-01 2.02254106e-03 8.20009668e+01] [-2.11021811e-03 7.62669348e-05 9.99997771e-01 -1.86886337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:82.03, Z:-1.87 [[ 2.55188353e-01 -9.66891021e-01 8.10901965e-04 1.38342904e+02] [ 9.66887241e-01 2.55189624e-01 2.70517905e-03 8.20269881e+01] [-2.82254710e-03 9.37205766e-05 9.99996012e-01 -1.86963641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:82.05, Z:-1.87 [[ 2.63034500e-01 -9.64786225e-01 6.26768910e-04 1.38347857e+02] [ 9.64783957e-01 2.63035241e-01 2.09269771e-03 8.20546608e+01] [-2.18386823e-03 5.42448948e-05 9.99997614e-01 -1.87065986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:82.08, Z:-1.87 [[ 2.67092624e-01 -9.63670741e-01 4.82203828e-04 1.38354684e+02] [ 9.63669395e-01 2.67093057e-01 1.61148629e-03 8.20815599e+01] [-1.68173548e-03 3.42689706e-05 9.99998585e-01 -1.87163710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:138.36, Y:82.11, Z:-1.87 [[ 2.70093632e-01 -9.62834054e-01 -1.15235660e-04 1.38362074e+02] [ 9.62833977e-01 2.70093657e-01 -3.86542705e-04 8.21089912e+01] [ 4.03300901e-04 -6.55008533e-06 9.99999919e-01 -1.87484406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:82.13, Z:-1.86 [[ 2.73907393e-01 -9.61644910e-01 -1.46221212e-02 1.38376450e+02] [ 9.61753096e-01 2.73912703e-01 1.67737212e-03 8.21340338e+01] [ 2.39214837e-03 -1.45223150e-02 9.99891684e-01 -1.86219100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:82.16, Z:-1.88 [[ 2.79579829e-01 -9.60018532e-01 1.41258017e-02 1.38373258e+02] [ 9.60122302e-01 2.79557688e-01 -3.55859369e-03 8.21642321e+01] [-5.32660586e-04 1.45574083e-02 9.99893893e-01 -1.87812819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:82.19, Z:-1.87 [[ 2.81027900e-01 -9.59699574e-01 2.14939125e-04 1.38387775e+02] [ 9.59699304e-01 2.81027983e-01 7.20363663e-04 8.21889889e+01] [-7.51736610e-04 3.83464074e-06 9.99999717e-01 -1.87193168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:82.22, Z:-1.87 [[ 2.81942315e-01 -9.59431287e-01 3.69889338e-04 1.38396162e+02] [ 9.59430483e-01 2.81942558e-01 1.24162990e-03 8.22157541e+01] [-1.29554612e-03 4.81509682e-06 9.99999161e-01 -1.87193906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:82.24, Z:-1.87 [[ 2.82332184e-01 -9.59316563e-01 5.19468620e-04 1.38404427e+02] [ 9.59314974e-01 2.82332662e-01 1.74592219e-03 8.22424830e+01] [-1.82155504e-03 5.40399907e-06 9.99998341e-01 -1.87238729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:82.27, Z:-1.87 [[ 2.82475819e-01 -9.59274203e-01 6.43857261e-04 1.38414013e+02] [ 9.59271758e-01 2.82476553e-01 2.16611246e-03 8.22674142e+01] [-2.25977039e-03 5.75969400e-06 9.99997447e-01 -1.87273570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:82.29, Z:-1.87 [[ 2.81691612e-01 -9.59504714e-01 7.34216203e-04 1.38423584e+02] [ 9.59501529e-01 2.81692569e-01 2.47249452e-03 8.22943456e+01] [-2.57919340e-03 8.00060140e-06 9.99996674e-01 -1.87305871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:82.32, Z:-1.87 [[ 2.80794571e-01 -9.59767701e-01 6.06595246e-04 1.38432849e+02] [ 9.59765524e-01 2.80795227e-01 2.04465671e-03 8.23204064e+01] [-2.13272452e-03 8.06069788e-06 9.99997726e-01 -1.87306486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:82.35, Z:-1.87 [[ 2.77981772e-01 -9.60586254e-01 4.27398481e-04 1.38444362e+02] [ 9.60585172e-01 2.77982101e-01 1.44183830e-03 8.23464977e+01] [-1.50381918e-03 9.74787814e-06 9.99998869e-01 -1.87372084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:82.37, Z:-1.87 [[ 2.76829558e-01 -9.60918952e-01 4.03832568e-04 1.38453628e+02] [ 9.60917985e-01 2.76829853e-01 1.36368381e-03 8.23730040e+01] [-1.42218253e-03 1.05419907e-05 9.99998989e-01 -1.87356993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:82.40, Z:-1.87 [[ 2.76788655e-01 -9.60930675e-01 5.27096846e-04 1.38461298e+02] [ 9.60929023e-01 2.76789157e-01 1.78202571e-03 8.24003228e+01] [-1.85829786e-03 1.32581586e-05 9.99998273e-01 -1.87374619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:82.43, Z:-1.87 [[ 2.76746198e-01 -9.60942909e-01 5.16787677e-04 1.38468047e+02] [ 9.60941318e-01 2.76746680e-01 1.74869935e-03 8.24261490e+01] [-1.82341952e-03 1.26567335e-05 9.99998337e-01 -1.87415171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:82.45, Z:-1.87 [[ 2.75240344e-01 -9.61375439e-01 1.37058250e-04 1.38475581e+02] [ 9.61375327e-01 2.75240378e-01 4.63489969e-04 8.24530656e+01] [-4.83311838e-04 4.19328152e-06 9.99999883e-01 -1.87487303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:82.48, Z:-1.87 [[ 2.73657445e-01 -9.61827216e-01 -1.00665779e-04 1.38482865e+02] [ 9.61827155e-01 2.73657463e-01 -3.42507241e-04 8.24786972e+01] [ 3.56980727e-04 -3.09342370e-06 9.99999936e-01 -1.87475973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:82.51, Z:-1.87 [[ 2.71958868e-01 -9.62308833e-01 -2.90494659e-04 1.38490312e+02] [ 9.62308326e-01 2.71959023e-01 -9.87429626e-04 8.25061362e+01] [ 1.02921489e-03 -1.10051857e-05 9.99999470e-01 -1.87493210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:82.53, Z:-1.87 [[ 2.63706583e-01 -9.64518099e-01 -1.27935639e-02 1.38499615e+02] [ 9.64595686e-01 2.63732853e-01 -3.81247260e-04 8.25297176e+01] [ 3.74180299e-03 -1.22400791e-02 9.99918086e-01 -1.86678233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:138.50, Y:82.56, Z:-1.88 [[ 2.57032886e-01 -9.66340848e-01 1.09298393e-02 1.38499494e+02] [ 9.66397128e-01 2.56976719e-01 -6.28936758e-03 8.25622703e+01] [ 3.26895857e-03 1.21791396e-02 9.99920488e-01 -1.88200562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:82.59, Z:-1.88 [[ 2.52242060e-01 -9.67663894e-01 -7.28418316e-04 1.38511283e+02] [ 9.67660719e-01 2.52243099e-01 -2.48044700e-03 8.25879431e+01] [ 2.58397750e-03 -7.91887301e-05 9.99996658e-01 -1.87624706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:82.62, Z:-1.88 [[ 2.51987836e-01 -9.67730128e-01 -7.27784914e-04 1.38519277e+02] [ 9.67726952e-01 2.51988875e-01 -2.48063296e-03 8.26154022e+01] [ 2.58397695e-03 -7.92077442e-05 9.99996658e-01 -1.87627755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:82.64, Z:-1.88 [[ 2.46578284e-01 -9.69122540e-01 -8.08048343e-04 1.38525764e+02] [ 9.69118624e-01 2.46579586e-01 -2.75704403e-03 8.26424984e+01] [ 2.87116173e-03 -1.03267514e-04 9.99995873e-01 -1.87690338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:82.67, Z:-1.88 [[ 2.46322307e-01 -9.69187634e-01 -8.07338159e-04 1.38533744e+02] [ 9.69183717e-01 2.46323609e-01 -2.75725211e-03 8.26699619e+01] [ 2.87116109e-03 -1.03286297e-04 9.99995873e-01 -1.87693386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:82.70, Z:-1.88 [[ 2.41025657e-01 -9.70518351e-01 -8.73052579e-04 1.38540567e+02] [ 9.70513770e-01 2.41027204e-01 -2.98479149e-03 8.26968301e+01] [ 3.10722434e-03 -1.27898220e-04 9.99995164e-01 -1.87725859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:82.72, Z:-1.88 [[ 2.33245459e-01 -9.72417510e-01 -8.61562414e-04 1.38547278e+02] [ 9.72413055e-01 2.33247001e-01 -2.94747544e-03 8.27231162e+01] [ 3.06713358e-03 -1.50309278e-04 9.99995285e-01 -1.87644518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:82.75, Z:-1.88 [[ 2.30662449e-01 -9.73033480e-01 -8.25472768e-04 1.38554142e+02] [ 9.73029384e-01 2.30663876e-01 -2.82728572e-03 8.27500191e+01] [ 2.94145041e-03 -1.51060613e-04 9.99995663e-01 -1.87600277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:138.56, Y:82.78, Z:-1.88 [[ 2.28901849e-01 -9.73449230e-01 -7.35542525e-04 1.38560469e+02] [ 9.73445972e-01 2.28902989e-01 -2.52199400e-03 8.27771012e+01] [ 2.62340100e-03 -1.38721819e-04 9.99996549e-01 -1.87681004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64762800000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:138.56, Y:82.80, Z:-1.88 [[ 2.29820263e-01 -9.73232949e-01 -5.23167286e-04 1.38564278e+02] [ 9.73231298e-01 2.29820838e-01 -1.79519170e-03 8.28040766e+01] [ 1.86737446e-03 -9.65913479e-05 9.99998252e-01 -1.87722434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:82.83, Z:-1.88 [[ 2.32430804e-01 -9.72612901e-01 -2.56288160e-04 1.38570093e+02] [ 9.72612503e-01 2.32430941e-01 -8.80999140e-04 8.28319236e+01] [ 9.16440428e-04 -4.44977302e-05 9.99999579e-01 -1.87615089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:82.86, Z:-1.87 [[ 2.34080395e-01 -9.72205597e-01 -4.75875989e-03 1.38575201e+02] [ 9.72217060e-01 2.34080552e-01 5.31802974e-04 8.28571069e+01] [ 5.96911315e-04 -4.75103220e-03 9.99988536e-01 -1.87392430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:82.89, Z:-1.88 [[ 2.39933954e-01 -9.70778485e-01 4.56416793e-03 1.38579140e+02] [ 9.70789202e-01 2.39930573e-01 -1.28238922e-03 8.28867360e+01] [ 1.49832437e-04 4.73853366e-03 9.99988762e-01 -1.87800853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:82.91, Z:-1.88 [[ 2.49824523e-01 -9.68291123e-01 9.29385394e-05 1.38585272e+02] [ 9.68291071e-01 2.49824540e-01 3.18756039e-04 8.29141824e+01] [-3.31866971e-04 1.03584824e-05 9.99999945e-01 -1.87610229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:82.94, Z:-1.88 [[ 2.60348361e-01 -9.65514723e-01 2.25692031e-04 1.38589324e+02] [ 9.65514411e-01 2.60348458e-01 7.76472729e-04 8.29414164e+01] [-8.08454424e-04 1.57555066e-05 9.99999673e-01 -1.87672790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:82.97, Z:-1.88 [[ 2.65229898e-01 -9.64185169e-01 2.47723404e-04 1.38595674e+02] [ 9.64184791e-01 2.65230013e-01 8.53350500e-04 8.29690462e+01] [-8.88491578e-04 1.25170721e-05 9.99999605e-01 -1.87663990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:83.00, Z:-1.88 [[ 2.65062661e-01 -9.64231157e-01 2.47463274e-04 1.38603546e+02] [ 9.64230780e-01 2.65062776e-01 8.53425920e-04 8.29965018e+01] [-8.88493165e-04 1.24003604e-05 9.99999605e-01 -1.87667154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:83.02, Z:-1.88 [[ 2.74589070e-01 -9.61561592e-01 3.84953835e-04 1.38608542e+02] [ 9.61560673e-01 2.74589340e-01 1.32886572e-03 8.30235735e+01] [-1.38349046e-03 5.26446616e-06 9.99999043e-01 -1.87740621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:83.05, Z:-1.88 [[ 2.78285948e-01 -9.60498198e-01 3.76974526e-04 1.38615477e+02] [ 9.60497315e-01 2.78286203e-01 1.30236819e-03 8.30513153e+01] [-1.35582911e-03 -3.47745780e-07 9.99999081e-01 -1.87776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:83.08, Z:-1.88 [[ 2.83265895e-01 -9.59041348e-01 3.55029959e-04 1.38622691e+02] [ 9.59040562e-01 2.83266117e-01 1.22781641e-03 8.30773514e+01] [-1.27809466e-03 -7.31038169e-06 9.99999183e-01 -1.87818168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:83.10, Z:-1.88 [[ 2.84161005e-01 -9.58776519e-01 3.30353910e-04 1.38631226e+02] [ 9.58775837e-01 2.84161197e-01 1.14368517e-03 8.31038396e+01] [-1.19041224e-03 -8.25537965e-06 9.99999291e-01 -1.87859110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:83.13, Z:-1.88 [[ 2.83981879e-01 -9.58829635e-01 1.52379012e-04 1.38640192e+02] [ 9.58829490e-01 2.83981920e-01 5.27470559e-04 8.31303933e+01] [-5.49027288e-04 -3.68658983e-06 9.99999849e-01 -1.87818709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:83.16, Z:-1.88 [[ 2.83068962e-01 -9.59099526e-01 2.50827062e-04 1.38648771e+02] [ 9.59099131e-01 2.83069073e-01 8.69933016e-04 8.31558060e+01] [-9.05353727e-04 -5.68301795e-06 9.99999590e-01 -1.87830138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:83.18, Z:-1.88 [[ 2.80052004e-01 -9.59984809e-01 2.05841166e-04 1.38659532e+02] [ 9.59984543e-01 2.80052080e-01 7.14534759e-04 8.31816326e+01] [-7.43588761e-04 -2.50255416e-06 9.99999724e-01 -1.87771915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:83.21, Z:-1.88 [[ 2.77938886e-01 -9.60598759e-01 2.89463640e-05 1.38668981e+02] [ 9.60598753e-01 2.77938887e-01 9.96075654e-05 8.32076548e+01] [-1.03728224e-04 1.21025439e-07 9.99999995e-01 -1.87825778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:83.23, Z:-1.88 [[ 2.75628571e-01 -9.61264153e-01 -3.44727310e-04 1.38678695e+02] [ 9.61263401e-01 2.75628787e-01 -1.20223586e-03 8.32341490e+01] [ 1.25068301e-03 -3.19453115e-09 9.99999218e-01 -1.87836263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:83.26, Z:-1.88 [[ 2.73178458e-01 -9.61963233e-01 -5.18113677e-04 1.38688027e+02] [ 9.61961533e-01 2.73178950e-01 -1.80825572e-03 8.32605857e+01] [ 1.88101327e-03 -4.42891673e-06 9.99998231e-01 -1.87833211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:83.29, Z:-1.88 [[ 2.68429060e-01 -9.63299405e-01 -3.10746772e-04 1.38699849e+02] [ 9.63298792e-01 2.68429240e-01 -1.08614763e-03 8.32861207e+01] [ 1.12969888e-03 -7.78840252e-06 9.99999362e-01 -1.87910023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:83.31, Z:-1.88 [[ 2.65691588e-01 -9.64058062e-01 -1.84547047e-04 1.38709980e+02] [ 9.64057845e-01 2.65691652e-01 -6.46198967e-04 8.33124690e+01] [ 6.72005933e-04 -6.22439885e-06 9.99999774e-01 -1.87882475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:138.72, Y:83.34, Z:-1.88 [[ 2.62199263e-01 -9.65013711e-01 -2.90442085e-04 1.38719981e+02] [ 9.65013174e-01 2.62199424e-01 -1.01754425e-03 8.33378656e+01] [ 1.05809790e-03 -1.34810860e-05 9.99999440e-01 -1.88182912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:83.36, Z:-1.88 [[ 2.59173215e-01 -9.65830851e-01 -1.09614264e-04 1.38729968e+02] [ 9.65830774e-01 2.59173238e-01 -3.85099148e-04 8.33646814e+01] [ 4.00349721e-04 -6.06144522e-06 9.99999920e-01 -1.87869763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:138.74, Y:83.39, Z:-1.88 [[ 2.51401652e-01 -9.67882624e-01 -6.60090479e-04 1.38741949e+02] [ 9.67879855e-01 2.51402513e-01 -2.31588382e-03 8.33900153e+01] [ 2.40745211e-03 -5.66712587e-05 9.99997100e-01 -1.88260760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:83.42, Z:-1.88 [[ 2.50948926e-01 -9.68000215e-01 -4.69253112e-04 1.38749139e+02] [ 9.67998812e-01 2.50949362e-01 -1.64847815e-03 8.34171222e+01] [ 1.71348597e-03 -4.05526344e-05 9.99998531e-01 -1.87845418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.76, Y:83.44, Z:-1.88 [[ 2.49976975e-01 -9.68251619e-01 -5.60276327e-04 1.38756163e+02] [ 9.68249616e-01 2.49977597e-01 -1.97033238e-03 8.34437137e+01] [ 2.04783405e-03 -4.99496106e-05 9.99997902e-01 -1.88127473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:83.47, Z:-1.88 [[ 2.49214900e-01 -9.68448030e-01 -5.89554078e-04 1.38763666e+02] [ 9.68445807e-01 2.49215592e-01 -2.07540244e-03 8.34703115e+01] [ 2.15684547e-03 -5.37299647e-05 9.99997673e-01 -1.87913331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:83.49, Z:-1.88 [[ 2.41529508e-01 -9.70393019e-01 9.40673186e-04 1.38763472e+02] [ 9.70390984e-01 2.41526578e-01 -2.49986862e-03 8.34934297e+01] [ 2.19865748e-03 1.51661282e-03 9.99996433e-01 -1.88253653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:83.52, Z:-1.88 [[ 2.43818638e-01 -9.69816995e-01 -2.73281628e-03 1.38779720e+02] [ 9.69810635e-01 2.43828034e-01 -3.90166625e-03 8.35240188e+01] [ 4.45023946e-03 -1.69901534e-03 9.99988654e-01 -1.87840295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:83.55, Z:-1.88 [[ 2.40756186e-01 -9.70584442e-01 -1.51663472e-03 1.38786410e+02] [ 9.70569733e-01 2.40760892e-01 -5.34659579e-03 8.35512248e+01] [ 5.55446902e-03 -1.84773741e-04 9.99984557e-01 -1.87901320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:83.58, Z:-1.88 [[ 2.37426693e-01 -9.71404165e-01 -1.58527071e-03 1.38792661e+02] [ 9.71388075e-01 2.37431891e-01 -5.59498916e-03 8.35772860e+01] [ 5.81138960e-03 -2.11513292e-04 9.99983091e-01 -1.87972485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:83.60, Z:-1.88 [[ 2.30335974e-01 -9.73109929e-01 -1.55065445e-03 1.38796567e+02] [ 9.73094536e-01 2.30341062e-01 -5.47896586e-03 8.36043107e+01] [ 5.68881547e-03 -2.46930436e-04 9.99983788e-01 -1.88024952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:83.63, Z:-1.88 [[ 2.26996114e-01 -9.73894654e-01 -1.40257499e-03 1.38802443e+02] [ 9.73882047e-01 2.27000321e-01 -4.96114021e-03 8.36320083e+01] [ 5.15001290e-03 -2.39783049e-04 9.99986710e-01 -1.88041418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:83.66, Z:-1.88 [[ 2.23722802e-01 -9.74652109e-01 -1.17203070e-03 1.38808285e+02] [ 9.74643296e-01 2.23725770e-01 -4.15032602e-03 8.36595032e+01] [ 4.30733748e-03 -2.13789299e-04 9.99990701e-01 -1.88048631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:83.69, Z:-1.88 [[ 2.20862391e-01 -9.75304443e-01 -1.02397493e-03 1.38814385e+02] [ 9.75297707e-01 2.20864677e-01 -3.63012983e-03 8.36871762e+01] [ 3.76664164e-03 -1.96921247e-04 9.99992887e-01 -1.87976384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:83.71, Z:-1.88 [[ 2.18984325e-01 -9.75727990e-01 -8.69013478e-04 1.38820375e+02] [ 9.75723130e-01 2.18985982e-01 -3.08453453e-03 8.37133483e+01] [ 3.19996845e-03 -1.72451837e-04 9.99994865e-01 -1.87946734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:83.74, Z:-1.88 [[ 2.17562971e-01 -9.76046056e-01 -6.71052804e-04 1.38824012e+02] [ 9.76043153e-01 2.17563963e-01 -2.38462532e-03 8.37417993e+01] [ 2.47350104e-03 -1.36170325e-04 9.99996932e-01 -1.87926139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:83.77, Z:-1.88 [[ 2.18542458e-01 -9.75827299e-01 -5.25986530e-04 1.38829234e+02] [ 9.75825510e-01 2.18543066e-01 -1.87135469e-03 8.37696156e+01] [ 1.94106971e-03 -1.04300620e-04 9.99998111e-01 -1.87910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:83.80, Z:-1.88 [[ 2.20749394e-01 -9.75330543e-01 -1.92849623e-04 1.38834106e+02] [ 9.75330301e-01 2.20749475e-01 -6.87565825e-04 8.37974812e+01] [ 7.13175402e-04 -3.63123420e-05 9.99999745e-01 -1.87913413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:83.83, Z:-1.88 [[ 2.27939653e-01 -9.73675184e-01 3.86981390e-04 1.38835651e+02] [ 9.73674212e-01 2.27939973e-01 1.37780736e-03 8.38262178e+01] [-1.42974536e-03 6.27368684e-05 9.99998976e-01 -1.87923514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:83.85, Z:-1.88 [[ 2.32102314e-01 -9.72691265e-01 4.67450255e-04 1.38839823e+02] [ 9.72689840e-01 2.32102775e-01 1.66632876e-03 8.38539720e+01] [-1.72931993e-03 6.79253527e-05 9.99998502e-01 -1.87947082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:83.88, Z:-1.88 [[ 2.36174040e-01 -9.71710637e-01 5.11052783e-04 1.38844448e+02] [ 9.71708927e-01 2.36174584e-01 1.82382732e-03 8.38819494e+01] [-1.89293008e-03 6.58538854e-05 9.99998206e-01 -1.88018183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.84, Y:83.91, Z:-1.89 [[ 2.35424595e-01 -9.71860168e-01 7.94190452e-03 1.38839279e+02] [ 9.71879790e-01 2.35455612e-01 3.21394249e-03 8.39064345e+01] [-4.99346868e-03 6.96193538e-03 9.99963298e-01 -1.88920851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:83.94, Z:-1.88 [[ 2.46795153e-01 -9.69047187e-01 -6.30086382e-03 1.38855672e+02] [ 9.69066620e-01 2.46780090e-01 3.07782701e-03 8.39360366e+01] [-1.42763187e-03 -6.86554959e-03 9.99975413e-01 -1.87863104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:83.96, Z:-1.88 [[ 2.49392344e-01 -9.68402447e-01 3.99565303e-04 1.38858276e+02] [ 9.68401394e-01 2.49392662e-01 1.42867724e-03 8.39634617e+01] [-1.48318319e-03 3.06384319e-05 9.99998900e-01 -1.88158860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:83.99, Z:-1.88 [[ 2.51176766e-01 -9.67941139e-01 4.27846829e-04 1.38864403e+02] [ 9.67939928e-01 2.51177128e-01 1.53159883e-03 8.39909574e+01] [-1.58996286e-03 2.94279879e-05 9.99998736e-01 -1.88171950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:84.02, Z:-1.88 [[ 2.51878536e-01 -9.67758782e-01 3.77414967e-04 1.38870843e+02] [ 9.67757838e-01 2.51878818e-01 1.35239726e-03 8.40187456e+01] [-1.40385716e-03 2.46064497e-05 9.99999014e-01 -1.88202803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:84.04, Z:-1.91 [[ 2.42643501e-01 -9.69575546e-01 3.23634324e-02 1.38852122e+02] [ 9.70054795e-01 2.42866536e-01 3.08873491e-03 8.40447670e+01] [-1.08547565e-02 3.06448413e-02 9.99471394e-01 -1.90849277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:84.07, Z:-1.87 [[ 2.47898158e-01 -9.68337048e-01 -2.94934564e-02 1.38897154e+02] [ 9.68785065e-01 2.47738529e-01 9.00666048e-03 8.40697047e+01] [-1.41481752e-03 -3.08055546e-02 9.99524395e-01 -1.87108664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:84.10, Z:-1.88 [[ 2.44115841e-01 -9.69746078e-01 -6.48135076e-06 1.38891988e+02] [ 9.69746078e-01 2.44115841e-01 -2.38358090e-05 8.40989757e+01] [ 2.46968826e-05 -4.66565902e-07 1.00000000e+00 -1.88351293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:84.12, Z:-1.89 [[ 2.32211865e-01 -9.72639493e-01 7.07577627e-03 1.38893203e+02] [ 9.72658866e-01 2.32230517e-01 1.92815716e-03 8.41234286e+01] [-3.51861298e-03 6.43457555e-03 9.99973107e-01 -1.89110435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:84.15, Z:-1.88 [[ 2.32265363e-01 -9.72633438e-01 -6.08253114e-03 1.38912658e+02] [ 9.72652315e-01 2.32257410e-01 1.99259015e-03 8.41508657e+01] [-5.25346879e-04 -6.37899766e-03 9.99979516e-01 -1.88066658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:84.18, Z:-1.88 [[ 2.29017447e-01 -9.73422310e-01 1.25326624e-04 1.38917892e+02] [ 9.73422206e-01 2.29017481e-01 4.50426760e-04 8.41782277e+01] [-4.67157445e-04 1.88401319e-05 9.99999891e-01 -1.88316500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:84.20, Z:-1.88 [[ 2.26515873e-01 -9.74007463e-01 1.47382914e-04 1.38925814e+02] [ 9.74007319e-01 2.26515919e-01 5.30324046e-04 8.42046890e+01] [-5.49924155e-04 2.34252224e-05 9.99999849e-01 -1.88310257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:84.23, Z:-1.88 [[ 2.23559673e-01 -9.74690212e-01 2.49783618e-04 1.38933684e+02] [ 9.74689798e-01 2.23559809e-01 9.00079446e-04 8.42315507e+01] [-9.33140204e-04 4.22400774e-05 9.99999564e-01 -1.88258341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:84.26, Z:-1.88 [[ 2.22665601e-01 -9.74894849e-01 2.50650730e-04 1.38940605e+02] [ 9.74894431e-01 2.22665738e-01 9.04198215e-04 8.42590286e+01] [-9.37309513e-04 4.30241611e-05 9.99999560e-01 -1.88264711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:84.29, Z:-1.88 [[ 2.22489288e-01 -9.74935123e-01 1.52261791e-04 1.38947590e+02] [ 9.74934968e-01 2.22489339e-01 5.49701469e-04 8.42864066e+01] [-5.69799894e-04 2.61426554e-05 9.99999837e-01 -1.88254881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:84.31, Z:-1.88 [[ 2.22686206e-01 -9.74890172e-01 8.15593320e-05 1.38954060e+02] [ 9.74890127e-01 2.22686220e-01 2.94562130e-04 8.43125084e+01] [-3.05327865e-04 1.39164644e-05 9.99999953e-01 -1.88269766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:84.34, Z:-1.88 [[ 2.23240833e-01 -9.74763312e-01 -1.24371878e-04 1.38960462e+02] [ 9.74763208e-01 2.23240867e-01 -4.50885144e-04 8.43392210e+01] [ 4.67271182e-04 -2.05771560e-05 9.99999891e-01 -1.88271586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:84.37, Z:-1.88 [[ 2.22991151e-01 -9.74820461e-01 -1.24271896e-04 1.38967998e+02] [ 9.74820357e-01 2.22991185e-01 -4.50912722e-04 8.43667945e+01] [ 4.67270484e-04 -2.05932266e-05 9.99999891e-01 -1.88272776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:84.39, Z:-1.88 [[ 2.26242788e-01 -9.74070866e-01 -3.86263834e-04 1.38972588e+02] [ 9.74069858e-01 2.26243110e-01 -1.40222296e-03 8.43942417e+01] [ 1.45325406e-03 -5.90051272e-05 9.99998942e-01 -1.88332952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:84.42, Z:-1.88 [[ 2.27919880e-01 -9.73679712e-01 -5.89054533e-04 1.38978604e+02] [ 9.73677363e-01 2.27920625e-01 -2.14054656e-03 8.44221116e+01] [ 2.21846444e-03 -8.56759492e-05 9.99997536e-01 -1.88351777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:84.45, Z:-1.88 [[ 2.30316256e-01 -9.73115577e-01 -7.04017919e-04 1.38984609e+02] [ 9.73112212e-01 2.30317312e-01 -2.56103578e-03 8.44497106e+01] [ 2.65433133e-03 -9.52402624e-05 9.99996473e-01 -1.88373788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:84.48, Z:-1.88 [[ 2.35721450e-01 -9.71820343e-01 -7.86841361e-04 1.38989833e+02] [ 9.71816122e-01 2.35722746e-01 -2.86562821e-03 8.44759458e+01] [ 2.97035219e-03 -8.91750854e-05 9.99995585e-01 -1.88418963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:84.50, Z:-1.88 [[ 2.38130375e-01 -9.71232771e-01 -9.10782266e-04 1.38996211e+02] [ 9.71227098e-01 2.38132098e-01 -3.32072138e-03 8.45019904e+01] [ 3.44207992e-03 -9.38117899e-05 9.99994072e-01 -1.88418515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:84.53, Z:-1.88 [[ 2.40361779e-01 -9.70682776e-01 -1.07889684e-03 1.39003175e+02] [ 9.70674794e-01 2.40364179e-01 -3.93777190e-03 8.45287816e+01] [ 4.08165551e-03 -1.00768109e-04 9.99991665e-01 -1.88423591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:84.55, Z:-1.89 [[ 2.39224039e-01 -9.70962916e-01 -1.69532167e-03 1.39006972e+02] [ 9.70958260e-01 2.39228370e-01 -3.13744456e-03 8.45538154e+01] [ 3.45191136e-03 -8.95534421e-04 9.99993641e-01 -1.88623411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:84.58, Z:-1.88 [[ 2.45080682e-01 -9.69502596e-01 -4.20463082e-04 1.39017789e+02] [ 9.69491406e-01 2.45079899e-01 -4.71779918e-03 8.45821220e+01] [ 4.67696560e-03 7.48606093e-04 9.99988783e-01 -1.88475844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:84.61, Z:-1.88 [[ 2.46391202e-01 -9.69169650e-01 -1.25068418e-03 1.39026355e+02] [ 9.69158848e-01 2.46394362e-01 -4.57671242e-03 8.46082277e+01] [ 4.74377231e-03 -8.44499678e-05 9.99988745e-01 -1.88416821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:84.64, Z:-1.88 [[ 2.48024863e-01 -9.68752784e-01 -1.30817273e-03 1.39034907e+02] [ 9.68740935e-01 2.48028301e-01 -4.79205566e-03 8.46352538e+01] [ 4.96678111e-03 -7.87315212e-05 9.99987662e-01 -1.88293653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:84.66, Z:-1.88 [[ 2.52685205e-01 -9.67547980e-01 -1.04584765e-03 1.39043186e+02] [ 9.67540377e-01 2.52687366e-01 -3.83601524e-03 8.46605035e+01] [ 3.97580128e-03 -4.25955274e-05 9.99992096e-01 -1.88236133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:84.69, Z:-1.89 [[ 2.52952543e-01 -9.67473510e-01 3.16513920e-03 1.39046210e+02] [ 9.67477074e-01 2.52944791e-01 -2.65408829e-03 8.46864165e+01] [ 1.76715464e-03 3.73355799e-03 9.99991469e-01 -1.88653753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:84.71, Z:-1.88 [[ 2.58166309e-01 -9.66089880e-01 -4.52778313e-03 1.39060777e+02] [ 9.66094217e-01 2.58178686e-01 -2.39359277e-03 8.47131408e+01] [ 3.48140285e-03 -3.75632009e-03 9.99986885e-01 -1.87986376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:84.74, Z:-1.88 [[ 2.60694231e-01 -9.65418366e-01 2.42817622e-03 1.39066267e+02] [ 9.65412608e-01 2.60680281e-01 -4.92814973e-03 8.47420577e+01] [ 4.12474860e-03 3.62893214e-03 9.99984909e-01 -1.88293498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:84.77, Z:-1.89 [[ 2.61959160e-01 -9.65076066e-01 2.36330420e-03 1.39071031e+02] [ 9.65078782e-01 2.61959814e-01 -3.37206688e-05 8.47655467e+01] [-5.86547719e-04 2.28960817e-03 9.99997207e-01 -1.88674111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:84.79, Z:-1.88 [[ 2.66907604e-01 -9.63702277e-01 -6.18477057e-03 1.39088173e+02] [ 9.63719731e-01 2.66915744e-01 -5.15116016e-04 8.47938813e+01] [ 2.14723112e-03 -5.82289705e-03 9.99980741e-01 -1.87833347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:84.82, Z:-1.88 [[ 2.67805207e-01 -9.63472956e-01 -4.84975469e-04 1.39094598e+02] [ 9.63471298e-01 2.67805646e-01 -1.78711726e-03 8.48198532e+01] [ 1.85171832e-03 1.13393632e-05 9.99998286e-01 -1.88025717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:84.85, Z:-1.88 [[ 2.67769290e-01 -9.63482941e-01 -4.78855665e-04 1.39103597e+02] [ 9.63481322e-01 2.67769718e-01 -1.76655372e-03 8.48463560e+01] [ 1.83026742e-03 1.16603447e-05 9.99998325e-01 -1.87987295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:84.87, Z:-1.88 [[ 2.66826163e-01 -9.63744584e-01 -4.19189210e-04 1.39114638e+02] [ 9.63743340e-01 2.66826492e-01 -1.54818868e-03 8.48728413e+01] [ 1.60390924e-03 9.10643464e-06 9.99998714e-01 -1.87999240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:84.90, Z:-1.88 [[ 2.65395112e-01 -9.64139581e-01 -5.50908451e-04 1.39124309e+02] [ 9.64137429e-01 2.65395684e-01 -2.03700923e-03 8.48988754e+01] [ 2.11016995e-03 9.46083650e-06 9.99997774e-01 -1.88022158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:84.92, Z:-1.88 [[ 2.63492893e-01 -9.64661034e-01 -7.64734273e-04 1.39134492e+02] [ 9.64656880e-01 2.63494002e-01 -2.83107551e-03 8.49240949e+01] [ 2.93253113e-03 8.26209908e-06 9.99995700e-01 -1.87997206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:84.95, Z:-1.88 [[ 2.58550357e-01 -9.65997007e-01 -1.22263078e-03 1.39148387e+02] [ 9.65986380e-01 2.58553248e-01 -4.53128632e-03 8.49489893e+01] [ 4.69332418e-03 -9.47897951e-06 9.99988986e-01 -1.87990068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:84.97, Z:-1.88 [[ 2.55158604e-01 -9.66898041e-01 -1.50521942e-03 1.39159101e+02] [ 9.66881912e-01 2.55163042e-01 -5.58485611e-03 8.49747523e+01] [ 5.78406280e-03 -3.03453384e-05 9.99983272e-01 -1.88016374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:85.00, Z:-1.88 [[ 2.51891446e-01 -9.67753754e-01 -1.83618039e-03 1.39169908e+02] [ 9.67729720e-01 2.51898132e-01 -6.82052852e-03 8.50010074e+01] [ 7.06312249e-03 -5.88935441e-05 9.99975054e-01 -1.88005853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:85.03, Z:-1.88 [[ 2.48338614e-01 -9.68671202e-01 -2.00894692e-03 1.39180096e+02] [ 9.68642415e-01 2.48346723e-01 -7.46842516e-03 8.50262491e+01] [ 7.73336376e-03 -9.12528458e-05 9.99970093e-01 -1.88037237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:85.05, Z:-1.88 [[ 2.44691866e-01 -9.69598407e-01 -2.19525782e-03 1.39190375e+02] [ 9.69563989e-01 2.44701679e-01 -8.17066792e-03 8.50514246e+01] [ 8.45944987e-03 -1.29146950e-04 9.99964210e-01 -1.88035301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:139.20, Y:85.08, Z:-1.88 [[ 2.37322949e-01 -9.71427527e-01 -2.52551739e-03 1.39203337e+02] [ 9.71381971e-01 2.37336284e-01 -9.41038753e-03 8.50766166e+01] [ 9.74090639e-03 -2.19941146e-04 9.99952532e-01 -1.88178251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:85.10, Z:-1.88 [[ 2.37106256e-01 -9.71481818e-01 -1.92386432e-03 1.39210276e+02] [ 9.71455325e-01 2.37114001e-01 -7.17649863e-03 8.51041906e+01] [ 7.42801311e-03 -1.67355518e-04 9.99972398e-01 -1.87934032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:85.13, Z:-1.88 [[ 2.35677322e-01 -9.71829621e-01 -1.84053056e-03 1.39217897e+02] [ 9.71805330e-01 2.35684448e-01 -6.87329677e-03 8.51309658e+01] [ 7.11345782e-03 -1.68757237e-04 9.99974685e-01 -1.87918788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:85.16, Z:-1.88 [[ 2.34704376e-01 -9.72065261e-01 -1.72720806e-03 1.39225704e+02] [ 9.72043826e-01 2.34710675e-01 -6.45747549e-03 8.51583689e+01] [ 6.68248177e-03 -1.63324176e-04 9.99977659e-01 -1.87868809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:85.18, Z:-1.88 [[ 2.33887292e-01 -9.72262320e-01 -1.64781013e-03 1.39232822e+02] [ 9.72242768e-01 2.33893042e-01 -6.16805624e-03 8.51847164e+01] [ 6.38238000e-03 -1.59441513e-04 9.99979620e-01 -1.87840805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:85.21, Z:-1.88 [[ 2.31839387e-01 -9.72752277e-01 -1.87275678e-03 1.39240165e+02] [ 9.72726980e-01 2.31846869e-01 -7.01800178e-03 8.52121079e+01] [ 7.26097001e-03 -1.94631819e-04 9.99973620e-01 -1.87773948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:85.24, Z:-1.88 [[ 2.30715814e-01 -9.73019101e-01 -2.01052036e-03 1.39246665e+02] [ 9.72989907e-01 2.30724473e-01 -7.54047725e-03 8.52381811e+01] [ 7.80090464e-03 -2.16508664e-04 9.99969549e-01 -1.87767796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:85.27, Z:-1.88 [[ 2.29703800e-01 -9.73258085e-01 -2.20554255e-03 1.39252875e+02] [ 9.73222884e-01 2.29714258e-01 -8.28121130e-03 8.52654572e+01] [ 8.56640042e-03 -2.44258773e-04 9.99963278e-01 -1.87807350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:139.26, Y:85.29, Z:-1.88 [[ 2.27009065e-01 -9.73888947e-01 -2.68382058e-03 1.39256217e+02] [ 9.73836780e-01 2.27024698e-01 -1.00852914e-02 8.52921328e+01] [ 1.04312474e-02 -3.24150613e-04 9.99945541e-01 -1.88254034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:85.32, Z:-1.88 [[ 2.26059299e-01 -9.74109940e-01 -2.64919654e-03 1.39262510e+02] [ 9.74059007e-01 2.26074585e-01 -9.96655377e-03 8.53190469e+01] [ 1.03074351e-02 -3.27441590e-04 9.99946823e-01 -1.88070258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.27, Y:85.35, Z:-1.88 [[ 2.24674302e-01 -9.74430184e-01 -2.69732308e-03 1.39268534e+02] [ 9.74377278e-01 2.24690227e-01 -1.01598472e-02 8.53454154e+01] [ 1.05061239e-02 -3.45553748e-04 9.99944749e-01 -1.88197292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:85.37, Z:-1.88 [[ 2.23981270e-01 -9.74589777e-01 -2.67517397e-03 1.39275061e+02] [ 9.74537628e-01 2.23996975e-01 -1.00879699e-02 8.53727430e+01] [ 1.04308632e-02 -3.47541397e-04 9.99945537e-01 -1.88001920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:85.40, Z:-1.88 [[ 2.23375510e-01 -9.74729192e-01 -2.52675309e-03 1.39280773e+02] [ 9.74682563e-01 2.23389554e-01 -9.53979335e-03 8.53991945e+01] [ 9.86316531e-03 -3.31825969e-04 9.99951303e-01 -1.87906002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:85.43, Z:-1.88 [[ 2.23671823e-01 -9.74661549e-01 -2.40423085e-03 1.39287693e+02] [ 9.74619232e-01 2.23684528e-01 -9.08763488e-03 8.54262362e+01] [ 9.39515753e-03 -3.10561765e-04 9.99955816e-01 -1.87853223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:85.45, Z:-1.88 [[ 2.24433143e-01 -9.74486377e-01 -2.46273727e-03 1.39294118e+02] [ 9.74441856e-01 2.24446444e-01 -9.32006078e-03 8.54523908e+01] [ 9.63502488e-03 -3.08063738e-04 9.99953535e-01 -1.87808949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:85.48, Z:-1.88 [[ 2.27265760e-01 -9.73829656e-01 -2.46488563e-03 1.39299295e+02] [ 9.73784918e-01 2.27278957e-01 -9.33863051e-03 8.54797904e+01] [ 9.65445197e-03 -2.77917484e-04 9.99953356e-01 -1.87935275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:85.51, Z:-1.88 [[ 2.28691731e-01 -9.73495714e-01 -2.48736064e-03 1.39305319e+02] [ 9.73450031e-01 2.28705105e-01 -9.43456449e-03 8.55070542e+01] [ 9.75338017e-03 -2.63714413e-04 9.99952400e-01 -1.88031014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:85.53, Z:-1.88 [[ 2.29868360e-01 -9.73218406e-01 -2.54405938e-03 1.39311727e+02] [ 9.73170489e-01 2.29882296e-01 -9.66065866e-03 8.55347121e+01] [ 9.98676502e-03 -2.55123746e-04 9.99950098e-01 -1.88098957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:85.56, Z:-1.88 [[ 2.31652993e-01 -9.72795223e-01 -2.51891986e-03 1.39317948e+02] [ 9.72748145e-01 2.31666571e-01 -9.57317921e-03 8.55613132e+01] [ 9.89629253e-03 -2.32619003e-04 9.99951003e-01 -1.88287304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:139.33, Y:85.59, Z:-1.88 [[ 2.31635364e-01 -9.72799204e-01 -2.60147911e-03 1.39325118e+02] [ 9.72748873e-01 2.31649850e-01 -9.89836596e-03 8.55888744e+01] [ 1.02317548e-02 -2.37774272e-04 9.99947626e-01 -1.88486991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.33, Y:85.61, Z:-1.88 [[ 2.32166709e-01 -9.72672615e-01 -2.56990096e-03 1.39332884e+02] [ 9.72623407e-01 2.32180820e-01 -9.78645473e-03 8.56147239e+01] [ 1.01156982e-02 -2.27456848e-04 9.99948809e-01 -1.88409136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:85.64, Z:-1.88 [[ 2.33404588e-01 -9.72376526e-01 -2.48803475e-03 1.39341240e+02] [ 9.72330280e-01 2.33417759e-01 -9.48556108e-03 8.56411442e+01] [ 9.80428842e-03 -2.05218047e-04 9.99951916e-01 -1.88204052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:85.67, Z:-1.88 [[ 2.34941646e-01 -9.72006522e-01 -2.39677340e-03 1.39349048e+02] [ 9.71963489e-01 2.34953802e-01 -9.14804480e-03 8.56676547e+01] [ 9.45509023e-03 -1.80319540e-04 9.99955283e-01 -1.88173361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:85.69, Z:-1.88 [[ 2.39875691e-01 -9.70801216e-01 -2.15688738e-03 1.39356204e+02] [ 9.70766237e-01 2.39885359e-01 -8.24184379e-03 8.56945274e+01] [ 8.51859767e-03 -1.16815473e-04 9.99963709e-01 -1.88193463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:139.35, Y:85.72, Z:-1.90 [[ 2.38427292e-01 -9.71024633e-01 1.62354393e-02 1.39349662e+02] [ 9.71153278e-01 2.38328433e-01 -7.80187292e-03 8.57213158e+01] [ 3.70644397e-03 1.76272796e-02 9.99837757e-01 -1.90025163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:85.75, Z:-1.88 [[ 2.44965454e-01 -9.69344030e-01 -1.90808032e-02 1.39377647e+02] [ 9.69499841e-01 2.45069749e-01 -3.29802535e-03 8.57462337e+01] [ 7.87304885e-03 -1.76909334e-02 9.99812505e-01 -1.87516703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:85.77, Z:-1.88 [[ 2.49786416e-01 -9.68298825e-01 -2.03259169e-03 1.39376929e+02] [ 9.68267509e-01 2.49794685e-01 -7.78764700e-03 8.57745954e+01] [ 8.04850004e-03 -2.28440577e-05 9.99967610e-01 -1.88443408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:85.80, Z:-1.88 [[ 2.51635924e-01 -9.67819468e-01 -2.19983775e-03 1.39384725e+02] [ 9.67782683e-01 2.51645539e-01 -8.43808462e-03 8.58020683e+01] [ 8.72012192e-03 -5.63966432e-06 9.99961979e-01 -1.88465451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:85.83, Z:-1.89 [[ 2.53157193e-01 -9.67422508e-01 -2.26445376e-03 1.39393023e+02] [ 9.67383423e-01 2.53167320e-01 -8.69604318e-03 8.58294044e+01] [ 8.98603359e-03 1.08708501e-05 9.99959625e-01 -1.88517771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:85.86, Z:-1.88 [[ 2.55160879e-01 -9.66895817e-01 -2.32480015e-03 1.39403553e+02] [ 9.66854504e-01 2.55171467e-01 -8.93817646e-03 8.58559661e+01] [ 9.23550810e-03 3.29294645e-05 9.99957351e-01 -1.88498290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:85.88, Z:-1.88 [[ 2.55361894e-01 -9.66842568e-01 -2.39816173e-03 1.39412448e+02] [ 9.66798502e-01 2.55373151e-01 -9.23093154e-03 8.58831643e+01] [ 9.53728368e-03 3.86889922e-05 9.99954518e-01 -1.88435758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:85.91, Z:-1.88 [[ 2.55742708e-01 -9.66741978e-01 -2.36953430e-03 1.39420524e+02] [ 9.66698848e-01 2.55753681e-01 -9.13188745e-03 8.59087314e+01] [ 9.43419606e-03 4.47875445e-05 9.99955496e-01 -1.88443249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:85.94, Z:-1.88 [[ 2.57287960e-01 -9.66332175e-01 -2.24339193e-03 1.39427565e+02] [ 9.66293410e-01 2.57297734e-01 -8.65573443e-03 8.59363263e+01] [ 8.94153434e-03 5.92414224e-05 9.99960022e-01 -1.88446326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:139.43, Y:85.96, Z:-1.89 [[ 2.58221870e-01 -9.66082834e-01 -2.32892119e-03 1.39433887e+02] [ 9.66040949e-01 2.58232361e-01 -8.99625359e-03 8.59639625e+01] [ 9.29252898e-03 7.31961871e-05 9.99956821e-01 -1.88677714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:85.99, Z:-1.88 [[ 2.60568919e-01 -9.65452048e-01 -2.48636823e-03 1.39440665e+02] [ 9.65404167e-01 2.60580760e-01 -9.61566556e-03 8.59908456e+01] [ 9.93136372e-03 1.05193325e-04 9.99950677e-01 -1.88493360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:86.02, Z:-1.89 [[ 2.60762723e-01 -9.65399102e-01 -2.71579455e-03 1.39446841e+02] [ 9.65341834e-01 2.60776837e-01 -1.05158903e-02 8.60171969e+01] [ 1.08602474e-02 1.20482091e-04 9.99941019e-01 -1.88533414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:86.05, Z:-1.89 [[ 2.60280398e-01 -9.65528599e-01 -2.93936573e-03 1.39453158e+02] [ 9.65461363e-01 2.60296963e-01 -1.13950423e-02 8.60450701e+01] [ 1.17673472e-02 1.28062101e-04 9.99930754e-01 -1.88523612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:86.07, Z:-1.89 [[ 2.60108381e-01 -9.65574960e-01 -2.93732200e-03 1.39460214e+02] [ 9.65507721e-01 2.60124934e-01 -1.13955693e-02 8.60727522e+01] [ 1.17673471e-02 1.28076011e-04 9.99930754e-01 -1.88523244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:86.10, Z:-1.89 [[ 2.59155823e-01 -9.65831234e-01 -2.87872806e-03 1.39466397e+02] [ 9.65766556e-01 2.59171785e-01 -1.11778790e-02 8.60995359e+01] [ 1.15420297e-02 1.16633140e-04 9.99933382e-01 -1.88536027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:86.13, Z:-1.88 [[ 2.57742891e-01 -9.66209532e-01 -2.78246263e-03 1.39473050e+02] [ 9.66148988e-01 2.57757891e-01 -1.08167484e-02 8.61264717e+01] [ 1.11684471e-02 9.96665498e-05 9.99937626e-01 -1.88497663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:86.15, Z:-1.88 [[ 2.56069692e-01 -9.66655059e-01 -2.51213563e-03 1.39480193e+02] [ 9.66605613e-01 2.56082003e-01 -9.77732415e-03 8.61537506e+01] [ 1.00946126e-02 7.54319847e-05 9.99949045e-01 -1.88460354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:86.18, Z:-1.88 [[ 2.51961939e-01 -9.67735195e-01 -1.94234543e-03 1.39487381e+02] [ 9.67705618e-01 2.51969425e-01 -7.56616591e-03 8.61797288e+01] [ 7.81145671e-03 2.67672483e-05 9.99969490e-01 -1.88356935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45762800000003 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:139.49, Y:86.21, Z:-1.89 [[ 2.48671549e-01 -9.68586005e-01 -1.90069010e-03 1.39494848e+02] [ 9.68557641e-01 2.48678812e-01 -7.41244646e-03 8.62067799e+01] [ 7.65225326e-03 2.33661797e-06 9.99970721e-01 -1.88585754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:86.23, Z:-1.89 [[ 2.46807282e-01 -9.69019742e-01 9.32232748e-03 1.39497754e+02] [ 9.69014868e-01 2.46685758e-01 -1.25029230e-02 8.62342586e+01] [ 9.81589377e-03 1.21192864e-02 9.99878378e-01 -1.88838049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:86.26, Z:-1.88 [[ 2.43509947e-01 -9.69808501e-01 -1.32052185e-02 1.39516497e+02] [ 9.69876198e-01 2.43573924e-01 -3.45016885e-03 8.62594865e+01] [ 6.56244998e-03 -1.19672767e-02 9.99906855e-01 -1.87666804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:86.29, Z:-1.88 [[ 2.41415093e-01 -9.70421003e-01 -1.35255439e-03 1.39518343e+02] [ 9.70406595e-01 2.41418879e-01 -5.28828393e-03 8.62878689e+01] [ 5.45839396e-03 -3.58561469e-05 9.99985102e-01 -1.88171509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:86.32, Z:-1.88 [[ 2.39845379e-01 -9.70810418e-01 -1.15156413e-03 1.39524548e+02] [ 9.70799954e-01 2.39848141e-01 -4.50761845e-03 8.63156018e+01] [ 4.65224347e-03 -3.68069517e-05 9.99989178e-01 -1.88167950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:86.34, Z:-1.88 [[ 2.37136448e-01 -9.71475662e-01 -1.15908238e-03 1.39530545e+02] [ 9.71465043e-01 2.37139276e-01 -4.54242562e-03 8.63429321e+01] [ 4.68771989e-03 -4.88333330e-05 9.99989011e-01 -1.88209501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:86.37, Z:-1.88 [[ 2.35675469e-01 -9.71831056e-01 -1.21315611e-03 1.39536628e+02] [ 9.71819399e-01 2.35678584e-01 -4.76028977e-03 8.63689141e+01] [ 4.91211235e-03 -5.70851212e-05 9.99987934e-01 -1.88212657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:86.40, Z:-1.88 [[ 2.34183469e-01 -9.72191566e-01 -1.28914534e-03 1.39543244e+02] [ 9.72178377e-01 2.34187008e-01 -5.06434857e-03 8.63958189e+01] [ 5.22541806e-03 -6.72925080e-05 9.99986345e-01 -1.88220901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:139.55, Y:86.42, Z:-1.89 [[ 2.32153125e-01 -9.72678280e-01 -1.37509988e-03 1.39549597e+02] [ 9.72663247e-01 2.32157183e-01 -5.40840185e-03 8.64228956e+01] [ 5.57987432e-03 -8.19317272e-05 9.99984429e-01 -1.88502560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.727628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:139.56, Y:86.45, Z:-1.89 [[ 2.29714500e-01 -9.73257244e-01 -1.25920379e-03 1.39555397e+02] [ 9.73244617e-01 2.29717935e-01 -4.95843628e-03 8.64505451e+01] [ 5.11509572e-03 -8.64885991e-05 9.99986914e-01 -1.88569398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:139.56, Y:86.48, Z:-1.89 [[ 2.28801611e-01 -9.73472162e-01 -1.33168960e-03 1.39561513e+02] [ 9.73458009e-01 2.28805467e-01 -5.25009976e-03 8.64784009e+01] [ 5.41552382e-03 -9.51126195e-05 9.99985331e-01 -1.88573588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.787628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:139.57, Y:86.51, Z:-1.89 [[ 2.27944669e-01 -9.73672935e-01 -1.49807010e-03 1.39567147e+02] [ 9.73654985e-01 2.27949564e-01 -5.91330135e-03 8.65061892e+01] [ 6.09910591e-03 -1.10697904e-04 9.99981394e-01 -1.88576014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:139.57, Y:86.53, Z:-1.89 [[ 2.27175492e-01 -9.73852434e-01 -1.65330524e-03 1.39572156e+02] [ 9.73830518e-01 2.27181473e-01 -6.53450895e-03 8.65326456e+01] [ 6.73924776e-03 -1.25558818e-04 9.99977283e-01 -1.88706665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:86.56, Z:-1.88 [[ 2.27612850e-01 -9.73750602e-01 -1.46801058e-03 1.39578770e+02] [ 9.73733279e-01 2.27617559e-01 -5.80929549e-03 8.65587756e+01] [ 5.99094997e-03 -1.07180446e-04 9.99982048e-01 -1.88349608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:86.59, Z:-1.88 [[ 2.27351306e-01 -9.73811986e-01 -1.26489866e-03 1.39585325e+02] [ 9.73799096e-01 2.27354806e-01 -5.01130535e-03 8.65863297e+01] [ 5.16765000e-03 -9.24303604e-05 9.99986643e-01 -1.88287651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:86.61, Z:-1.88 [[ 2.27257713e-01 -9.73833998e-01 -1.12968409e-03 1.39591520e+02] [ 9.73823692e-01 2.27260506e-01 -4.48092357e-03 8.66139156e+01] [ 4.62040829e-03 -8.17886856e-05 9.99989323e-01 -1.88261611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:86.64, Z:-1.88 [[ 2.28115829e-01 -9.73633662e-01 -8.13157549e-04 1.39596550e+02] [ 9.73628308e-01 2.28117271e-01 -3.22933966e-03 8.66406349e+01] [ 3.32968908e-03 -5.50497152e-05 9.99994455e-01 -1.88248651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:86.67, Z:-1.88 [[ 2.28732548e-01 -9.73489011e-01 -7.53574586e-04 1.39602896e+02] [ 9.73484401e-01 2.28733784e-01 -2.99629937e-03 8.66681530e+01] [ 3.08923247e-03 -4.82419153e-05 9.99995227e-01 -1.88247917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:86.69, Z:-1.88 [[ 2.30440970e-01 -9.73086075e-01 -6.70081307e-04 1.39608366e+02] [ 9.73082420e-01 2.30441942e-01 -2.66762024e-03 8.66949527e+01] [ 2.75023895e-03 -3.73153419e-05 9.99996217e-01 -1.88324560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:86.72, Z:-1.88 [[ 2.31223204e-01 -9.72900567e-01 -5.62689185e-04 1.39614542e+02] [ 9.72897982e-01 2.31223887e-01 -2.24268639e-03 8.67220629e+01] [ 2.31201804e-03 -2.88780384e-05 9.99997327e-01 -1.88380411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:86.75, Z:-1.88 [[ 2.32308704e-01 -9.72641997e-01 -4.59741832e-04 1.39621254e+02] [ 9.72640267e-01 2.32309158e-01 -1.83446010e-03 8.67496325e+01] [ 1.89107517e-03 -2.10023701e-05 9.99998212e-01 -1.88379018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:86.78, Z:-1.88 [[ 2.33296259e-01 -9.72405511e-01 -6.14633027e-04 1.39628113e+02] [ 9.72402411e-01 2.33297067e-01 -2.45556243e-03 8.67768446e+01] [ 2.53119452e-03 -2.47971095e-05 9.99996796e-01 -1.88335664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:86.80, Z:-1.88 [[ 2.34404737e-01 -9.72138870e-01 -6.60666320e-04 1.39634900e+02] [ 9.72135279e-01 2.34405667e-01 -2.64261760e-03 8.68042079e+01] [ 2.72385522e-03 -2.28149545e-05 9.99996290e-01 -1.88366206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:86.83, Z:-1.88 [[ 2.36985264e-01 -9.71513027e-01 -6.51117393e-04 1.39641151e+02] [ 9.71503622e-01 2.36985846e-01 -4.29203990e-03 8.68302297e+01] [ 4.32407828e-03 3.84587302e-04 9.99990577e-01 -1.88425338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:86.86, Z:-1.88 [[ 2.38366501e-01 -9.71174269e-01 -1.39638602e-03 1.39647995e+02] [ 9.71166211e-01 2.38370241e-01 -3.97728805e-03 8.68570394e+01] [ 4.19549668e-03 -4.08070682e-04 9.99991116e-01 -1.88381679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:86.88, Z:-1.88 [[ 2.39261822e-01 -9.70954555e-01 -1.01657715e-03 1.39654574e+02] [ 9.70945978e-01 2.39263981e-01 -4.08107540e-03 8.68840458e+01] [ 4.20576905e-03 -1.05959626e-05 9.99991156e-01 -1.88402678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:86.91, Z:-1.88 [[ 2.40468472e-01 -9.70656713e-01 -6.77822212e-04 1.39661890e+02] [ 9.70652890e-01 2.40469427e-01 -2.72442624e-03 8.69101774e+01] [ 2.80747814e-03 -2.79147492e-06 9.99996059e-01 -1.88463092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:86.94, Z:-1.88 [[ 2.40173613e-01 -9.70729680e-01 -7.23500231e-04 1.39669526e+02] [ 9.70725314e-01 2.40174703e-01 -2.91153951e-03 8.69374158e+01] [ 3.00008427e-03 -3.04502356e-06 9.99995500e-01 -1.88404166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:86.96, Z:-1.88 [[ 2.39575627e-01 -9.70877498e-01 -6.34882034e-04 1.39677135e+02] [ 9.70874128e-01 2.39576469e-01 -2.55790291e-03 8.69643427e+01] [ 2.63551317e-03 -3.57934736e-06 9.99996527e-01 -1.88421033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:86.99, Z:-1.88 [[ 2.38096679e-01 -9.71241123e-01 -8.07495383e-04 1.39685671e+02] [ 9.71235660e-01 2.38098048e-01 -3.25755620e-03 8.69896859e+01] [ 3.35613561e-03 -8.65500101e-06 9.99994368e-01 -1.88430772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:87.02, Z:-1.88 [[ 2.36872847e-01 -9.71540246e-01 -8.97474608e-04 1.39693534e+02] [ 9.71533483e-01 2.36874547e-01 -3.62496028e-03 8.70163464e+01] [ 3.73438369e-03 -1.32719696e-05 9.99993027e-01 -1.88434023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:87.04, Z:-1.88 [[ 2.35898111e-01 -9.71777294e-01 -9.86180272e-04 1.39702033e+02] [ 9.71769111e-01 2.35900172e-01 -3.98803437e-03 8.70435254e+01] [ 4.10812134e-03 -1.75697516e-05 9.99991561e-01 -1.88404947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:87.07, Z:-1.88 [[ 2.34726345e-01 -9.72060782e-01 -1.17461416e-03 1.39710326e+02] [ 9.72049148e-01 2.34729282e-01 -4.75586249e-03 8.70707499e+01] [ 4.89870375e-03 -2.54564775e-05 9.99988001e-01 -1.88384414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:87.10, Z:-1.88 [[ 2.33914467e-01 -9.72256331e-01 -1.28385304e-03 1.39717933e+02] [ 9.72242400e-01 2.33917988e-01 -5.20479136e-03 8.70967436e+01] [ 5.36070767e-03 -3.07403616e-05 9.99985631e-01 -1.88383208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:87.12, Z:-1.88 [[ 2.35604229e-01 -9.71848346e-01 -1.19989337e-03 1.39723631e+02] [ 9.71836143e-01 2.35607283e-01 -4.87024193e-03 8.71244465e+01] [ 5.01584018e-03 -1.86501568e-05 9.99987420e-01 -1.88425488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:87.15, Z:-1.88 [[ 2.36588140e-01 -9.71610011e-01 1.96701346e-04 1.39729557e+02] [ 9.71592811e-01 2.36582736e-01 -6.00155612e-03 8.71522445e+01] [ 5.78463587e-03 1.61101061e-03 9.99981971e-01 -1.88490907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:87.18, Z:-1.88 [[ 2.36731905e-01 -9.71570556e-01 -2.94286240e-03 1.39737220e+02] [ 9.71557807e-01 2.36744653e-01 -5.23427324e-03 8.71783503e+01] [ 5.78217270e-03 -1.62004147e-03 9.99981971e-01 -1.88338429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:87.21, Z:-1.88 [[ 2.36831930e-01 -9.71549420e-01 -1.53700560e-03 1.39741978e+02] [ 9.71529272e-01 2.36836917e-01 -6.25686197e-03 8.72064802e+01] [ 6.44287028e-03 -1.14212410e-05 9.99979244e-01 -1.88430154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:87.23, Z:-1.88 [[ 2.36478118e-01 -9.71635639e-01 -1.51137785e-03 1.39747626e+02] [ 9.71616124e-01 2.36482948e-01 -6.15810549e-03 8.72328995e+01] [ 6.34084986e-03 -1.22218938e-05 9.99979897e-01 -1.88492694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:87.26, Z:-1.89 [[ 2.35308762e-01 -9.71919444e-01 -1.54300058e-03 1.39753642e+02] [ 9.71899062e-01 2.35313820e-01 -6.29445747e-03 8.72601167e+01] [ 6.48079496e-03 -1.84998183e-05 9.99978999e-01 -1.88509464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:87.29, Z:-1.89 [[ 2.31634317e-01 -9.72801380e-01 -1.73757200e-03 1.39759463e+02] [ 9.72775490e-01 2.31640829e-01 -7.09730544e-03 8.72861342e+01] [ 7.30676114e-03 -4.62879555e-05 9.99973304e-01 -1.88528460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:87.31, Z:-1.89 [[ 2.28755871e-01 -9.73482305e-01 -1.71832164e-03 1.39766429e+02] [ 9.73456944e-01 2.28762315e-01 -7.02721249e-03 8.73138626e+01] [ 7.23395425e-03 -6.51960210e-05 9.99973832e-01 -1.88564749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:87.34, Z:-1.89 [[ 2.25257249e-01 -9.74297820e-01 -1.71196827e-03 1.39773469e+02] [ 9.74272607e-01 2.25263737e-01 -7.00974631e-03 8.73409500e+01] [ 7.21522491e-03 -8.89276267e-05 9.99973966e-01 -1.88574530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:87.37, Z:-1.89 [[ 2.21735711e-01 -9.75105129e-01 -1.80618776e-03 1.39780599e+02] [ 9.75077021e-01 2.21743035e-01 -7.40470498e-03 8.73678436e+01] [ 7.62087536e-03 -1.19284656e-04 9.99970954e-01 -1.88534743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:139.79, Y:87.39, Z:-1.89 [[ 2.14914601e-01 -9.76631184e-01 -1.80134573e-03 1.39787687e+02] [ 9.76603205e-01 2.14922082e-01 -7.39445722e-03 8.73942723e+01] [ 7.60880649e-03 -1.70023192e-04 9.99971038e-01 -1.88609854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:87.42, Z:-1.88 [[ 2.12473875e-01 -9.77165465e-01 -1.58351835e-03 1.39794574e+02] [ 9.77143805e-01 2.12479712e-01 -6.50819035e-03 8.74217882e+01] [ 6.69604437e-03 -1.64504727e-04 9.99977568e-01 -1.88411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:139.80, Y:87.45, Z:-1.89 [[ 2.09965111e-01 -9.77707089e-01 -1.87091390e-03 1.39801314e+02] [ 9.77676798e-01 2.09973339e-01 -7.69901911e-03 8.74489322e+01] [ 7.92022760e-03 -2.12623712e-04 9.99968612e-01 -1.88566595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:139.81, Y:87.48, Z:-1.89 [[ 2.06637817e-01 -9.78415576e-01 -1.94240618e-03 1.39806726e+02] [ 9.78382870e-01 2.06646799e-01 -8.00370294e-03 8.74757674e+01] [ 8.23233964e-03 -2.46549229e-04 9.99966083e-01 -1.88600618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:139.81, Y:87.50, Z:-1.89 [[ 2.05049223e-01 -9.78749686e-01 -1.96672244e-03 1.39812596e+02] [ 9.78716089e-01 2.05058489e-01 -8.11380551e-03 8.75031084e+01] [ 8.34467773e-03 -2.61133377e-04 9.99965148e-01 -1.88638530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:139.82, Y:87.53, Z:-1.89 [[ 2.03925163e-01 -9.78984506e-01 -1.96576781e-03 1.39818969e+02] [ 9.78950866e-01 2.03934461e-01 -8.12024601e-03 8.75297640e+01] [ 8.35048283e-03 -2.68467611e-04 9.99965098e-01 -1.88604404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:139.83, Y:87.56, Z:-1.89 [[ 2.03162991e-01 -9.79143298e-01 -1.78889371e-03 1.39825336e+02] [ 9.79115378e-01 2.03170715e-01 -7.39844928e-03 8.75573392e+01] [ 7.60759284e-03 -2.48442259e-04 9.99971031e-01 -1.88609727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:87.58, Z:-1.88 [[ 2.03557813e-01 -9.79061746e-01 -1.52103125e-03 1.39831208e+02] [ 9.79041511e-01 2.03563390e-01 -6.29807824e-03 8.75845965e+01] [ 6.47583376e-03 -2.07129702e-04 9.99979010e-01 -1.88399630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:87.61, Z:-1.88 [[ 2.05948042e-01 -9.78561805e-01 -1.48239248e-03 1.39835891e+02] [ 9.78542525e-01 2.05953293e-01 -6.14557204e-03 8.76127660e+01] [ 6.31912568e-03 -1.84915554e-04 9.99980017e-01 -1.88362460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:87.64, Z:-1.88 [[ 2.08107033e-01 -9.78105021e-01 -1.42539712e-03 1.39841630e+02] [ 9.78087139e-01 2.08111851e-01 -5.91656936e-03 8.76401709e+01] [ 6.08366822e-03 -1.62882898e-04 9.99981481e-01 -1.88370905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:87.67, Z:-1.88 [[ 2.10895480e-01 -9.77507827e-01 -1.24262851e-03 1.39847379e+02] [ 9.77494194e-01 2.10899103e-01 -5.16423277e-03 8.76679942e+01] [ 5.31014719e-03 -1.25548806e-04 9.99985893e-01 -1.88386665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:87.69, Z:-1.88 [[ 2.14023420e-01 -9.76827992e-01 -1.02496654e-03 1.39852505e+02] [ 9.76818684e-01 2.14025856e-01 -4.26509258e-03 8.76949023e+01] [ 4.38563116e-03 -8.83767637e-05 9.99990379e-01 -1.88419047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:87.72, Z:-1.88 [[ 2.21260618e-01 -9.75214365e-01 -8.24843220e-04 1.39856808e+02] [ 9.75208312e-01 2.21262151e-01 -3.43646480e-03 8.77224010e+01] [ 3.53379643e-03 -4.40396380e-05 9.99993755e-01 -1.88481990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:87.75, Z:-1.89 [[ 2.24645913e-01 -9.74440139e-01 -7.93819369e-04 1.39862209e+02] [ 9.74434513e-01 2.24647314e-01 -3.31127273e-03 8.77504231e+01] [ 3.40496645e-03 -2.96611036e-05 9.99994203e-01 -1.88570215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:87.78, Z:-1.89 [[ 2.24390475e-01 -9.74498992e-01 -7.92944185e-04 1.39868801e+02] [ 9.74493366e-01 2.24391874e-01 -3.31148240e-03 8.77782475e+01] [ 3.40496650e-03 -2.96537377e-05 9.99994203e-01 -1.88569028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:87.80, Z:-1.89 [[ 2.27390635e-01 -9.73803136e-01 -9.74944120e-04 1.39874244e+02] [ 9.73794602e-01 2.27392724e-01 -4.07690904e-03 8.78045925e+01] [ 4.19180201e-03 -2.23443851e-05 9.99991214e-01 -1.88632192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:87.83, Z:-1.89 [[ 2.30181458e-01 -9.73147198e-01 -1.01400215e-03 1.39880587e+02] [ 9.73137936e-01 2.30183692e-01 -4.24558031e-03 8.78318280e+01] [ 4.36498134e-03 -9.51009226e-06 9.99990473e-01 -1.88687628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:87.86, Z:-1.89 [[ 2.34199658e-01 -9.72187687e-01 -1.27315455e-03 1.39887634e+02] [ 9.72173034e-01 2.34203118e-01 -5.33777584e-03 8.78581292e+01] [ 5.48749671e-03 1.23787532e-05 9.99984944e-01 -1.88667183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.89, Y:87.89, Z:-1.89 [[ 2.35291494e-01 -9.71923911e-01 -1.35034148e-03 1.39894363e+02] [ 9.71907382e-01 2.35295367e-01 -5.66844783e-03 8.78853062e+01] [ 5.82702908e-03 2.13307075e-05 9.99983023e-01 -1.88674862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:139.90, Y:87.91, Z:-1.89 [[ 2.35800503e-01 -9.71800406e-01 -1.44685326e-03 1.39901068e+02] [ 9.71781379e-01 2.35804941e-01 -6.08131133e-03 8.79125899e+01] [ 6.25099596e-03 2.79512200e-05 9.99980462e-01 -1.88737530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.91, Y:87.94, Z:-1.89 [[ 2.35943134e-01 -9.71766501e-01 8.39313291e-04 1.39907261e+02] [ 9.71740495e-01 2.35930281e-01 -7.57051612e-03 8.79408006e+01] [ 7.15875455e-03 2.60180601e-03 9.99970991e-01 -1.88872858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:139.91, Y:87.96, Z:-1.89 [[ 2.31793855e-01 -9.72760937e-01 2.78726356e-03 1.39908124e+02] [ 9.72758535e-01 2.31780989e-01 -4.29030175e-03 8.79634908e+01] [ 3.52740325e-03 3.70579999e-03 9.99986912e-01 -1.89403342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:87.99, Z:-1.88 [[ 2.34641760e-01 -9.72051504e-01 -7.68880533e-03 1.39926931e+02] [ 9.72059842e-01 2.34682393e-01 -4.88245120e-03 8.79925920e+01] [ 6.55042126e-03 -6.32835194e-03 9.99958521e-01 -1.88491713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:88.02, Z:-1.89 [[ 2.33390667e-01 -9.72382006e-01 -1.42495666e-03 1.39931809e+02] [ 9.72363430e-01 2.33395016e-01 -6.01053599e-03 8.80198387e+01] [ 6.17711483e-03 1.72272536e-05 9.99980921e-01 -1.88761852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:88.05, Z:-1.89 [[ 2.31747834e-01 -9.72775137e-01 -1.21390952e-03 1.39939951e+02] [ 9.72761628e-01 2.31751013e-01 -5.12670745e-03 8.80467121e+01] [ 5.26845831e-03 7.25874318e-06 9.99986122e-01 -1.88764367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:88.07, Z:-1.89 [[ 2.27479870e-01 -9.73782332e-01 -9.37650397e-04 1.39949687e+02] [ 9.73774260e-01 2.27481802e-01 -3.96483669e-03 8.80729473e+01] [ 4.07418632e-03 -1.11392875e-05 9.99991700e-01 -1.88713001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:88.10, Z:-1.89 [[ 2.24971555e-01 -9.74364989e-01 -8.17027954e-04 1.39957540e+02] [ 9.74358849e-01 2.24973038e-01 -3.45927135e-03 8.80987153e+01] [ 3.55440215e-03 -1.78407618e-05 9.99993683e-01 -1.88704963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.97, Y:88.13, Z:-1.89 [[ 2.22742676e-01 -9.74877060e-01 -6.46208766e-04 1.39966469e+02] [ 9.74873212e-01 2.22743612e-01 -2.73937134e-03 8.81259252e+01] [ 2.81448915e-03 -1.97967136e-05 9.99996039e-01 -1.88594048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:88.15, Z:-1.89 [[ 2.22728060e-01 -9.74880476e-01 -5.19140920e-04 1.39972057e+02] [ 9.74877986e-01 2.22728664e-01 -2.20335718e-03 8.81531522e+01] [ 2.26363746e-03 -1.53495836e-05 9.99997438e-01 -1.88617323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:88.18, Z:-1.89 [[ 2.23306879e-01 -9.74747977e-01 -6.47180952e-04 1.39978160e+02] [ 9.74744097e-01 2.23307816e-01 -2.75039579e-03 8.81809046e+01] [ 2.82546330e-03 -1.66535114e-05 9.99996008e-01 -1.88610658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:88.21, Z:-1.89 [[ 2.20248481e-01 -9.75437617e-01 3.47299766e-03 1.39977155e+02] [ 9.75442625e-01 2.20241292e-01 -2.33652562e-03 8.82061688e+01] [ 1.51423749e-03 3.90232617e-03 9.99991239e-01 -1.89208021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:88.24, Z:-1.89 [[ 2.23960917e-01 -9.74584802e-01 -5.09617613e-03 1.39991740e+02] [ 9.74582365e-01 2.23983972e-01 -4.51609130e-03 8.82360573e+01] [ 5.54277572e-03 -3.95521544e-03 9.99976817e-01 -1.88560953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:88.26, Z:-1.89 [[ 2.23372416e-01 -9.74731705e-01 -1.69305169e-03 1.39994752e+02] [ 9.74705044e-01 2.23378828e-01 -7.20939714e-03 8.82637161e+01] [ 7.40541987e-03 -3.98455634e-05 9.99972579e-01 -1.88945971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:140.00, Y:88.29, Z:-1.89 [[ 2.22247515e-01 -9.74988123e-01 -2.04969939e-03 1.40000481e+02] [ 9.74948951e-01 2.22256960e-01 -8.73995603e-03 8.82900827e+01] [ 8.97691329e-03 -5.59187549e-05 9.99959705e-01 -1.89112627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:88.32, Z:-1.89 [[ 2.22491469e-01 -9.74932492e-01 -2.04508138e-03 1.40006312e+02] [ 9.74893395e-01 2.22500862e-01 -8.73130143e-03 8.83175067e+01] [ 8.96746183e-03 -5.10962460e-05 9.99959790e-01 -1.88985377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.827628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:140.01, Y:88.34, Z:-1.89 [[ 2.21632964e-01 -9.75127198e-01 -2.40370377e-03 1.40011959e+02] [ 9.75073057e-01 2.21645988e-01 -1.02756776e-02 8.83449336e+01] [ 1.05528640e-02 -6.63578899e-05 9.99944315e-01 -1.89136547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:88.37, Z:-1.89 [[ 2.20715147e-01 -9.75335552e-01 -2.32059170e-03 1.40017102e+02] [ 9.75285006e-01 2.20727334e-01 -9.92979667e-03 8.83715160e+01] [ 1.01971017e-02 -7.15817606e-05 9.99948006e-01 -1.88970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:88.40, Z:-1.89 [[ 2.19587197e-01 -9.75590303e-01 -2.24122493e-03 1.40022938e+02] [ 9.75543051e-01 2.19598621e-01 -9.60214276e-03 8.83994007e+01] [ 9.85992727e-03 -7.79037868e-05 9.99951387e-01 -1.88965846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:88.43, Z:-1.89 [[ 2.18567945e-01 -9.75819203e-01 -2.22198467e-03 1.40029055e+02] [ 9.75772652e-01 2.18579222e-01 -9.53184232e-03 8.84267768e+01] [ 9.78703446e-03 -8.47966904e-05 9.99952102e-01 -1.88891483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:88.45, Z:-1.89 [[ 2.17787915e-01 -9.75993798e-01 -2.12835223e-03 1.40034849e+02] [ 9.75950982e-01 2.17798297e-01 -9.14239182e-03 8.84529947e+01] [ 9.38646921e-03 -8.60649990e-05 9.99955942e-01 -1.88841512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:88.48, Z:-1.89 [[ 2.15212179e-01 -9.76565685e-01 -1.78347240e-03 1.40041329e+02] [ 9.76535564e-01 2.15219550e-01 -7.67055220e-03 8.84808073e+01] [ 7.87463619e-03 -9.08279706e-05 9.99968990e-01 -1.88713021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:88.51, Z:-1.89 [[ 2.13859584e-01 -9.76863038e-01 -1.63791188e-03 1.40047926e+02] [ 9.76837579e-01 2.13865837e-01 -7.05329480e-03 8.85077328e+01] [ 7.24039638e-03 -9.15591790e-05 9.99973784e-01 -1.88610124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:88.54, Z:-1.89 [[ 2.12275959e-01 -9.77208852e-01 -1.33309409e-03 1.40054500e+02] [ 9.77191952e-01 2.12280128e-01 -5.74776022e-03 8.85352882e+01] [ 5.89975155e-03 -8.25775056e-05 9.99982593e-01 -1.88509177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:88.56, Z:-1.88 [[ 2.10702751e-01 -9.77549585e-01 -1.07717941e-03 1.40060548e+02] [ 9.77538527e-01 2.10705492e-01 -4.65010125e-03 8.85628036e+01] [ 4.77267217e-03 -7.31952487e-05 9.99988608e-01 -1.88396080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:88.59, Z:-1.88 [[ 2.08568695e-01 -9.78007604e-01 -4.75924760e-04 1.40065384e+02] [ 9.78005442e-01 2.08569235e-01 -2.05683140e-03 8.85892769e+01] [ 2.11086001e-03 -3.64663637e-05 9.99997771e-01 -1.88373201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:88.62, Z:-1.88 [[ 2.07699416e-01 -9.78192586e-01 -4.66257941e-04 1.40071005e+02] [ 9.78190506e-01 2.07699936e-01 -2.01764100e-03 8.86165533e+01] [ 2.07048321e-03 -3.70262346e-05 9.99997856e-01 -1.88293993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:88.64, Z:-1.88 [[ 2.07060735e-01 -9.78327980e-01 -4.65190743e-04 1.40076957e+02] [ 9.78325904e-01 2.07061254e-01 -2.01558288e-03 8.86443760e+01] [ 2.06822410e-03 -3.77600814e-05 9.99997861e-01 -1.88315495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:88.67, Z:-1.88 [[ 2.06616112e-01 -9.78421852e-01 -6.79941588e-04 1.40082820e+02] [ 9.78417405e-01 2.06617223e-01 -2.95031422e-03 8.86712615e+01] [ 3.02713955e-03 -5.56842305e-05 9.99995417e-01 -1.88251607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:88.70, Z:-1.88 [[ 2.03365304e-01 -9.79095256e-01 -3.87729913e-03 1.40085684e+02] [ 9.79071191e-01 2.03389003e-01 -7.24686268e-03 8.86971942e+01] [ 7.88396887e-03 -2.32239145e-03 9.99966224e-01 -1.88152693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:88.73, Z:-1.88 [[ 2.06496221e-01 -9.78447262e-01 5.15858051e-04 1.40093043e+02] [ 9.78422649e-01 2.06487220e-01 -7.22133509e-03 8.87262198e+01] [ 6.95917745e-03 1.99590561e-03 9.99973793e-01 -1.88474080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:88.75, Z:-1.88 [[ 2.05748719e-01 -9.78603195e-01 -1.80292883e-03 1.40099900e+02] [ 9.78571791e-01 2.05756563e-01 -7.84138405e-03 8.87537966e+01] [ 8.04456793e-03 -1.50940569e-04 9.99967631e-01 -1.88498157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:88.78, Z:-1.89 [[ 2.04937776e-01 -9.78772690e-01 -2.12838305e-03 1.40105670e+02] [ 9.78728809e-01 2.04948746e-01 -9.26981562e-03 8.87800077e+01] [ 9.50925180e-03 -1.83374413e-04 9.99954769e-01 -1.88521516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:88.81, Z:-1.89 [[ 2.04229477e-01 -9.78919783e-01 -2.52585950e-03 1.40111423e+02] [ 9.78857829e-01 2.04244974e-01 -1.10155391e-02 8.88068870e+01] [ 1.12992232e-02 -2.22759562e-04 9.99936137e-01 -1.88566108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:88.83, Z:-1.89 [[ 2.04246847e-01 -9.78915778e-01 -2.66928460e-03 1.40117307e+02] [ 9.78846396e-01 2.04264157e-01 -1.16570581e-02 8.88332601e+01] [ 1.19565172e-02 -2.31902261e-04 9.99928491e-01 -1.88541651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:88.86, Z:-1.88 [[ 2.05088674e-01 -9.78739692e-01 -2.69264626e-03 1.40123722e+02] [ 9.78668891e-01 2.05106231e-01 -1.17743746e-02 8.88606528e+01] [ 1.20763263e-02 -2.20418256e-04 9.99927054e-01 -1.88478099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:88.89, Z:-1.88 [[ 2.08292097e-01 -9.78063252e-01 -2.58393014e-03 1.40128992e+02] [ 9.77997822e-01 2.08308054e-01 -1.13144026e-02 8.88870299e+01] [ 1.16044548e-02 -1.70377409e-04 9.99932652e-01 -1.88404745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:88.91, Z:-1.88 [[ 2.10370359e-01 -9.77618643e-01 -2.47005592e-03 1.40134377e+02] [ 9.77558665e-01 2.10384815e-01 -1.08298494e-02 8.89147362e+01] [ 1.11071249e-02 -1.36345275e-04 9.99938305e-01 -1.88423957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:88.94, Z:-1.88 [[ 2.12806499e-01 -9.77091431e-01 -2.39381862e-03 1.40139648e+02] [ 9.77034910e-01 2.12819938e-01 -1.05099396e-02 8.89418093e+01] [ 1.07786243e-02 -1.02260900e-04 9.99941904e-01 -1.88401100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:140.15, Y:88.97, Z:-1.89 [[ 2.17929295e-01 -9.75961328e-01 -2.51179594e-03 1.40145687e+02] [ 9.75898857e-01 2.17943765e-01 -1.10424655e-02 8.89691507e+01] [ 1.13244495e-02 -4.47820632e-05 9.99935875e-01 -1.88540398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:89.00, Z:-1.88 [[ 2.19761032e-01 -9.75550852e-01 -2.37146575e-03 1.40152152e+02] [ 9.75494989e-01 2.19773826e-01 -1.04399359e-02 8.89950010e+01] [ 1.07058745e-02 -1.90618738e-05 9.99942690e-01 -1.88287429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:89.02, Z:-1.88 [[ 2.21209986e-01 -9.75223219e-01 -2.41158079e-03 1.40159283e+02] [ 9.75165280e-01 2.21223131e-01 -1.06303257e-02 8.90219033e+01] [ 1.09004379e-02 -1.55662457e-07 9.99940588e-01 -1.88225040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:89.05, Z:-1.88 [[ 2.22091703e-01 -9.75022898e-01 -2.37133124e-03 1.40166203e+02] [ 9.74966719e-01 2.22104362e-01 -1.04665824e-02 8.90489016e+01] [ 1.07318405e-02 1.25720745e-05 9.99942412e-01 -1.88162429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:89.08, Z:-1.88 [[ 2.23513562e-01 -9.74698096e-01 -2.30425606e-03 1.40173138e+02] [ 9.74644893e-01 2.23525438e-01 -1.01838667e-02 8.90766461e+01] [ 1.04412553e-02 3.04009200e-05 9.99945488e-01 -1.88070541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:89.10, Z:-1.88 [[ 2.23816014e-01 -9.74628813e-01 -2.25157026e-03 1.40179114e+02] [ 9.74577878e-01 2.23827336e-01 -9.96408903e-03 8.91036169e+01] [ 1.02152512e-02 3.57921295e-05 9.99947822e-01 -1.88064536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:89.13, Z:-1.88 [[ 2.24310803e-01 -9.74514922e-01 -2.30860842e-03 1.40185196e+02] [ 9.74461220e-01 2.24322679e-01 -1.02306795e-02 8.91303170e+01] [ 1.04878231e-02 4.52025637e-05 9.99945000e-01 -1.88046353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:89.16, Z:-1.88 [[ 2.24715343e-01 -9.74421673e-01 -2.32763730e-03 1.40191248e+02] [ 9.74366931e-01 2.24727392e-01 -1.03287136e-02 8.91576957e+01] [ 1.05876063e-02 5.30476127e-05 9.99943948e-01 -1.88059917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:89.18, Z:-1.88 [[ 2.25736891e-01 -9.74184686e-01 -2.65574373e-03 1.40197291e+02] [ 9.74113207e-01 2.25752499e-01 -1.18012086e-02 8.91837889e+01] [ 1.20960975e-02 7.69731002e-05 9.99926837e-01 -1.88063983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:89.21, Z:-1.88 [[ 2.25864200e-01 -9.74154594e-01 -2.86180106e-03 1.40203820e+02] [ 9.74071371e-01 2.25882312e-01 -1.27336084e-02 8.92111277e+01] [ 1.30509333e-02 8.84677846e-05 9.99914829e-01 -1.88083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:89.24, Z:-1.88 [[ 2.26126368e-01 -9.74093449e-01 -2.96969176e-03 1.40210375e+02] [ 9.74003653e-01 2.26145846e-01 -1.32264999e-02 8.92376588e+01] [ 1.35554303e-02 9.83697445e-05 9.99908116e-01 -1.88089570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:89.27, Z:-1.88 [[ 2.25813088e-01 -9.74166000e-01 -3.00897755e-03 1.40217509e+02] [ 9.74073581e-01 2.25833112e-01 -1.34187862e-02 8.92650602e+01] [ 1.37516521e-02 9.91720098e-05 9.99905437e-01 -1.88085269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:89.29, Z:-1.88 [[ 2.25284127e-01 -9.74288361e-01 -3.04160934e-03 1.40224507e+02] [ 9.74193693e-01 2.25304638e-01 -1.35819002e-02 8.92917864e+01] [ 1.39179760e-02 9.66698998e-05 9.99903136e-01 -1.88054001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:89.32, Z:-1.88 [[ 2.24414896e-01 -9.74489305e-01 -2.92373361e-03 1.40233111e+02] [ 9.74401623e-01 2.24433925e-01 -1.30724743e-02 8.93186398e+01] [ 1.33951714e-02 8.47671915e-05 9.99910277e-01 -1.87980745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:89.35, Z:-1.88 [[ 2.24162867e-01 -9.74547555e-01 -2.84104308e-03 1.40240009e+02] [ 9.74464542e-01 2.24180855e-01 -1.27201116e-02 8.93452967e+01] [ 1.30332612e-02 8.28809482e-05 9.99915060e-01 -1.87951191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:89.37, Z:-1.88 [[ 2.24439700e-01 -9.74484076e-01 -2.75809797e-03 1.40246684e+02] [ 9.74405628e-01 2.24456629e-01 -1.23650557e-02 8.93726324e+01] [ 1.26686233e-02 8.77032097e-05 9.99919746e-01 -1.87949652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:89.40, Z:-1.88 [[ 2.24990635e-01 -9.74357139e-01 -2.71643501e-03 1.40252668e+02] [ 9.74280823e-01 2.25007012e-01 -1.21952108e-02 8.93992772e+01] [ 1.24937076e-02 9.72376858e-05 9.99921946e-01 -1.87964757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:89.43, Z:-1.88 [[ 2.27416719e-01 -9.73793483e-01 -2.80846977e-03 1.40259007e+02] [ 9.73711646e-01 2.27434019e-01 -1.26252609e-02 8.94261757e+01] [ 1.29331384e-02 1.36555690e-04 9.99916354e-01 -1.88012167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:89.45, Z:-1.88 [[ 2.28439572e-01 -9.73553823e-01 -2.88363790e-03 1.40265218e+02] [ 9.73467293e-01 2.28457717e-01 -1.29807618e-02 8.94539341e+01] [ 1.32962596e-02 1.58192479e-04 9.99911588e-01 -1.88057311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:89.48, Z:-1.88 [[ 2.29201572e-01 -9.73374314e-01 -3.01408401e-03 1.40271131e+02] [ 9.73279492e-01 2.29221318e-01 -1.35873850e-02 8.94808379e+01] [ 1.39165039e-02 1.80703847e-04 9.99903144e-01 -1.88095781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:89.51, Z:-1.88 [[ 2.29033870e-01 -9.73413795e-01 -3.01168278e-03 1.40277230e+02] [ 9.73318970e-01 2.29053599e-01 -1.35879174e-02 8.95087442e+01] [ 1.39165030e-02 1.80765344e-04 9.99903144e-01 -1.88094439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:89.54, Z:-1.88 [[ 2.29715752e-01 -9.73252765e-01 -3.11900989e-03 1.40283462e+02] [ 9.73150778e-01 2.29736837e-01 -1.40907506e-02 8.95364191e+01] [ 1.44304134e-02 2.01600461e-04 9.99895856e-01 -1.88070585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:89.56, Z:-1.88 [[ 2.30234775e-01 -9.73130510e-01 -2.99322098e-03 1.40290337e+02] [ 9.73036321e-01 2.30254140e-01 -1.35406351e-02 8.95634103e+01] [ 1.38660067e-02 2.05012350e-04 9.99903841e-01 -1.87965624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:89.59, Z:-1.88 [[ 2.29945262e-01 -9.73199364e-01 -2.85926304e-03 1.40296678e+02] [ 9.73113180e-01 2.29962954e-01 -1.29529436e-02 8.95897397e+01] [ 1.32633210e-02 1.96081448e-04 9.99912019e-01 -1.87892038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:89.62, Z:-1.88 [[ 2.29539461e-01 -9.73295703e-01 -2.66655727e-03 1.40302762e+02] [ 9.73220552e-01 2.29554878e-01 -1.20961062e-02 8.96171411e+01] [ 1.23852094e-02 1.81385347e-04 9.99923284e-01 -1.87798526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:89.65, Z:-1.88 [[ 2.29148174e-01 -9.73388231e-01 -2.54271135e-03 1.40308129e+02] [ 9.73319722e-01 2.29162217e-01 -1.15498111e-02 8.96450852e+01] [ 1.18251436e-02 1.71747035e-04 9.99930066e-01 -1.87752154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:89.67, Z:-1.88 [[ 2.28511581e-01 -9.73538718e-01 -2.19588906e-03 1.40311785e+02] [ 9.73487491e-01 2.28522085e-01 -9.98809943e-03 8.96730106e+01] [ 1.02256107e-02 1.44725859e-04 9.99947707e-01 -1.87867510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:89.70, Z:-1.88 [[ 2.28076492e-01 -9.73640875e-01 -2.13572730e-03 1.40316733e+02] [ 9.73592280e-01 2.28086448e-01 -9.72851957e-03 8.96998039e+01] [ 9.95921476e-03 1.39518997e-04 9.99950396e-01 -1.87914090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:89.73, Z:-1.88 [[ 2.27670378e-01 -9.73735950e-01 -2.12090183e-03 1.40322481e+02] [ 9.73687902e-01 2.27680215e-01 -9.67412171e-03 8.97273711e+01] [ 9.90292748e-03 1.37414485e-04 9.99950955e-01 -1.87932657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:89.75, Z:-1.88 [[ 2.26247242e-01 -9.74067300e-01 -2.25399606e-03 1.40328195e+02] [ 9.74012894e-01 2.26258430e-01 -1.02959205e-02 8.97540429e+01] [ 1.05389051e-02 1.34002397e-04 9.99944455e-01 -1.88002639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:89.78, Z:-1.88 [[ 2.25268631e-01 -9.74293928e-01 -2.32054319e-03 1.40334424e+02] [ 9.74236117e-01 2.25280545e-01 -1.06143479e-02 8.97816853e+01] [ 1.08642679e-02 1.30322637e-04 9.99940974e-01 -1.88033298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:89.81, Z:-1.88 [[ 2.23954553e-01 -9.74596321e-01 -2.52376231e-03 1.40340807e+02] [ 9.74527763e-01 2.23968735e-01 -1.15604728e-02 8.98085358e+01] [ 1.18320381e-02 1.29544063e-04 9.99929991e-01 -1.88034279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:89.84, Z:-1.88 [[ 2.22247415e-01 -9.74986580e-01 -2.69360206e-03 1.40347203e+02] [ 9.74908301e-01 2.22263705e-01 -1.23551766e-02 8.98362061e+01] [ 1.26448214e-02 1.19891065e-04 9.99920044e-01 -1.88021697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:89.86, Z:-1.88 [[ 2.17986775e-01 -9.75947214e-01 -2.96678829e-03 1.40353768e+02] [ 9.75852079e-01 2.18006950e-01 -1.36267956e-02 8.98635942e+01] [ 1.39458136e-02 7.53147003e-05 9.99902750e-01 -1.88063762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.537628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:140.36, Y:89.89, Z:-1.88 [[ 2.14926542e-01 -9.76625238e-01 -3.11869481e-03 1.40359824e+02] [ 9.76519895e-01 2.14949165e-01 -1.43440510e-02 8.98908592e+01] [ 1.46791230e-02 3.74497467e-05 9.99892255e-01 -1.88271666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:89.92, Z:-1.88 [[ 2.11957587e-01 -9.77274316e-01 -2.98215516e-03 1.40365924e+02] [ 9.77177783e-01 2.11978564e-01 -1.37356927e-02 8.99171216e+01] [ 1.40556926e-02 -2.71149036e-06 9.99901214e-01 -1.88084044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:89.94, Z:-1.88 [[ 2.08352712e-01 -9.78049247e-01 -2.96956892e-03 1.40372336e+02] [ 9.77953333e-01 2.08373867e-01 -1.36970883e-02 8.99437338e+01] [ 1.40152074e-02 -5.02743296e-05 9.99901781e-01 -1.88038150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:89.97, Z:-1.88 [[ 2.04627098e-01 -9.78835923e-01 -2.82613909e-03 1.40379406e+02] [ 9.78748894e-01 2.04646591e-01 -1.30528175e-02 8.99712050e+01] [ 1.33549264e-02 -9.51203530e-05 9.99910814e-01 -1.88032382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:90.00, Z:-1.88 [[ 1.98414205e-01 -9.80115431e-01 -2.35499485e-03 1.40385793e+02] [ 9.80054919e-01 1.98428126e-01 -1.08919167e-02 8.99973374e+01] [ 1.11426328e-02 -1.46913302e-04 9.99937908e-01 -1.87925468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:90.02, Z:-1.88 [[ 1.95609634e-01 -9.80679383e-01 -2.19531690e-03 1.40391183e+02] [ 9.80626692e-01 1.95621884e-01 -1.01670967e-02 9.00246270e+01] [ 1.04001142e-02 -1.64004276e-04 9.99945904e-01 -1.87881860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:90.05, Z:-1.88 [[ 1.92355658e-01 -9.81323144e-01 -2.04637502e-03 1.40396573e+02] [ 9.81277273e-01 1.92366456e-01 -9.49003870e-03 9.00520575e+01] [ 9.70644852e-03 -1.82598660e-04 9.99952875e-01 -1.87885680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:90.08, Z:-1.88 [[ 1.89162381e-01 -9.81943848e-01 -1.96813921e-03 1.40402267e+02] [ 9.81901336e-01 1.89172510e-01 -9.13941709e-03 9.00791311e+01] [ 9.34671221e-03 -2.03684624e-04 9.99956298e-01 -1.87869648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:90.11, Z:-1.88 [[ 1.83340002e-01 -9.83048105e-01 -1.69307402e-03 1.40408290e+02] [ 9.83016605e-01 1.83347687e-01 -7.87278498e-03 9.01067168e+01] [ 8.04974756e-03 -2.20923457e-04 9.99967576e-01 -1.87764551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:90.13, Z:-1.88 [[ 1.80649828e-01 -9.83546239e-01 -1.56059104e-03 1.40413482e+02] [ 9.83519416e-01 1.80656433e-01 -7.26714543e-03 9.01331606e+01] [ 7.42950437e-03 -2.22063019e-04 9.99972376e-01 -1.87717917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:90.16, Z:-1.88 [[ 1.78178645e-01 -9.83997247e-01 -1.33713051e-03 1.40418362e+02] [ 9.83977514e-01 1.78183544e-01 -6.23511296e-03 9.01607569e+01] [ 6.37358864e-03 -2.04742376e-04 9.99979668e-01 -1.87722248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:90.19, Z:-1.88 [[ 1.75042083e-01 -9.84560377e-01 -1.06421937e-03 1.40420795e+02] [ 9.84547851e-01 1.75045227e-01 -4.96959365e-03 9.01877956e+01] [ 5.07915152e-03 -1.77886867e-04 9.99987085e-01 -1.87753688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:90.22, Z:-1.88 [[ 1.74349810e-01 -9.84683235e-01 -1.03477319e-03 1.40424653e+02] [ 9.84671362e-01 1.74352792e-01 -4.83872413e-03 9.02156143e+01] [ 4.94502613e-03 -1.75280895e-04 9.99987758e-01 -1.87769915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:90.24, Z:-1.88 [[ 1.74165825e-01 -9.84715767e-01 -1.06011175e-03 1.40428260e+02] [ 9.84703271e-01 1.74168959e-01 -4.96398359e-03 9.02433153e+01] [ 5.07275147e-03 -1.79339208e-04 9.99987117e-01 -1.87789874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:90.27, Z:-1.88 [[ 1.74642860e-01 -9.84631293e-01 -1.04358697e-03 1.40432029e+02] [ 9.84619149e-01 1.74645892e-01 -4.89321945e-03 9.02710621e+01] [ 5.00027517e-03 -1.72969879e-04 9.99987484e-01 -1.87827413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:90.30, Z:-1.88 [[ 1.76758728e-01 -9.84253594e-01 -1.10249070e-03 1.40433932e+02] [ 9.84239994e-01 1.76762085e-01 -5.17680037e-03 9.02984735e+01] [ 5.29016292e-03 -1.70070787e-04 9.99985993e-01 -1.87873951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:90.32, Z:-1.88 [[ 1.78429853e-01 -9.83951840e-01 -1.25090977e-03 1.40437819e+02] [ 9.83934274e-01 1.78434145e-01 -5.88213073e-03 9.03249617e+01] [ 6.01093837e-03 -1.81265274e-04 9.99981918e-01 -1.87833906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:90.35, Z:-1.88 [[ 1.79983725e-01 -9.83668679e-01 -1.33761469e-03 1.40441546e+02] [ 9.83648532e-01 1.79988604e-01 -6.29826529e-03 9.03533635e+01] [ 6.43616170e-03 -1.82157477e-04 9.99979271e-01 -1.87826221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:90.38, Z:-1.88 [[ 1.81997866e-01 -9.83297860e-01 -1.44753723e-03 1.40444369e+02] [ 9.83274180e-01 1.82003533e-01 -6.82644372e-03 9.03792767e+01] [ 6.97588439e-03 -1.80927792e-04 9.99975652e-01 -1.87853420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:90.41, Z:-1.88 [[ 1.85703437e-01 -9.82604780e-01 -1.44189363e-03 1.40444161e+02] [ 9.82581191e-01 1.85708973e-01 -6.81038928e-03 9.04063571e+01] [ 6.95969365e-03 -1.52064863e-04 9.99975769e-01 -1.87961634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:90.43, Z:-1.88 [[ 1.86952984e-01 -9.82367719e-01 -1.49908637e-03 1.40446899e+02] [ 9.82342134e-01 1.86958937e-01 -7.09143406e-03 9.04330052e+01] [ 7.24666350e-03 -1.46850940e-04 9.99973732e-01 -1.87972117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:90.46, Z:-1.88 [[ 1.88115185e-01 -9.82145960e-01 -1.41115024e-03 1.40450173e+02] [ 9.82123216e-01 1.88120434e-01 -6.68510666e-03 9.04602307e+01] [ 6.83121669e-03 -1.28353337e-04 9.99976659e-01 -1.88017325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:90.49, Z:-1.88 [[ 1.89038203e-01 -9.81968796e-01 -1.35714082e-03 1.40453439e+02] [ 9.81947695e-01 1.89043039e-01 -6.43848539e-03 9.04869075e+01] [ 6.57894977e-03 -1.15521592e-04 9.99978352e-01 -1.88038658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:90.51, Z:-1.88 [[ 1.90400029e-01 -9.81705936e-01 -1.13307014e-03 1.40456085e+02] [ 9.81691179e-01 1.90403380e-01 -5.38344881e-03 9.05129630e+01] [ 5.50070404e-03 -8.73161531e-05 9.99984867e-01 -1.87997202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:90.54, Z:-1.88 [[ 1.90697965e-01 -9.81648139e-01 -1.10352406e-03 1.40460785e+02] [ 9.81634100e-01 1.90701140e-01 -5.25056142e-03 9.05396393e+01] [ 5.36464714e-03 -8.19854761e-05 9.99985607e-01 -1.87912517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:90.57, Z:-1.88 [[ 1.91010558e-01 -9.81587397e-01 -1.07158324e-03 1.40465258e+02] [ 9.81574119e-01 1.91013548e-01 -5.10613618e-03 9.05657622e+01] [ 5.21680584e-03 -7.65124587e-05 9.99986389e-01 -1.87863419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:90.59, Z:-1.88 [[ 1.91147543e-01 -9.81560817e-01 -9.89163444e-04 1.40469133e+02] [ 9.81549471e-01 1.91150090e-01 -4.72000075e-03 9.05926183e+01] [ 4.82204648e-03 -6.86963074e-05 9.99988372e-01 -1.87876875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:90.62, Z:-1.88 [[ 1.91784924e-01 -9.81436726e-01 -7.04731100e-04 1.40470502e+02] [ 9.81430949e-01 1.91786214e-01 -3.36750152e-03 9.06187627e+01] [ 3.44014737e-03 -4.58088895e-05 9.99994082e-01 -1.87985800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:90.64, Z:-1.88 [[ 1.92279738e-01 -9.81339942e-01 -6.47783170e-04 1.40474605e+02] [ 9.81335051e-01 1.92280825e-01 -3.09883626e-03 9.06449847e+01] [ 3.16556808e-03 -3.98489047e-05 9.99994989e-01 -1.87979246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:90.67, Z:-1.88 [[ 1.92402792e-01 -9.81315896e-01 -5.26367283e-04 1.40478960e+02] [ 9.81312657e-01 1.92403510e-01 -2.52155690e-03 9.06712609e+01] [ 2.57571878e-03 -3.13762893e-05 9.99996682e-01 -1.88005777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:90.70, Z:-1.88 [[ 1.92653909e-01 -9.81266581e-01 -6.07257818e-04 1.40483634e+02] [ 9.81262255e-01 1.92654863e-01 -2.91378606e-03 9.06963593e+01] [ 2.97619206e-03 -3.45269026e-05 9.99995571e-01 -1.87965496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:90.72, Z:-1.88 [[ 1.92962461e-01 -9.81205874e-01 -7.22143422e-04 1.40488668e+02] [ 9.81199738e-01 1.92963809e-01 -3.47016904e-03 9.07241012e+01] [ 3.54429779e-03 -3.89545783e-05 9.99993718e-01 -1.87967596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:90.75, Z:-1.88 [[ 1.93215540e-01 -9.81155944e-01 -8.76679753e-04 1.40493987e+02] [ 9.81146875e-01 1.93217523e-01 -4.21887863e-03 9.07513207e+01] [ 4.30876774e-03 -4.49986876e-05 9.99990716e-01 -1.87951102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:90.78, Z:-1.88 [[ 1.93296331e-01 -9.81139858e-01 -1.05202916e-03 1.40499030e+02] [ 9.81126760e-01 1.93299187e-01 -5.07001021e-03 9.07790730e+01] [ 5.17774548e-03 -5.21595920e-05 9.99986594e-01 -1.87992317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:90.81, Z:-1.88 [[ 1.93221081e-01 -9.81154446e-01 -1.25164186e-03 1.40503965e+02] [ 9.81135853e-01 1.93225126e-01 -6.04062117e-03 9.08070563e+01] [ 6.16863097e-03 -6.08553503e-05 9.99980972e-01 -1.88031149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:90.83, Z:-1.88 [[ 1.93205792e-01 -9.81157078e-01 -1.52027029e-03 1.40508982e+02] [ 9.81129568e-01 1.93211760e-01 -7.34753941e-03 9.08347618e+01] [ 7.50282439e-03 -7.19949636e-05 9.99971851e-01 -1.88070756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:90.86, Z:-1.88 [[ 1.92531398e-01 -9.81289527e-01 -1.58910409e-03 1.40514425e+02] [ 9.81259385e-01 1.92537940e-01 -7.69163153e-03 9.08615287e+01] [ 7.85368029e-03 -7.84427308e-05 9.99969156e-01 -1.88061965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:90.89, Z:-1.88 [[ 1.90926548e-01 -9.81603010e-01 -1.60724247e-03 1.40519935e+02] [ 9.81572097e-01 1.90933292e-01 -7.79076562e-03 9.08889310e+01] [ 7.95431508e-03 -9.01603747e-05 9.99968360e-01 -1.88038672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:90.92, Z:-1.88 [[ 1.88426373e-01 -9.82080374e-01 3.69326992e-03 1.40523273e+02] [ 9.82042913e-01 1.88380759e-01 -1.02179135e-02 9.09175480e+01] [ 9.33907136e-03 5.55227394e-03 9.99940975e-01 -1.88290236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:90.94, Z:-1.88 [[ 1.83266133e-01 -9.83037045e-01 -7.18973375e-03 1.40533990e+02] [ 9.83030467e-01 1.83314911e-01 -6.83696878e-03 9.09434673e+01] [ 8.03897899e-03 -5.81474249e-03 9.99950781e-01 -1.87847035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:140.54, Y:90.97, Z:-1.88 [[ 1.79716741e-01 -9.83716444e-01 -1.96230207e-03 1.40536902e+02] [ 9.83670070e-01 1.79727327e-01 -9.55408428e-03 9.09710103e+01] [ 9.75118912e-03 -2.13228926e-04 9.99952433e-01 -1.88289102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:91.00, Z:-1.88 [[ 1.76960786e-01 -9.84215982e-01 -1.94426948e-03 1.40543060e+02] [ 9.84170353e-01 1.76971309e-01 -9.48005268e-03 9.09981286e+01] [ 9.67449928e-03 -2.35894806e-04 9.99953173e-01 -1.88065157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:91.02, Z:-1.88 [[ 1.70830875e-01 -9.85298016e-01 -2.15239294e-03 1.40549891e+02] [ 9.85242003e-01 1.70844125e-01 -1.05109581e-02 9.10244245e+01] [ 1.07241499e-02 -3.25031758e-04 9.99942442e-01 -1.87992210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:91.05, Z:-1.88 [[ 1.68305938e-01 -9.85732411e-01 -2.17374658e-03 1.40556059e+02] [ 9.85675150e-01 1.68319604e-01 -1.06305566e-02 9.10517250e+01] [ 1.08447683e-02 -3.53422186e-04 9.99941131e-01 -1.87953139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:140.56, Y:91.08, Z:-1.88 [[ 1.65668906e-01 -9.86178608e-01 -2.35949597e-03 1.40561589e+02] [ 9.86110989e-01 1.65685195e-01 -1.15556667e-02 9.10797605e+01] [ 1.17868849e-02 -4.12310241e-04 9.99930447e-01 -1.88105495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:91.11, Z:-1.88 [[ 1.64606519e-01 -9.86356580e-01 -2.32193348e-03 1.40566705e+02] [ 9.86290925e-01 1.64622370e-01 -1.13879940e-02 9.11075292e+01] [ 1.16148650e-02 -4.15563878e-04 9.99932459e-01 -1.87893453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:91.13, Z:-1.88 [[ 1.63856845e-01 -9.86481206e-01 -2.40106694e-03 1.40571321e+02] [ 9.86410798e-01 1.63873856e-01 -1.17939035e-02 9.11339864e+01] [ 1.20279363e-02 -4.35926535e-04 9.99927567e-01 -1.87884461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.947628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:140.58, Y:91.16, Z:-1.88 [[ 1.63721861e-01 -9.86503580e-01 -2.41621667e-03 1.40576321e+02] [ 9.86432079e-01 1.63739105e-01 -1.18852285e-02 9.11612393e+01] [ 1.21204496e-02 -4.37561903e-04 9.99926449e-01 -1.88077891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:91.19, Z:-1.89 [[ 1.61646491e-01 -9.86837078e-01 4.79513579e-03 1.40574397e+02] [ 9.86813865e-01 1.61598029e-01 -9.19093874e-03 9.11875793e+01] [ 8.29507464e-03 6.21758947e-03 9.99946265e-01 -1.88546080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:91.21, Z:-1.88 [[ 1.61550974e-01 -9.86863353e-01 -1.41614266e-03 1.40582669e+02] [ 9.86830714e-01 1.61557150e-01 -8.02678999e-03 9.12140121e+01] [ 8.15013286e-03 -1.00757325e-04 9.99966782e-01 -1.88299274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:91.24, Z:-1.88 [[ 1.66373172e-01 -9.86026569e-01 -8.46004593e-03 1.40595046e+02] [ 9.86010178e-01 1.66446847e-01 -8.90929262e-03 9.12435727e+01] [ 1.01929472e-02 -6.85942413e-03 9.99924523e-01 -1.87531060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:91.27, Z:-1.88 [[ 1.65722432e-01 -9.86167545e-01 3.10625710e-03 1.40591391e+02] [ 9.86139099e-01 1.65690109e-01 -8.74440389e-03 9.12697629e+01] [ 8.10877124e-03 4.51234546e-03 9.99956942e-01 -1.88295601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09762800000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:140.60, Y:91.30, Z:-1.88 [[ 1.73385310e-01 -9.84832373e-01 -6.53696400e-03 1.40604232e+02] [ 9.84808798e-01 1.73437161e-01 -8.43702673e-03 9.12982970e+01] [ 9.44280953e-03 -4.97480316e-03 9.99943041e-01 -1.87712930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:91.33, Z:-1.88 [[ 1.76721305e-01 -9.84259628e-01 -1.60165369e-03 1.40607460e+02] [ 9.84227795e-01 1.76728474e-01 -7.91799767e-03 9.13265759e+01] [ 8.07642325e-03 -1.77113197e-04 9.99967369e-01 -1.87635461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:91.35, Z:-1.88 [[ 1.79634992e-01 -9.83732179e-01 -1.50634255e-03 1.40611983e+02] [ 9.83703941e-01 1.79641251e-01 -7.45503133e-03 9.13528467e+01] [ 7.60435548e-03 -1.42610608e-04 9.99971076e-01 -1.87652930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:91.38, Z:-1.88 [[ 1.82428623e-01 -9.83218063e-01 -1.42756161e-03 1.40616848e+02] [ 9.83192610e-01 1.82434173e-01 -7.07564531e-03 9.13798283e+01] [ 7.21733829e-03 -1.12767799e-04 9.99973948e-01 -1.87713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:91.41, Z:-1.88 [[ 1.87737664e-01 -9.82218211e-01 -1.39810755e-03 1.40622372e+02] [ 9.82193698e-01 1.87742857e-01 -6.93976382e-03 9.14074416e+01] [ 7.07884712e-03 -7.03573768e-05 9.99974942e-01 -1.87729880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:91.44, Z:-1.88 [[ 1.90204145e-01 -9.81743523e-01 -1.42775228e-03 1.40628195e+02] [ 9.81717869e-01 1.90209497e-01 -7.09736366e-03 9.14352737e+01] [ 7.23936285e-03 -5.17019396e-05 9.99973794e-01 -1.87725584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:91.46, Z:-1.88 [[ 1.92117134e-01 -9.81370874e-01 -1.48790577e-03 1.40633329e+02] [ 9.81342915e-01 1.92122892e-01 -7.40788595e-03 9.14618879e+01] [ 7.55574427e-03 -3.69639687e-05 9.99971454e-01 -1.87688788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:91.49, Z:-1.88 [[ 1.95828343e-01 -9.80637129e-01 -1.44261165e-03 1.40639063e+02] [ 9.80610749e-01 1.95833656e-01 -7.19296781e-03 9.14898584e+01] [ 7.33620322e-03 -6.05352554e-06 9.99973090e-01 -1.87698766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:91.52, Z:-1.88 [[ 1.96854735e-01 -9.80431551e-01 -1.47885391e-03 1.40644939e+02] [ 9.80403736e-01 1.96860290e-01 -7.38509930e-03 9.15164697e+01] [ 7.53171197e-03 3.91786993e-06 9.99971636e-01 -1.87705526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:91.54, Z:-1.88 [[ 1.97407454e-01 -9.80320323e-01 -1.53648760e-03 1.40651362e+02] [ 9.80290208e-01 1.97413433e-01 -7.68407932e-03 9.15436439e+01] [ 7.83618242e-03 1.06907892e-05 9.99969297e-01 -1.87734161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:91.57, Z:-1.88 [[ 1.97551620e-01 -9.80290818e-01 -1.80828729e-03 1.40658287e+02] [ 9.80248979e-01 1.97559895e-01 -9.05683490e-03 9.15712222e+01] [ 9.23557714e-03 1.66206302e-05 9.99957351e-01 -1.87715773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:91.60, Z:-1.88 [[ 1.97461887e-01 -9.80308244e-01 -2.13284661e-03 1.40666726e+02] [ 9.80249858e-01 1.97473404e-01 -1.06991121e-02 9.15968320e+01] [ 1.09096083e-02 2.19442748e-05 9.99940488e-01 -1.87774542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:91.62, Z:-1.88 [[ 1.97081663e-01 -9.80384718e-01 -2.14988383e-03 1.40673296e+02] [ 9.80325219e-01 1.97093388e-01 -1.08010037e-02 9.16239358e+01] [ 1.10128669e-02 2.10944338e-05 9.99939356e-01 -1.87822219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:91.65, Z:-1.88 [[ 1.96692631e-01 -9.80462938e-01 -2.10595414e-03 1.40680010e+02] [ 9.80405668e-01 1.96703904e-01 -1.05971783e-02 9.16505381e+01] [ 1.08043900e-02 1.96975181e-05 9.99941631e-01 -1.87852753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:91.68, Z:-1.88 [[ 1.96527472e-01 -9.80496107e-01 -2.08237181e-03 1.40686825e+02] [ 9.80439938e-01 1.96538503e-01 -1.04949928e-02 9.16766369e+01] [ 1.06995659e-02 2.09139167e-05 9.99942758e-01 -1.87869733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:91.70, Z:-1.88 [[ 1.96662416e-01 -9.80469293e-01 -1.96479019e-03 1.40695689e+02] [ 9.80419139e-01 1.96672229e-01 -9.91699268e-03 9.17036599e+01] [ 1.01097265e-02 2.39818334e-05 9.99948895e-01 -1.87907155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:91.73, Z:-1.88 [[ 1.96684161e-01 -9.80464936e-01 -1.96241718e-03 1.40702974e+02] [ 9.80414747e-01 1.96693949e-01 -9.92037535e-03 9.17297839e+01] [ 1.01125758e-02 2.71979513e-05 9.99948866e-01 -1.87926473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:91.76, Z:-1.88 [[ 1.97330247e-01 -9.80334702e-01 -2.15536695e-03 1.40713235e+02] [ 9.80273964e-01 1.97342013e-01 -1.09126641e-02 9.17551953e+01] [ 1.11234078e-02 4.05485970e-05 9.99938132e-01 -1.87842706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:91.78, Z:-1.88 [[ 1.97483302e-01 -9.80303858e-01 -2.16611412e-03 1.40720593e+02] [ 9.80242332e-01 1.97495176e-01 -1.09829784e-02 9.17828817e+01] [ 1.11944532e-02 4.56380830e-05 9.99937339e-01 -1.87877339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:91.81, Z:-1.88 [[ 1.97417868e-01 -9.80317126e-01 -2.12574345e-03 1.40727785e+02] [ 9.80257699e-01 1.97429307e-01 -1.07941147e-02 9.18102565e+01] [ 1.10013395e-02 4.71747253e-05 9.99939482e-01 -1.87956792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:91.84, Z:-1.88 [[ 1.97092117e-01 -9.80382383e-01 -2.25385563e-03 1.40734911e+02] [ 9.80315384e-01 1.97104997e-01 -1.14615551e-02 9.18371920e+01] [ 1.16809529e-02 4.94928125e-05 9.99931774e-01 -1.87968883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:91.86, Z:-1.88 [[ 1.96479594e-01 -9.80505249e-01 -2.28592430e-03 1.40742435e+02] [ 9.80436136e-01 1.96492886e-01 -1.16417043e-02 9.18644280e+01] [ 1.18639200e-02 4.61545473e-05 9.99929620e-01 -1.88005849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:91.89, Z:-1.88 [[ 1.95718622e-01 -9.80657190e-01 -2.38695074e-03 1.40750083e+02] [ 9.80581610e-01 1.95733172e-01 -1.21750219e-02 9.18908145e+01] [ 1.24067282e-02 4.22785045e-05 9.99923033e-01 -1.87990734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:91.92, Z:-1.88 [[ 1.94363332e-01 -9.80926368e-01 -2.52096277e-03 1.40760828e+02] [ 9.80841832e-01 1.94379678e-01 -1.28779382e-02 9.19175910e+01] [ 1.31223331e-02 3.03332357e-05 9.99913898e-01 -1.87984319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:91.94, Z:-1.88 [[ 1.93550264e-01 -9.81087006e-01 -2.56570589e-03 1.40768870e+02] [ 9.80999195e-01 1.93567267e-01 -1.31260395e-02 9.19445704e+01] [ 1.33744235e-02 2.35930033e-05 9.99910558e-01 -1.87954391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:91.97, Z:-1.88 [[ 1.91848015e-01 -9.81421295e-01 2.56520524e-03 1.40774869e+02] [ 9.81312662e-01 1.91785985e-01 -1.56075102e-02 9.19733283e+01] [ 1.48255724e-02 5.51153823e-03 9.99874905e-01 -1.88213282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:92.00, Z:-1.88 [[ 1.90829367e-01 -9.81590884e-01 -7.96797284e-03 1.40787205e+02] [ 9.81533309e-01 1.90915463e-01 -1.19853522e-02 9.19984269e+01] [ 1.32859217e-02 -5.53367358e-03 9.99896426e-01 -1.87697309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:92.02, Z:-1.88 [[ 1.88167612e-01 -9.82133765e-01 -2.49347998e-03 1.40794061e+02] [ 9.82050166e-01 1.88184128e-01 -1.28142869e-02 9.20242901e+01] [ 1.30545772e-02 -3.74886675e-05 9.99914785e-01 -1.87946958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:92.05, Z:-1.88 [[ 1.87834622e-01 -9.82197757e-01 -2.39199222e-03 1.40800099e+02] [ 9.82120602e-01 1.87849848e-01 -1.23108877e-02 9.20517527e+01] [ 1.25410617e-02 -3.68139050e-05 9.99921357e-01 -1.87903083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:92.08, Z:-1.88 [[ 1.88447408e-01 -9.82080954e-01 -2.13864520e-03 1.40805083e+02] [ 9.82019088e-01 1.88459542e-01 -1.10232075e-02 9.20791496e+01] [ 1.12287302e-02 -2.28955305e-05 9.99936956e-01 -1.87912004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:92.11, Z:-1.88 [[ 1.88893852e-01 -9.81995401e-01 -2.03573651e-03 1.40810286e+02] [ 9.81939172e-01 1.88904821e-01 -1.05085787e-02 9.21063860e+01] [ 1.07039364e-02 -1.39635050e-05 9.99942711e-01 -1.87859668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:140.82, Y:92.13, Z:-1.88 [[ 1.88685425e-01 -9.82034813e-01 -2.33168980e-03 1.40816256e+02] [ 9.81960812e-01 1.88699831e-01 -1.20556188e-02 9.21333397e+01] [ 1.22790268e-02 -1.49084505e-05 9.99924610e-01 -1.88082347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:92.16, Z:-1.88 [[ 1.88521481e-01 -9.82066616e-01 -2.19410388e-03 1.40821493e+02] [ 9.82000895e-01 1.88534248e-01 -1.13613193e-02 9.21608164e+01] [ 1.15712362e-02 -1.27592259e-05 9.99933051e-01 -1.87873326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:92.19, Z:-1.88 [[ 1.88576625e-01 -9.82055977e-01 -2.21708971e-03 1.40826574e+02] [ 9.81988658e-01 1.88589658e-01 -1.14985355e-02 9.21872704e+01] [ 1.17103257e-02 -8.80192484e-06 9.99931432e-01 -1.87894890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:92.21, Z:-1.88 [[ 1.88914046e-01 -9.81990898e-01 -2.31491719e-03 1.40830599e+02] [ 9.81917271e-01 1.88928229e-01 -1.20248591e-02 9.22137918e+01] [ 1.22456554e-02 -1.39238015e-06 9.99925019e-01 -1.87897481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:92.24, Z:-1.88 [[ 1.88338776e-01 -9.82101263e-01 -2.36944806e-03 1.40834605e+02] [ 9.82023899e-01 1.88353680e-01 -1.23268877e-02 9.22414877e+01] [ 1.25525463e-02 -5.22368324e-06 9.99921214e-01 -1.87989013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:92.27, Z:-1.88 [[ 1.87464070e-01 -9.82268218e-01 -2.52383293e-03 1.40838700e+02] [ 9.82180192e-01 1.87481058e-01 -1.31500111e-02 9.22689649e+01] [ 1.33900088e-02 -1.37041061e-05 9.99910350e-01 -1.88076529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:92.30, Z:-1.88 [[ 1.85665285e-01 -9.82609408e-01 -2.67468436e-03 1.40843484e+02] [ 9.82510274e-01 1.85684546e-01 -1.39574642e-02 9.22964753e+01] [ 1.42113832e-02 -3.64882930e-05 9.99899013e-01 -1.88127700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:92.32, Z:-1.88 [[ 1.80860823e-01 -9.83504915e-01 -2.72847399e-03 1.40848573e+02] [ 9.83401536e-01 1.80881373e-01 -1.42600317e-02 9.23242609e+01] [ 1.45183414e-02 -1.04104439e-04 9.99894598e-01 -1.88105016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:92.35, Z:-1.88 [[ 1.78316674e-01 -9.83969402e-01 -2.71644765e-03 1.40853457e+02] [ 9.83866670e-01 1.78337311e-01 -1.42189720e-02 9.23516119e+01] [ 1.44754774e-02 -1.37142505e-04 9.99895215e-01 -1.88065288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:140.86, Y:92.38, Z:-1.88 [[ 1.75304089e-01 -9.84510438e-01 -2.77031393e-03 1.40858364e+02] [ 9.84403326e-01 1.75325884e-01 -1.45232841e-02 9.23792091e+01] [ 1.47840326e-02 -1.81115149e-04 9.99890694e-01 -1.88275897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:92.41, Z:-1.88 [[ 1.70612171e-01 -9.85334948e-01 -2.55486146e-03 1.40863611e+02] [ 9.85243661e-01 1.70631146e-01 -1.34141978e-02 9.24070156e+01] [ 1.36534168e-02 -2.28535655e-04 9.99906762e-01 -1.87985090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:92.43, Z:-1.88 [[ 1.67886248e-01 -9.85803273e-01 -2.47273298e-03 1.40868647e+02] [ 9.85717535e-01 1.67904265e-01 -1.30038389e-02 9.24333965e+01] [ 1.32344093e-02 -2.54250545e-04 9.99912389e-01 -1.87941061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:92.46, Z:-1.88 [[ 1.65297045e-01 -9.86241262e-01 -2.24965164e-03 1.40873689e+02] [ 9.86170117e-01 1.65312148e-01 -1.18488134e-02 9.24608569e+01] [ 1.20576834e-02 -2.59965393e-04 9.99927270e-01 -1.87938254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:92.49, Z:-1.88 [[ 1.63005135e-01 -9.86623228e-01 -1.98277806e-03 1.40878589e+02] [ 9.86567821e-01 1.63017000e-01 -1.04591027e-02 9.24882342e+01] [ 1.06424202e-02 -2.51257579e-04 9.99943336e-01 -1.87922829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:92.52, Z:-1.88 [[ 1.60968941e-01 -9.86958105e-01 -1.64301962e-03 1.40883769e+02] [ 9.86919959e-01 1.60977169e-01 -8.68020856e-03 9.25159191e+01] [ 8.83149084e-03 -2.24284875e-04 9.99960976e-01 -1.87880943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:92.54, Z:-1.88 [[ 1.58885952e-01 -9.87296483e-01 -9.53545745e-04 1.40888413e+02] [ 9.87283603e-01 1.58888752e-01 -5.04505814e-03 9.25433102e+01] [ 5.13247585e-03 -1.39831211e-04 9.99986819e-01 -1.87778273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:92.57, Z:-1.88 [[ 1.58105035e-01 -9.87422096e-01 -6.34562287e-04 1.40892755e+02] [ 9.87416375e-01 1.58106280e-01 -3.36246203e-03 9.25702319e+01] [ 3.42049759e-03 -9.49550174e-05 9.99994146e-01 -1.87745781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:92.60, Z:-1.88 [[ 1.57729856e-01 -9.87482188e-01 -4.69885723e-04 1.40897140e+02] [ 9.87479042e-01 1.57730540e-01 -2.49349702e-03 9.25984253e+01] [ 2.53639923e-03 -7.07033782e-05 9.99996781e-01 -1.87771880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:92.63, Z:-1.88 [[ 1.58153581e-01 -9.87414423e-01 -4.50757926e-04 1.40901678e+02] [ 9.87411518e-01 1.58154209e-01 -2.39581511e-03 9.26253293e+01] [ 2.43695165e-03 -6.61768306e-05 9.99997028e-01 -1.87744739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:92.65, Z:-1.88 [[ 1.60874905e-01 -9.86974553e-01 -7.04577289e-04 1.40905544e+02] [ 9.86967433e-01 1.60876421e-01 -3.75010864e-03 9.26518413e+01] [ 3.81461167e-03 -9.20964677e-05 9.99992720e-01 -1.87806399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:92.68, Z:-1.88 [[ 1.62784789e-01 -9.86661255e-01 -8.25404383e-04 1.40910036e+02] [ 9.86651449e-01 1.62786852e-01 -4.39979282e-03 9.26795621e+01] [ 4.47547008e-03 -9.81670868e-05 9.99989980e-01 -1.87889283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:92.71, Z:-1.88 [[ 1.64946144e-01 -9.86301927e-01 -1.13100672e-03 1.40914603e+02] [ 9.86283446e-01 1.64949979e-01 -6.03891749e-03 9.27061473e+01] [ 6.14275549e-03 -1.19397055e-04 9.99981126e-01 -1.87901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:92.73, Z:-1.88 [[ 1.69702251e-01 -9.85494097e-01 -1.59069621e-03 1.40919548e+02] [ 9.85457388e-01 1.69709661e-01 -8.50694044e-03 9.27341111e+01] [ 8.65349610e-03 -1.23916395e-04 9.99962550e-01 -1.87993712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:92.76, Z:-1.88 [[ 1.71526562e-01 -9.85178107e-01 -1.65404816e-03 1.40923805e+02] [ 9.85138272e-01 1.71534501e-01 -8.86005335e-03 9.27608963e+01] [ 9.01245692e-03 -1.09731663e-04 9.99959381e-01 -1.88058891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:92.79, Z:-1.88 [[ 1.73229681e-01 -9.84879845e-01 -1.77986235e-03 1.40928495e+02] [ 9.84833561e-01 1.73238796e-01 -9.54860621e-03 9.27887620e+01] [ 9.71257101e-03 -9.87661722e-05 9.99952827e-01 -1.88063648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:92.82, Z:-1.88 [[ 1.74714823e-01 -9.84617497e-01 -1.76482556e-03 1.40933408e+02] [ 9.84571841e-01 1.74723717e-01 -9.48221770e-03 9.28167513e+01] [ 9.64471434e-03 -8.09135642e-05 9.99953485e-01 -1.88103038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:92.84, Z:-1.88 [[ 1.77527023e-01 -9.84114574e-01 -1.63161782e-03 1.40938767e+02] [ 9.84075425e-01 1.77534514e-01 -8.77807049e-03 9.28424915e+01] [ 8.92829558e-03 -4.72902800e-05 9.99960141e-01 -1.88072104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:92.87, Z:-1.88 [[ 1.78158821e-01 -9.84000428e-01 -1.60996845e-03 1.40944216e+02] [ 9.83962182e-01 1.78166091e-01 -8.67579344e-03 9.28697232e+01] [ 8.82382624e-03 -3.84789457e-05 9.99961069e-01 -1.88008003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:92.90, Z:-1.88 [[ 1.78480778e-01 -9.83942242e-01 -1.50845689e-03 1.40949725e+02] [ 9.83908548e-01 1.78487150e-01 -8.14287005e-03 9.28952182e+01] [ 8.28135399e-03 -3.08378440e-05 9.99965709e-01 -1.87945725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:92.92, Z:-1.88 [[ 1.78452709e-01 -9.83947491e-01 -1.40194141e-03 1.40955224e+02] [ 9.83918287e-01 1.78458213e-01 -7.58096862e-03 9.29204411e+01] [ 7.70946302e-03 -2.65514106e-05 9.99970281e-01 -1.87901117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:92.95, Z:-1.88 [[ 1.78249197e-01 -9.83984381e-01 -1.40029972e-03 1.40960137e+02] [ 9.83955176e-01 1.78254695e-01 -7.58127202e-03 9.29477461e+01] [ 7.70946326e-03 -2.64765116e-05 9.99970281e-01 -1.87899130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:92.98, Z:-1.88 [[ 1.77842750e-01 -9.84058392e-01 -1.01886238e-03 1.40967180e+02] [ 9.84042886e-01 1.77845667e-01 -5.52415844e-03 9.29751876e+01] [ 5.61729473e-03 -2.01727563e-05 9.99984223e-01 -1.87811513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:93.00, Z:-1.88 [[ 1.77245049e-01 -9.84166410e-01 -8.18672728e-04 1.40972894e+02] [ 9.84156370e-01 1.77246939e-01 -4.44533317e-03 9.30024968e+01] [ 4.52005482e-03 -1.77886834e-05 9.99989784e-01 -1.87742866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:93.03, Z:-1.88 [[ 1.77143572e-01 -9.84184768e-01 -7.05732039e-04 1.40978903e+02] [ 9.84177285e-01 1.77144977e-01 -3.83782489e-03 9.30302162e+01] [ 3.90214568e-03 -1.47194331e-05 9.99992386e-01 -1.87651708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:93.06, Z:-1.88 [[ 1.77050274e-01 -9.84201585e-01 -6.64236098e-04 1.40984540e+02] [ 9.84194935e-01 1.77051519e-01 -3.61792720e-03 9.30570575e+01] [ 3.67837370e-03 -1.31828024e-05 9.99993235e-01 -1.87617778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:93.08, Z:-1.88 [[ 1.77492692e-01 -9.84121788e-01 -8.06580799e-04 1.40990680e+02] [ 9.84111950e-01 1.77494524e-01 -4.40040308e-03 9.30847638e+01] [ 4.47369622e-03 -1.27264158e-05 9.99989993e-01 -1.87638302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:93.11, Z:-1.88 [[ 1.77681045e-01 -9.84087601e-01 -1.01992722e-03 1.40995974e+02] [ 9.84071816e-01 1.77683972e-01 -5.57375701e-03 9.31114169e+01] [ 5.66628988e-03 -1.33306659e-05 9.99983946e-01 -1.87668257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:93.14, Z:-1.88 [[ 1.77997151e-01 -9.84030217e-01 -1.24390621e-03 1.41001503e+02] [ 9.84006660e-01 1.78001497e-01 -6.80881180e-03 9.31385678e+01] [ 6.92149372e-03 -1.20628922e-05 9.99976046e-01 -1.87687252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.167628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:141.01, Y:93.16, Z:-1.88 [[ 1.77801904e-01 -9.84064943e-01 -1.63402327e-03 1.41006850e+02] [ 9.84024196e-01 1.77809412e-01 -8.95518250e-03 9.31646885e+01] [ 9.10302587e-03 -1.56699356e-05 9.99958566e-01 -1.87841703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:93.19, Z:-1.88 [[ 1.78883780e-01 -9.83868633e-01 -1.76265154e-03 1.41013607e+02] [ 9.83821061e-01 1.78892464e-01 -9.67505617e-03 9.31915364e+01] [ 9.83430936e-03 -3.42308366e-06 9.99951642e-01 -1.87705434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:93.22, Z:-1.88 [[ 1.78477168e-01 -9.83942254e-01 -1.88210378e-03 1.41019419e+02] [ 9.83887847e-01 1.78487091e-01 -1.03471250e-02 9.32194223e+01] [ 1.05169048e-02 -5.05346952e-06 9.99944696e-01 -1.87694524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:93.25, Z:-1.88 [[ 1.77874996e-01 -9.84051151e-01 -1.95423064e-03 1.41025072e+02] [ 9.83992314e-01 1.77885730e-01 -1.07607560e-02 9.32466128e+01] [ 1.09367640e-02 -8.87850111e-06 9.99940192e-01 -1.87710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:93.27, Z:-1.88 [[ 1.77224499e-01 -9.84168323e-01 -2.04652039e-03 1.41030822e+02] [ 9.84103597e-01 1.77236314e-01 -1.12870904e-02 9.32742429e+01] [ 1.14711146e-02 -1.36391335e-05 9.99934205e-01 -1.87670641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:93.30, Z:-1.88 [[ 1.75155734e-01 -9.84538730e-01 -1.98947364e-03 1.41036727e+02] [ 9.84477379e-01 1.75167029e-01 -1.09909885e-02 9.33007524e+01] [ 1.11695440e-02 -3.34571379e-05 9.99937618e-01 -1.87583599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:93.33, Z:-1.87 [[ 1.73879340e-01 -9.84764997e-01 -1.96858943e-03 1.41042340e+02] [ 9.84704749e-01 1.73890478e-01 -1.08930971e-02 9.33280894e+01] [ 1.10694597e-02 -4.43948278e-05 9.99938731e-01 -1.87498278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:93.35, Z:-1.87 [[ 1.70945305e-01 -9.85220964e-01 -1.08330440e-02 1.41050918e+02] [ 9.85254834e-01 1.71009907e-01 -5.34083117e-03 9.33538986e+01] [ 7.11445667e-03 -9.76031893e-03 9.99927058e-01 -1.86936438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:93.38, Z:-1.88 [[ 1.68985262e-01 -9.85587623e-01 7.81147086e-03 1.41047129e+02] [ 9.85577474e-01 1.68900527e-01 -1.04716207e-02 9.33829098e+01] [ 9.00133820e-03 9.46835928e-03 9.99914659e-01 -1.87748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:93.41, Z:-1.87 [[ 1.66123037e-01 -9.86103807e-01 -1.55533906e-03 1.41055792e+02] [ 9.86065919e-01 1.66130289e-01 -8.64471509e-03 9.34095927e+01] [ 8.78297539e-03 -9.75805144e-05 9.99961424e-01 -1.87337275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:141.06, Y:93.44, Z:-1.87 [[ 1.62777564e-01 -9.86661494e-01 -1.60020716e-03 1.41060053e+02] [ 9.86621282e-01 1.62785379e-01 -8.90881434e-03 9.34373467e+01] [ 9.05047439e-03 -1.28643335e-04 9.99959035e-01 -1.87459932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:93.46, Z:-1.87 [[ 1.56856425e-01 -9.87620315e-01 -1.47498375e-03 1.41064483e+02] [ 9.87586072e-01 1.56863272e-01 -8.22589305e-03 9.34637714e+01] [ 8.35542986e-03 -1.66389227e-04 9.99965079e-01 -1.87303116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:93.49, Z:-1.87 [[ 1.53473383e-01 -9.88151688e-01 -1.47042093e-03 1.41068936e+02] [ 9.88117562e-01 1.53480306e-01 -8.21455796e-03 9.34908350e+01] [ 8.34290997e-03 -1.92232748e-04 9.99965179e-01 -1.87255580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:93.52, Z:-1.87 [[ 1.50232214e-01 -9.88649633e-01 -1.47818033e-03 1.41072895e+02] [ 9.88615051e-01 1.50239327e-01 -8.27198959e-03 9.35179518e+01] [ 8.40018029e-03 -2.18632013e-04 9.99964694e-01 -1.87232216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:93.55, Z:-1.87 [[ 1.45635507e-01 -9.89337173e-01 -1.50215597e-03 1.41074978e+02] [ 9.89301380e-01 1.45643022e-01 -8.41961874e-03 9.35456819e+01] [ 8.54862034e-03 -2.59889532e-04 9.99963426e-01 -1.87198637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:93.57, Z:-1.87 [[ 1.43906793e-01 -9.89590072e-01 -1.52432357e-03 1.41078235e+02] [ 9.89553104e-01 1.43914600e-01 -8.55819289e-03 9.35723118e+01] [ 8.68847514e-03 -2.76817027e-04 9.99962216e-01 -1.87172620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:93.60, Z:-1.87 [[ 1.42752579e-01 -9.89757127e-01 -1.59066978e-03 1.41081753e+02] [ 9.89716750e-01 1.42761131e-01 -8.94506033e-03 9.36006551e+01] [ 9.08052303e-03 -2.97382092e-04 9.99958727e-01 -1.87083759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:93.63, Z:-1.87 [[ 1.42123610e-01 -9.89847649e-01 -1.58458136e-03 1.41084594e+02] [ 9.89807456e-01 1.42132127e-01 -8.92512202e-03 9.36282798e+01] [ 9.05973097e-03 -2.99959884e-04 9.99958915e-01 -1.87059685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:93.66, Z:-1.87 [[ 1.43255931e-01 -9.89684266e-01 -1.67067839e-03 1.41085226e+02] [ 9.89639429e-01 1.43265352e-01 -9.42547979e-03 9.36570131e+01] [ 9.56759938e-03 -3.03113328e-04 9.99954184e-01 -1.87045761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:93.68, Z:-1.87 [[ 1.43750186e-01 -9.89612560e-01 -1.69287749e-03 1.41087365e+02] [ 9.89566358e-01 1.43759841e-01 -9.56717665e-03 9.36843872e+01] [ 9.71116597e-03 -2.99931187e-04 9.99952801e-01 -1.87084779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:93.71, Z:-1.87 [[ 1.44578381e-01 -9.89491903e-01 -1.69300584e-03 1.41089670e+02] [ 9.89445535e-01 1.44588003e-01 -9.58350332e-03 9.37121515e+01] [ 9.72758727e-03 -2.89569675e-04 9.99952644e-01 -1.87094664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:93.74, Z:-1.87 [[ 1.45268932e-01 -9.89390785e-01 -1.67690766e-03 1.41092067e+02] [ 9.89345137e-01 1.45278344e-01 -9.50799058e-03 9.37398629e+01] [ 9.65073663e-03 -2.77824806e-04 9.99953392e-01 -1.87075431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.827628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.09, Y:93.77, Z:-1.87 [[ 1.46302087e-01 -9.89238510e-01 -1.69420385e-03 1.41092368e+02] [ 9.89191750e-01 1.46311650e-01 -9.62197059e-03 9.37681161e+01] [ 9.76630561e-03 -2.68178092e-04 9.99952273e-01 -1.87189981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:93.80, Z:-1.87 [[ 1.47132026e-01 -9.89115536e-01 -1.61952466e-03 1.41095074e+02] [ 9.89072651e-01 1.47140733e-01 -9.21387182e-03 9.37954368e+01] [ 9.35188181e-03 -2.46171924e-04 9.99956240e-01 -1.87103653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:93.82, Z:-1.87 [[ 1.47453657e-01 -9.89067707e-01 -1.57785689e-03 1.41097917e+02] [ 9.89026856e-01 1.47461912e-01 -8.99236092e-03 9.38223415e+01] [ 9.12672759e-03 -2.34586335e-04 9.99958323e-01 -1.87107475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:93.85, Z:-1.87 [[ 1.47907763e-01 -9.88999884e-01 -1.58842718e-03 1.41101325e+02] [ 9.88958340e-01 1.47916114e-01 -9.06778701e-03 9.38501643e+01] [ 9.20299428e-03 -2.29692211e-04 9.99957625e-01 -1.87095334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:93.88, Z:-1.87 [[ 1.48699943e-01 -9.88881145e-01 -1.55176485e-03 1.41104719e+02] [ 9.88841350e-01 1.48707885e-01 -8.87407909e-03 9.38770756e+01] [ 9.00616915e-03 -2.14874190e-04 9.99959421e-01 -1.87103079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:93.91, Z:-1.87 [[ 1.51554972e-01 -9.88447525e-01 -1.60639215e-03 1.41107100e+02] [ 9.88404712e-01 1.51563362e-01 -9.20174676e-03 9.39054205e+01] [ 9.33891401e-03 -1.93195101e-04 9.99956373e-01 -1.87070479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:93.93, Z:-1.87 [[ 1.53538138e-01 -9.88141300e-01 -1.67645694e-03 1.41110508e+02] [ 9.88094497e-01 1.53547186e-01 -9.61906374e-03 9.39336201e+01] [ 9.76240939e-03 -1.79604741e-04 9.99952330e-01 -1.87045611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:93.96, Z:-1.87 [[ 1.55882163e-01 -9.87774052e-01 -1.78153680e-03 1.41113538e+02] [ 9.87720997e-01 1.55892257e-01 -1.02389407e-02 9.39615907e+01] [ 1.03914877e-02 -1.63593087e-04 9.99945994e-01 -1.87034462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:93.99, Z:-1.87 [[ 1.61279797e-01 -9.86906821e-01 -1.93730339e-03 1.41114448e+02] [ 9.86843864e-01 1.61291392e-01 -1.11479127e-02 9.39892318e+01] [ 1.13144215e-02 -1.13882856e-04 9.99935983e-01 -1.87102593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:94.02, Z:-1.87 [[ 1.63740912e-01 -9.86501366e-01 -1.99209778e-03 1.41117563e+02] [ 9.86434551e-01 1.63753007e-01 -1.14817223e-02 9.40176582e+01] [ 1.16529467e-02 -8.50463937e-05 9.99932099e-01 -1.87118298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:94.05, Z:-1.87 [[ 1.65859549e-01 -9.86147390e-01 -1.98396097e-03 1.41121095e+02] [ 9.86080877e-01 1.65871404e-01 -1.14534291e-02 9.40454477e+01] [ 1.16238516e-02 -5.66853997e-05 9.99932439e-01 -1.87125324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15762800000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:141.13, Y:94.07, Z:-1.87 [[ 1.67253470e-01 -9.85911820e-01 -2.03977431e-03 1.41125313e+02] [ 9.85841266e-01 1.67265904e-01 -1.17947705e-02 9.40737190e+01] [ 1.19697883e-02 -3.81773841e-05 9.99928359e-01 -1.87260377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:94.10, Z:-1.87 [[ 1.70280415e-01 -9.85394360e-01 -1.59225148e-03 1.41128666e+02] [ 9.85351201e-01 1.70287859e-01 -9.22258634e-03 9.41010034e+01] [ 9.35902566e-03 1.49892062e-06 9.99956203e-01 -1.86974708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:94.13, Z:-1.87 [[ 1.71012446e-01 -9.85267739e-01 -1.49191386e-03 1.41132027e+02] [ 9.85229707e-01 1.71018953e-01 -8.65687241e-03 9.41283456e+01] [ 8.78448265e-03 1.05550683e-05 9.99961416e-01 -1.86928984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:94.16, Z:-1.87 [[ 1.71694017e-01 -9.85149248e-01 -1.45711888e-03 1.41135294e+02] [ 9.85112835e-01 1.71700199e-01 -8.47021036e-03 9.41554294e+01] [ 8.59460897e-03 1.88579336e-05 9.99963065e-01 -1.86968851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:94.18, Z:-1.87 [[ 1.72061794e-01 -9.85084857e-01 -1.60086797e-03 1.41138515e+02] [ 9.85040735e-01 1.72069239e-01 -9.32348293e-03 9.41816024e+01] [ 9.45988198e-03 2.72950421e-05 9.99955254e-01 -1.87002630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:94.21, Z:-1.87 [[ 1.73121196e-01 -9.84898416e-01 -2.04024696e-03 1.41141409e+02] [ 9.84826476e-01 1.73133210e-01 -1.19039404e-02 9.42086610e+01] [ 1.20774066e-02 5.15351809e-05 9.99927064e-01 -1.87084600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:94.23, Z:-1.87 [[ 1.73628116e-01 -9.84808643e-01 -2.28321709e-03 1.41145659e+02] [ 9.84718288e-01 1.73643114e-01 -1.33402611e-02 9.42347210e+01] [ 1.35340693e-02 6.79187754e-05 9.99908408e-01 -1.87108577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:94.26, Z:-1.87 [[ 1.73772950e-01 -9.84782861e-01 -2.38311488e-03 1.41150472e+02] [ 9.84684077e-01 1.73789273e-01 -1.39483764e-02 9.42614129e+01] [ 1.41502818e-02 7.72352314e-05 9.99899877e-01 -1.87115665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.16, Y:94.29, Z:-1.87 [[ 1.73456079e-01 -9.84837983e-01 -2.67123951e-03 1.41155989e+02] [ 9.84713530e-01 1.73476626e-01 -1.56564557e-02 9.42866400e+01] [ 1.58824699e-02 8.53017332e-05 9.99873862e-01 -1.87190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:94.31, Z:-1.87 [[ 1.73797602e-01 -9.84777988e-01 -2.58985620e-03 1.41161076e+02] [ 9.84660592e-01 1.73816873e-01 -1.52056936e-02 9.43134892e+01] [ 1.54243930e-02 9.25837460e-05 9.99881033e-01 -1.86987397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:94.34, Z:-1.87 [[ 1.73729717e-01 -9.84790150e-01 -2.51916574e-03 1.41165751e+02] [ 9.84678693e-01 1.73747956e-01 -1.48161828e-02 9.43410263e+01] [ 1.50285307e-02 9.34424076e-05 9.99887061e-01 -1.87001183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:141.17, Y:94.37, Z:-1.87 [[ 1.73295092e-01 -9.84866549e-01 -2.58667878e-03 1.41170349e+02] [ 9.84748619e-01 1.73314371e-01 -1.52409526e-02 9.43678944e+01] [ 1.54586130e-02 9.39539283e-05 9.99880504e-01 -1.87250069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:94.40, Z:-1.87 [[ 1.74184208e-01 -9.84710106e-01 -2.42275866e-03 1.41175770e+02] [ 9.84606280e-01 1.74201024e-01 -1.42995622e-02 9.43956530e+01] [ 1.45029705e-02 1.05294522e-04 9.99894821e-01 -1.87058268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:94.42, Z:-1.87 [[ 1.75063734e-01 -9.84554546e-01 -2.24382316e-03 1.41182091e+02] [ 9.84465171e-01 1.75078076e-01 -1.32663118e-02 9.44227592e+01] [ 1.34542518e-02 1.13484321e-04 9.99909481e-01 -1.86984176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:94.45, Z:-1.87 [[ 1.75646290e-01 -9.84450983e-01 -2.15474409e-03 1.41187776e+02] [ 9.84368345e-01 1.75659466e-01 -1.27559398e-02 9.44493630e+01] [ 1.29360987e-02 1.19471643e-04 9.99916318e-01 -1.86903479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:94.48, Z:-1.87 [[ 1.76154094e-01 -9.84360579e-01 -1.99620430e-03 1.41193501e+02] [ 9.84289410e-01 1.76165363e-01 -1.18373186e-02 9.44772940e+01] [ 1.20038519e-02 1.20349386e-04 9.99927944e-01 -1.86834554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:94.50, Z:-1.87 [[ 1.76388390e-01 -9.84319286e-01 -1.63675630e-03 1.41198579e+02] [ 9.84271276e-01 1.76395953e-01 -9.72229059e-03 9.45046947e+01] [ 9.85855532e-03 1.03886977e-04 9.99951398e-01 -1.86791023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:94.53, Z:-1.87 [[ 1.75929226e-01 -9.84401682e-01 -1.49518082e-03 1.41203538e+02] [ 9.84361483e-01 1.75935555e-01 -8.89674014e-03 9.45318984e+01] [ 9.02102143e-03 9.33981966e-05 9.99959305e-01 -1.86793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:94.56, Z:-1.87 [[ 1.75259248e-01 -9.84521349e-01 -1.38193085e-03 1.41208688e+02] [ 9.84486887e-01 1.75264676e-01 -8.23791308e-03 9.45584045e+01] [ 8.35260496e-03 8.32776474e-05 9.99965113e-01 -1.86768225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:94.59, Z:-1.87 [[ 1.73896278e-01 -9.84763138e-01 -1.28336835e-03 1.41215912e+02] [ 9.84733319e-01 1.73901000e-01 -7.66369071e-03 9.45861292e+01] [ 7.77009915e-03 6.89117132e-05 9.99969810e-01 -1.86711042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:94.61, Z:-1.87 [[ 1.73203023e-01 -9.84877490e-01 4.12826867e-03 1.41219868e+02] [ 9.84841995e-01 1.73154050e-01 -1.01941197e-02 9.46143470e+01] [ 9.32513257e-03 5.83134470e-03 9.99939517e-01 -1.86931149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:94.64, Z:-1.86 [[ 1.71401260e-01 -9.85176709e-01 -6.96131955e-03 1.41231199e+02] [ 9.85169086e-01 1.71448519e-01 -6.87587922e-03 9.46413789e+01] [ 7.96746399e-03 -5.67954245e-03 9.99952130e-01 -1.86443455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:94.67, Z:-1.87 [[ 1.71182252e-01 -9.85238518e-01 -1.30326243e-03 1.41233391e+02] [ 9.85207483e-01 1.71187204e-01 -7.82024918e-03 9.46700010e+01] [ 7.92791256e-03 5.47039676e-05 9.99968572e-01 -1.86673778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:94.70, Z:-1.87 [[ 1.69735900e-01 -9.85488679e-01 -1.33683879e-03 1.41239557e+02] [ 9.85455919e-01 1.69741158e-01 -8.03565442e-03 9.46977326e+01] [ 8.14596303e-03 4.65433388e-05 9.99966820e-01 -1.86672001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:94.73, Z:-1.87 [[ 1.66812318e-01 -9.85987715e-01 -1.36973938e-03 1.41245754e+02] [ 9.85953217e-01 1.66817940e-01 -8.24800226e-03 9.47254385e+01] [ 8.36092601e-03 2.53694278e-05 9.99965047e-01 -1.86803829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:94.75, Z:-1.87 [[ 1.65571270e-01 -9.86196684e-01 -1.50179000e-03 1.41251332e+02] [ 9.86155111e-01 1.65578080e-01 -9.05518403e-03 9.47516402e+01] [ 9.17885597e-03 1.82804332e-05 9.99957873e-01 -1.86859666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:94.78, Z:-1.87 [[ 1.64501399e-01 -9.86375532e-01 -1.61254563e-03 1.41257635e+02] [ 9.86327447e-01 1.64509302e-01 -9.73945578e-03 9.47787581e+01] [ 9.87203963e-03 1.16560855e-05 9.99951270e-01 -1.86881765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:94.81, Z:-1.87 [[ 1.62437609e-01 -9.86717129e-01 -1.82485235e-03 1.41266756e+02] [ 9.86655354e-01 1.62447859e-01 -1.10411329e-02 9.48061139e+01] [ 1.11909184e-02 -7.00511112e-06 9.99937380e-01 -1.86821389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:94.83, Z:-1.87 [[ 1.60858528e-01 -9.86975702e-01 -1.87037089e-03 1.41273327e+02] [ 9.86910594e-01 1.60869400e-01 -1.13364928e-02 9.48336757e+01] [ 1.14897284e-02 -2.23172926e-05 9.99933991e-01 -1.86770886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:94.86, Z:-1.87 [[ 1.58869060e-01 -9.87297935e-01 -1.84616799e-03 1.41279530e+02] [ 9.87234299e-01 1.58879781e-01 -1.12095193e-02 9.48610341e+01] [ 1.13604541e-02 -4.17545561e-05 9.99935467e-01 -1.86747023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:141.29, Y:94.89, Z:-1.87 [[ 1.55502330e-01 -9.87833758e-01 -1.86863817e-03 1.41285241e+02] [ 9.87768359e-01 1.55513537e-01 -1.13670233e-02 9.48876778e+01] [ 1.15193278e-02 -7.81830527e-05 9.99933647e-01 -1.87022881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:94.91, Z:-1.87 [[ 1.50308308e-01 -9.88637997e-01 -1.52401295e-03 1.41293225e+02] [ 9.88594382e-01 1.50315993e-01 -9.28707989e-03 9.49148046e+01] [ 9.41064358e-03 -1.10705372e-04 9.99955713e-01 -1.86753164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:94.94, Z:-1.87 [[ 1.46491035e-01 -9.89210969e-01 -1.42701956e-03 1.41299491e+02] [ 9.89172611e-01 1.46497923e-01 -8.71229463e-03 9.49416864e+01] [ 8.82735281e-03 -1.35295608e-04 9.99961029e-01 -1.86747187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:94.97, Z:-1.87 [[ 1.42403968e-01 -9.89807761e-01 -1.30610006e-03 1.41305976e+02] [ 9.89775534e-01 1.42409873e-01 -7.98881468e-03 9.49681154e+01] [ 8.09339231e-03 -1.55106975e-04 9.99967236e-01 -1.86710664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:141.31, Y:95.00, Z:-1.87 [[ 1.37495940e-01 -9.90501540e-01 -1.25124969e-03 1.41312819e+02] [ 9.90471886e-01 1.37501508e-01 -7.66672622e-03 9.49955464e+01] [ 7.76595285e-03 -1.85183915e-04 9.99969827e-01 -1.86901346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:95.02, Z:-1.87 [[ 1.29611069e-01 -9.91564277e-01 -1.12069358e-03 1.41322288e+02] [ 9.91540441e-01 1.29615728e-01 -6.87874866e-03 9.50219848e+01] [ 6.96598095e-03 -2.19651042e-04 9.99975713e-01 -1.86661840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:141.33, Y:95.05, Z:-1.87 [[ 1.26294049e-01 -9.91992208e-01 -1.12759072e-03 1.41327620e+02] [ 9.91968007e-01 1.26298849e-01 -6.93348464e-03 9.50495599e+01] [ 7.02037615e-03 -2.42876070e-04 9.99975327e-01 -1.86860888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:95.08, Z:-1.87 [[ 1.27195156e-01 -9.91877311e-01 -8.90408271e-04 1.41331323e+02] [ 9.91862161e-01 1.27198137e-01 -5.48515976e-03 9.50765084e+01] [ 5.55386378e-03 -1.85476520e-04 9.99984560e-01 -1.86596940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:95.10, Z:-1.87 [[ 1.27035665e-01 -9.91897744e-01 -8.97959667e-04 1.41334997e+02] [ 9.91882279e-01 1.27038701e-01 -5.54198505e-03 9.51037600e+01] [ 5.61115810e-03 -1.86640526e-04 9.99984240e-01 -1.86587593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.327628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:141.34, Y:95.13, Z:-1.87 [[ 1.26548835e-01 -9.91959706e-01 -1.15511683e-03 1.41338861e+02] [ 9.91934026e-01 1.26553876e-01 -7.14170588e-03 9.51313573e+01] [ 7.23046897e-03 -2.42025124e-04 9.99973831e-01 -1.86882121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:95.16, Z:-1.87 [[ 1.28506247e-01 -9.91707782e-01 -1.34929921e-03 1.41342178e+02] [ 9.91672606e-01 1.28513059e-01 -8.35681914e-03 9.51590657e+01] [ 8.46092513e-03 -2.64159603e-04 9.99964171e-01 -1.86688156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.387628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:141.35, Y:95.19, Z:-1.87 [[ 1.28525557e-01 -9.91705138e-01 -1.44904721e-03 1.41345222e+02] [ 9.91664445e-01 1.28533416e-01 -8.98827882e-03 9.51851116e+01] [ 9.09997328e-03 -2.81745063e-04 9.99958555e-01 -1.86838170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:141.35, Y:95.21, Z:-1.87 [[ 1.28595422e-01 -9.91695968e-01 -1.52492812e-03 1.41348600e+02] [ 9.91650744e-01 1.28604128e-01 -9.47520638e-03 9.52128149e+01] [ 9.59263601e-03 -2.93727939e-04 9.99953946e-01 -1.87035907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:95.24, Z:-1.87 [[ 1.30181949e-01 -9.91489142e-01 -1.39311309e-03 1.41352123e+02] [ 9.91451235e-01 1.30189159e-01 -8.67356537e-03 9.52388879e+01] [ 8.78111411e-03 -2.52062044e-04 9.99961414e-01 -1.86717064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.477628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:141.35, Y:95.27, Z:-1.87 [[ 1.30884789e-01 -9.91396667e-01 -1.34904226e-03 1.41352981e+02] [ 9.91360990e-01 1.30891529e-01 -8.41404451e-03 9.52672899e+01] [ 8.51823389e-03 -2.36117421e-04 9.99963691e-01 -1.87004799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.507628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:141.36, Y:95.29, Z:-1.87 [[ 1.31900935e-01 -9.91262067e-01 -1.28774916e-03 1.41355752e+02] [ 9.91229435e-01 1.31907046e-01 -8.04602603e-03 9.52948152e+01] [ 8.14558357e-03 -2.15176516e-04 9.99966801e-01 -1.86991467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:95.32, Z:-1.87 [[ 1.34286191e-01 -9.90942019e-01 -1.06485577e-03 1.41359366e+02] [ 9.90919614e-01 1.34290318e-01 -6.66552309e-03 9.53224663e+01] [ 6.74814672e-03 -1.60098757e-04 9.99977218e-01 -1.86669112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:95.35, Z:-1.87 [[ 1.36270185e-01 -9.90671129e-01 -1.07315147e-03 1.41363086e+02] [ 9.90648275e-01 1.36274332e-01 -6.73059856e-03 9.53497360e+01] [ 6.81405267e-03 -1.45935747e-04 9.99976773e-01 -1.86683077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:95.38, Z:-1.87 [[ 1.42526225e-01 -9.89790294e-01 -1.20363440e-03 1.41366453e+02] [ 9.89761406e-01 1.42531262e-01 -7.56298392e-03 9.53776214e+01] [ 7.65732361e-03 -1.13387329e-04 9.99970676e-01 -1.86710721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:141.37, Y:95.40, Z:-1.87 [[ 1.45282515e-01 -9.89389249e-01 -1.38041005e-03 1.41369513e+02] [ 9.89351084e-01 1.45289036e-01 -8.69069051e-03 9.54041121e+01] [ 8.79903420e-03 -1.03104802e-04 9.99961282e-01 -1.87086066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:141.37, Y:95.43, Z:-1.87 [[ 1.53664259e-01 -9.88121979e-01 -1.50035645e-03 1.41371960e+02] [ 9.88076664e-01 1.53671581e-01 -9.46318548e-03 9.54319123e+01] [ 9.58134370e-03 -2.83138056e-05 9.99954097e-01 -1.87139160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:95.46, Z:-1.87 [[ 1.57929756e-01 -9.87449305e-01 -1.43614155e-03 1.41375156e+02] [ 9.87407607e-01 1.57936285e-01 -9.07455760e-03 9.54598608e+01] [ 9.18748446e-03 1.50855703e-05 9.99957794e-01 -1.86912968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:141.38, Y:95.49, Z:-1.87 [[ 1.60896338e-01 -9.86970038e-01 -1.58544409e-03 1.41378822e+02] [ 9.86919010e-01 1.60904141e-01 -1.00361577e-02 9.54880722e+01] [ 1.01604915e-02 5.00761119e-05 9.99948380e-01 -1.87208825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:141.38, Y:95.52, Z:-1.87 [[ 1.63906309e-01 -9.86474621e-01 -1.59479592e-03 1.41383093e+02] [ 9.86422781e-01 1.63914045e-01 -1.01135200e-02 9.55160123e+01] [ 1.02381402e-02 8.45266954e-05 9.99947585e-01 -1.87191032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:95.54, Z:-1.87 [[ 1.66556545e-01 -9.86030694e-01 -1.54536425e-03 1.41387953e+02] [ 9.85981823e-01 1.66563677e-01 -9.81760556e-03 9.55434852e+01] [ 9.93786198e-03 1.11485406e-04 9.99950612e-01 -1.86906768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:95.57, Z:-1.87 [[ 1.69298131e-01 -9.85546452e-01 6.02778911e-03 1.41390768e+02] [ 9.85506936e-01 1.69218688e-01 -1.18792008e-02 9.55716765e+01] [ 1.06874896e-02 7.95155447e-03 9.99911271e-01 -1.87171843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:95.60, Z:-1.86 [[ 1.70110147e-01 -9.85385749e-01 -8.80132919e-03 1.41402348e+02] [ 9.85397118e-01 1.70165793e-01 -6.01031460e-03 9.55965666e+01] [ 7.42016351e-03 -7.65038892e-03 9.99943205e-01 -1.86470040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:95.62, Z:-1.87 [[ 1.69941373e-01 -9.85453688e-01 -9.79170246e-04 1.41404203e+02] [ 9.85433833e-01 1.69944165e-01 -6.25629984e-03 9.56236283e+01] [ 6.33169802e-03 9.82966948e-05 9.99979950e-01 -1.86738899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:95.65, Z:-1.87 [[ 1.69184930e-01 -9.85584038e-01 -7.51153235e-04 1.41411256e+02] [ 9.85572307e-01 1.69186582e-01 -4.80917726e-03 9.56490283e+01] [ 4.86693339e-03 7.33244927e-05 9.99988154e-01 -1.86639670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:95.68, Z:-1.87 [[ 1.68461480e-01 -9.85708024e-01 -6.49671394e-04 1.41416561e+02] [ 9.85699215e-01 1.68462722e-01 -4.16754406e-03 9.56756594e+01] [ 4.21742703e-03 6.16900578e-05 9.99991105e-01 -1.86648559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:95.70, Z:-1.87 [[ 1.67804254e-01 -9.85820121e-01 -6.49581874e-04 1.41421859e+02] [ 9.85811288e-01 1.67805501e-01 -4.17353308e-03 9.57018220e+01] [ 4.22335630e-03 5.99714632e-05 9.99991080e-01 -1.86657920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:95.73, Z:-1.87 [[ 1.65781156e-01 -9.86162193e-01 -8.58264701e-04 1.41428770e+02] [ 9.86146716e-01 1.65783363e-01 -5.52557620e-03 9.57269809e+01] [ 5.59140036e-03 6.96614957e-05 9.99984366e-01 -1.86760516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:95.75, Z:-1.87 [[ 1.64685111e-01 -9.86345587e-01 -1.09410084e-03 1.41434843e+02] [ 9.86320339e-01 1.64688724e-01 -7.05780455e-03 9.57538351e+01] [ 7.14162044e-03 8.31814110e-05 9.99974495e-01 -1.86747282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:95.78, Z:-1.87 [[ 1.63348882e-01 -9.86567443e-01 -1.35056843e-03 1.41440284e+02] [ 9.86528827e-01 1.63354438e-01 -8.72926515e-03 9.57805311e+01] [ 8.83263015e-03 9.35410144e-05 9.99960987e-01 -1.86800650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:95.81, Z:-1.87 [[ 1.62113055e-01 -9.86770883e-01 -1.60662614e-03 1.41445517e+02] [ 9.86716080e-01 1.62120985e-01 -1.04001644e-02 9.58061758e+01] [ 1.05230472e-02 1.00718581e-04 9.99944626e-01 -1.86850284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:95.83, Z:-1.87 [[ 1.61768852e-01 -9.86827129e-01 -1.74828852e-03 1.41449274e+02] [ 9.86761993e-01 1.61778262e-01 -1.13385485e-02 9.58327767e+01] [ 1.14720223e-02 1.09079303e-04 9.99934188e-01 -1.86885122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:95.86, Z:-1.87 [[ 1.61289259e-01 -9.86904791e-01 -2.16982559e-03 1.41451584e+02] [ 9.86804061e-01 1.61303799e-01 -1.41007055e-02 9.58586253e+01] [ 1.42660549e-02 1.33099630e-04 9.99898226e-01 -1.86938187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:95.89, Z:-1.87 [[ 1.60063179e-01 -9.87103946e-01 -2.36179140e-03 1.41455109e+02] [ 9.86984174e-01 1.60080550e-01 -1.53772141e-02 9.58860207e+01] [ 1.55569855e-02 1.30275037e-04 9.99878974e-01 -1.86949010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:95.91, Z:-1.87 [[ 1.57996174e-01 -9.87436559e-01 -2.50008086e-03 1.41458606e+02] [ 9.87301806e-01 1.58015916e-01 -1.63130239e-02 9.59114790e+01] [ 1.65031288e-02 1.09061018e-04 9.99863808e-01 -1.86949121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:95.94, Z:-1.87 [[ 1.55450620e-01 -9.87840521e-01 -2.49210185e-03 1.41463253e+02] [ 9.87706175e-01 1.55470578e-01 -1.62914474e-02 9.59396436e+01] [ 1.64808004e-02 7.10512202e-05 9.99864180e-01 -1.86869462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:95.97, Z:-1.87 [[ 1.50072567e-01 -9.88672418e-01 -2.25280592e-03 1.41469046e+02] [ 9.88562316e-01 1.50089475e-01 -1.47545652e-02 9.59672039e+01] [ 1.49255541e-02 -1.27835596e-05 9.99888608e-01 -1.86708803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:96.00, Z:-1.87 [[ 1.46940605e-01 -9.89143058e-01 -2.11418770e-03 1.41473861e+02] [ 9.89045774e-01 1.46955805e-01 -1.38725881e-02 9.59952916e+01] [ 1.40326663e-02 -5.25819251e-05 9.99901536e-01 -1.86638216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:96.02, Z:-1.87 [[ 1.43646096e-01 -9.89627360e-01 -1.86730345e-03 1.41477908e+02] [ 9.89551222e-01 1.43658208e-01 -1.22759153e-02 9.60231093e+01] [ 1.24168351e-02 -8.44051014e-05 9.99922905e-01 -1.86632031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:96.05, Z:-1.87 [[ 1.40394690e-01 -9.90094142e-01 -1.70900998e-03 1.41481511e+02] [ 9.90030142e-01 1.40405047e-01 -1.12578792e-02 9.60503804e+01] [ 1.13863139e-02 -1.11424927e-04 9.99935168e-01 -1.86626782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:141.49, Y:96.08, Z:-1.87 [[ 1.33474883e-01 -9.91050810e-01 -1.65760428e-03 1.41485007e+02] [ 9.90990444e-01 1.33485051e-01 -1.09398644e-02 9.60787740e+01] [ 1.10632269e-02 -1.82472875e-04 9.99938784e-01 -1.86941542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:96.11, Z:-1.87 [[ 1.31234226e-01 -9.91350347e-01 -1.43761328e-03 1.41489457e+02] [ 9.91304789e-01 1.31241980e-01 -9.50571784e-03 9.61061945e+01] [ 9.61217190e-03 -1.77637403e-04 9.99953786e-01 -1.86686452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:96.13, Z:-1.87 [[ 1.28895973e-01 -9.91657224e-01 -1.33326131e-03 1.41493884e+02] [ 9.91617907e-01 1.28902738e-01 -8.83234098e-03 9.61338805e+01] [ 8.93051577e-03 -1.83632600e-04 9.99960105e-01 -1.86618551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:96.16, Z:-1.87 [[ 1.27201448e-01 -9.91876161e-01 -1.21341343e-03 1.41497917e+02] [ 9.91843513e-01 1.27207109e-01 -8.04967493e-03 9.61602596e+01] [ 8.13863549e-03 -1.79585934e-04 9.99966865e-01 -1.86525071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:96.19, Z:-1.86 [[ 1.25687134e-01 -9.92069453e-01 -9.71994127e-04 1.41500997e+02] [ 9.92048432e-01 1.25690800e-01 -6.46001032e-03 9.61885270e+01] [ 6.53094963e-03 -1.52325069e-04 9.99978662e-01 -1.86396665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:96.22, Z:-1.86 [[ 1.25168164e-01 -9.92135131e-01 -9.01134376e-04 1.41503781e+02] [ 9.92116993e-01 1.25171327e-01 -6.00100780e-03 9.62152330e+01] [ 6.06660684e-03 -1.42895597e-04 9.99981588e-01 -1.86411569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:96.24, Z:-1.86 [[ 1.25410666e-01 -9.92104477e-01 -9.33440338e-04 1.41506860e+02] [ 9.92084940e-01 1.25414056e-01 -6.22790717e-03 9.62429739e+01] [ 6.29580112e-03 -1.45006114e-04 9.99980171e-01 -1.86413467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:96.27, Z:-1.86 [[ 1.26507957e-01 -9.91965145e-01 -9.42799924e-04 1.41510144e+02] [ 9.91945131e-01 1.26511395e-01 -6.30276160e-03 9.62702724e+01] [ 6.37139476e-03 -1.37856299e-04 9.99979693e-01 -1.86421019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:96.30, Z:-1.86 [[ 1.26836723e-01 -9.91923055e-01 -1.04863319e-03 1.41513978e+02] [ 9.91898197e-01 1.26840970e-01 -7.02383636e-03 9.62986056e+01] [ 7.10011487e-03 -1.49256986e-04 9.99974783e-01 -1.86355134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:96.33, Z:-1.86 [[ 1.27344288e-01 -9.91858006e-01 -1.06215802e-03 1.41517681e+02] [ 9.91832403e-01 1.27348634e-01 -7.12811925e-03 9.63268885e+01] [ 7.20534652e-03 -1.45757471e-04 9.99974031e-01 -1.86434453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:96.36, Z:-1.86 [[ 1.27809207e-01 -9.91798052e-01 -1.19610493e-03 1.41520815e+02] [ 9.91765456e-01 1.27814706e-01 -8.04252198e-03 9.63551157e+01] [ 8.12943743e-03 -1.58347194e-04 9.99966943e-01 -1.86493218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:96.38, Z:-1.87 [[ 1.28884940e-01 -9.91658634e-01 -1.35093207e-03 1.41522073e+02] [ 9.91616882e-01 1.28891912e-01 -9.10130280e-03 9.63835965e+01] [ 9.19950972e-03 -1.66586181e-04 9.99957670e-01 -1.86672821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:96.41, Z:-1.87 [[ 1.28623255e-01 -9.91692614e-01 -1.34852091e-03 1.41526201e+02] [ 9.91650860e-01 1.28630216e-01 -9.10166035e-03 9.64118945e+01] [ 9.19950987e-03 -1.66576748e-04 9.99957670e-01 -1.86671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:96.44, Z:-1.87 [[ 1.28590716e-01 -9.91696684e-01 -1.45428766e-03 1.41528627e+02] [ 9.91647924e-01 1.28598817e-01 -9.83562665e-03 9.64384682e+01] [ 9.94097801e-03 -1.77371071e-04 9.99950572e-01 -1.86721299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:96.47, Z:-1.87 [[ 1.28617071e-01 -9.91693272e-01 -1.45062810e-03 1.41531939e+02] [ 9.91644568e-01 1.28625133e-01 -9.82988912e-03 9.64661199e+01] [ 9.93482213e-03 -1.74215924e-04 9.99950633e-01 -1.86746514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:96.49, Z:-1.87 [[ 1.28659135e-01 -9.91687820e-01 -1.44702281e-03 1.41535740e+02] [ 9.91639169e-01 1.28667159e-01 -9.82446738e-03 9.64934781e+01] [ 9.92898896e-03 -1.70917023e-04 9.99950692e-01 -1.86705450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:96.52, Z:-1.87 [[ 1.29161170e-01 -9.91622622e-01 -1.40302695e-03 1.41539828e+02] [ 9.91576701e-01 1.29168693e-01 -9.54434358e-03 9.65214849e+01] [ 9.64561416e-03 -1.58450251e-04 9.99953467e-01 -1.86650130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:96.55, Z:-1.87 [[ 1.29659634e-01 -9.91557708e-01 -1.30060945e-03 1.41543559e+02] [ 9.91518090e-01 1.29666081e-01 -8.86480708e-03 9.65494990e+01] [ 8.95861271e-03 -1.40170157e-04 9.99959861e-01 -1.86624069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:96.58, Z:-1.87 [[ 1.31129026e-01 -9.91364510e-01 -1.25946009e-03 1.41547314e+02] [ 9.91327198e-01 1.31135019e-01 -8.60191503e-03 9.65766994e+01] [ 8.69279260e-03 -1.20576297e-04 9.99962210e-01 -1.86611877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:96.60, Z:-1.87 [[ 1.36206509e-01 -9.90679757e-01 -1.18541436e-03 1.41549827e+02] [ 9.90646549e-01 1.36211650e-01 -8.11179478e-03 9.66042791e+01] [ 8.19765813e-03 -6.94473941e-05 9.99966396e-01 -1.86634933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:96.63, Z:-1.87 [[ 1.39286871e-01 -9.90251349e-01 -1.19698442e-03 1.41553127e+02] [ 9.90217343e-01 1.39292008e-01 -8.20672141e-03 9.66322950e+01] [ 8.29344731e-03 -4.21861877e-05 9.99965608e-01 -1.86653007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.007628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:141.56, Y:96.66, Z:-1.87 [[ 1.41951681e-01 -9.89872492e-01 -1.47290884e-03 1.41556100e+02] [ 9.89820768e-01 1.41959321e-01 -1.01191948e-02 9.66588225e+01] [ 1.02258057e-02 -2.14790497e-05 9.99947715e-01 -1.86885017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:96.69, Z:-1.87 [[ 1.46002461e-01 -9.89283329e-01 -1.33246068e-03 1.41559746e+02] [ 9.89240806e-01 1.46008540e-01 -9.17246516e-03 9.66866662e+01] [ 9.26871751e-03 2.10780151e-05 9.99957044e-01 -1.86773297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.067628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:141.56, Y:96.71, Z:-1.87 [[ 1.50510613e-01 -9.88607100e-01 -1.59916628e-03 1.41563155e+02] [ 9.88545561e-01 1.50519088e-01 -1.10307426e-02 9.67148388e+01] [ 1.11457755e-02 7.93951121e-05 9.99937881e-01 -1.87039574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:96.74, Z:-1.87 [[ 1.53175056e-01 -9.88198020e-01 -1.44036768e-03 1.41568073e+02] [ 9.88147869e-01 1.53181794e-01 -9.95627376e-03 9.67418211e+01] [ 1.00594081e-02 1.01756531e-04 9.99949398e-01 -1.86865648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:96.77, Z:-1.87 [[ 1.54654525e-01 -9.87967610e-01 -1.40673355e-03 1.41573009e+02] [ 9.87919571e-01 1.54660878e-01 -9.74335473e-03 9.67695111e+01] [ 9.84368553e-03 1.17114289e-04 9.99951543e-01 -1.86808914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:96.80, Z:-1.87 [[ 1.55553691e-01 -9.87826555e-01 -1.32130191e-03 1.41577827e+02] [ 9.87783990e-01 1.55559255e-01 -9.17094802e-03 9.67961788e+01] [ 9.26484673e-03 1.21413941e-04 9.99957073e-01 -1.86782329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:96.82, Z:-1.87 [[ 1.56094867e-01 -9.87741214e-01 -1.29909754e-03 1.41582797e+02] [ 9.87699902e-01 1.56100221e-01 -9.03464963e-03 9.68235748e+01] [ 9.12668521e-03 1.27143922e-04 9.99958343e-01 -1.86738289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:96.85, Z:-1.87 [[ 1.56122670e-01 -9.87736918e-01 -1.22209875e-03 1.41588740e+02] [ 9.87700213e-01 1.56127406e-01 -8.51600529e-03 9.68515723e+01] [ 8.60237593e-03 1.22474295e-04 9.99962991e-01 -1.86745947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:96.88, Z:-1.87 [[ 1.55855496e-01 -9.87779118e-01 -1.21567816e-03 1.41593856e+02] [ 9.87742653e-01 1.55860190e-01 -8.48836603e-03 9.68794194e+01] [ 8.57410654e-03 1.22181333e-04 9.99963234e-01 -1.86830769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:96.91, Z:-1.87 [[ 1.54952353e-01 -9.87921142e-01 -1.25886012e-03 1.41598621e+02] [ 9.87881879e-01 1.54957419e-01 -8.80862695e-03 9.69056899e+01] [ 8.89729851e-03 1.21312371e-04 9.99960411e-01 -1.86852028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:96.93, Z:-1.87 [[ 1.52356850e-01 -9.88324695e-01 -1.29888495e-03 1.41606244e+02] [ 9.88282784e-01 1.52362352e-01 -9.10239505e-03 9.69318520e+01] [ 9.19402297e-03 1.03146604e-04 9.99957729e-01 -1.86839504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:96.96, Z:-1.87 [[ 1.49740781e-01 -9.88724363e-01 -1.35346123e-03 1.41612190e+02] [ 9.88678689e-01 1.49746873e-01 -9.50391105e-03 9.69598429e+01] [ 9.59942499e-03 8.49847858e-05 9.99953921e-01 -1.86800149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:96.99, Z:-1.87 [[ 1.47030164e-01 -9.89131118e-01 -1.32735805e-03 1.41617750e+02] [ 9.89087016e-01 1.47036143e-01 -9.34061467e-03 9.69868461e+01] [ 9.43426224e-03 6.04794888e-05 9.99955495e-01 -1.86828448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:97.01, Z:-1.87 [[ 1.44031217e-01 -9.89572247e-01 -1.33301660e-03 1.41623304e+02] [ 9.89527598e-01 1.44037381e-01 -9.40026831e-03 9.70138585e+01] [ 9.49424885e-03 3.48753717e-05 9.99954928e-01 -1.86855030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:97.04, Z:-1.87 [[ 1.41161073e-01 -9.89984087e-01 -2.24921249e-03 1.41628630e+02] [ 9.89948340e-01 1.41175233e-01 -8.47574914e-03 9.70395487e+01] [ 8.70838987e-03 -1.03015832e-03 9.99961551e-01 -1.86758222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:97.07, Z:-1.87 [[ 1.39210538e-01 -9.90262802e-01 -9.90067583e-05 1.41631859e+02] [ 9.90229230e-01 1.39206640e-01 -8.22086791e-03 9.70692465e+01] [ 8.15460209e-03 1.04639206e-03 9.99966203e-01 -1.86869845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:97.10, Z:-1.87 [[ 1.38601528e-01 -9.90345543e-01 -2.30694567e-03 1.41637086e+02] [ 9.90313233e-01 1.38615837e-01 -8.08398201e-03 9.70956148e+01] [ 8.32571476e-03 -1.16414657e-03 9.99964663e-01 -1.86744645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:97.13, Z:-1.87 [[ 1.35808642e-01 -9.90735077e-01 -1.42306208e-04 1.41640840e+02] [ 9.90692734e-01 1.35804163e-01 -9.22688162e-03 9.71253870e+01] [ 9.16072105e-03 1.11210854e-03 9.99957421e-01 -1.86793409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:97.15, Z:-1.87 [[ 1.30751552e-01 -9.91414404e-01 -1.22894120e-03 1.41645043e+02] [ 9.91376014e-01 1.30757304e-01 -8.72507337e-03 9.71518122e+01] [ 8.81085646e-03 -7.75259437e-05 9.99961181e-01 -1.86714857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:97.18, Z:-1.87 [[ 1.27077473e-01 -9.91892105e-01 -1.16934653e-03 1.41649342e+02] [ 9.91857225e-01 1.27082812e-01 -8.31889086e-03 9.71800925e+01] [ 8.40004602e-03 -1.02681173e-04 9.99964714e-01 -1.86700683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:97.21, Z:-1.87 [[ 1.23500879e-01 -9.92343790e-01 -1.15592929e-03 1.41653438e+02] [ 9.92309586e-01 1.23506221e-01 -8.24007812e-03 9.72082793e+01] [ 8.31975480e-03 -1.29382822e-04 9.99965382e-01 -1.86620810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:97.24, Z:-1.87 [[ 1.20385932e-01 -9.92726558e-01 -1.09966624e-03 1.41655959e+02] [ 9.92695492e-01 1.20390866e-01 -7.85489194e-03 9.72360772e+01] [ 7.93014961e-03 -1.46015233e-04 9.99968545e-01 -1.86586003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:97.26, Z:-1.87 [[ 1.12854183e-01 -9.93610810e-01 -1.22162387e-03 1.41659144e+02] [ 9.93572362e-01 1.12860567e-01 -8.74379197e-03 9.72643388e+01] [ 8.82579938e-03 -2.26998214e-04 9.99961026e-01 -1.86586354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:97.29, Z:-1.87 [[ 1.08229289e-01 -9.94125089e-01 -1.31480074e-03 1.41662629e+02] [ 9.94080407e-01 1.08236896e-01 -9.42969531e-03 9.72923327e+01] [ 9.51660664e-03 -2.86448435e-04 9.99954675e-01 -1.86574007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.727628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:141.67, Y:97.32, Z:-1.87 [[ 1.03539741e-01 -9.94624120e-01 -1.54348888e-03 1.41665428e+02] [ 9.94562328e-01 1.03550524e-01 -1.10934339e-02 9.73193425e+01] [ 1.11936260e-02 -3.86484618e-04 9.99937275e-01 -1.86713862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:141.67, Y:97.35, Z:-1.87 [[ 9.75662716e-02 -9.95227902e-01 -1.49864603e-03 1.41665627e+02] [ 9.95169477e-01 9.75767958e-02 -1.07926571e-02 9.73472174e+01] [ 1.08873866e-02 -4.38407470e-04 9.99940635e-01 -1.86777480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.37, Z:-1.87 [[ 9.49663349e-02 -9.95479613e-01 -1.31719948e-03 1.41667670e+02] [ 9.95434289e-01 9.49745920e-02 -9.50806026e-03 9.73737237e+01] [ 9.59018063e-03 -4.08239895e-04 9.99953930e-01 -1.86626966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.40, Z:-1.86 [[ 9.26657625e-02 -9.95696486e-01 -1.25041778e-03 1.41670039e+02] [ 9.95655477e-01 9.26733061e-02 -9.04600185e-03 9.74009785e+01] [ 9.12295261e-03 -4.06730654e-04 9.99958302e-01 -1.86496911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:141.67, Y:97.43, Z:-1.87 [[ 9.03534899e-02 -9.95909017e-01 -1.21558732e-03 1.41671879e+02] [ 9.95870096e-01 9.03607174e-02 -8.81438555e-03 9.74267788e+01] [ 8.88816739e-03 -4.14156563e-04 9.99960414e-01 -1.86536145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.45, Z:-1.86 [[ 8.93671050e-02 -9.95998428e-01 -8.07377297e-04 1.41670981e+02] [ 9.95981187e-01 8.93703140e-02 -5.86710331e-03 9.74542436e+01] [ 5.91578124e-03 -2.79806560e-04 9.99982462e-01 -1.86267166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.48, Z:-1.86 [[ 8.98029286e-02 -9.95959312e-01 -6.94962642e-04 1.41671551e+02] [ 9.95946477e-01 8.98053034e-02 -5.06178756e-03 9.74808318e+01] [ 5.10374578e-03 -2.37582248e-04 9.99986948e-01 -1.86243988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.51, Z:-1.86 [[ 9.13182168e-02 -9.95821545e-01 -6.58721480e-04 1.41671931e+02] [ 9.95809960e-01 9.13203351e-02 -4.80836321e-03 9.75081674e+01] [ 4.84842635e-03 -2.16870257e-04 9.99988223e-01 -1.86192623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.54, Z:-1.86 [[ 9.35256537e-02 -9.95616717e-01 -5.53107218e-04 1.41671908e+02] [ 9.95608510e-01 9.35271306e-02 -4.04614475e-03 9.75356752e+01] [ 4.08013988e-03 -1.72259920e-04 9.99991661e-01 -1.86189741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.56, Z:-1.86 [[ 9.98511638e-02 -9.95002215e-01 -5.81560883e-04 1.41668547e+02] [ 9.94993093e-01 9.98527402e-02 -4.26314044e-03 9.75643872e+01] [ 4.29990462e-03 -1.52969528e-04 9.99990744e-01 -1.86202256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:97.59, Z:-1.86 [[ 1.00317671e-01 -9.94951408e-01 -2.83910446e-03 1.41664981e+02] [ 9.94947275e-01 1.00328012e-01 -3.76971639e-03 9.75867710e+01] [ 4.03552633e-03 -2.44659008e-03 9.99988864e-01 -1.86107492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.62, Z:-1.86 [[ 1.06039008e-01 -9.94360653e-01 1.61875662e-03 1.41668707e+02] [ 9.94347415e-01 1.06028507e-01 -5.58332695e-03 9.76193315e+01] [ 5.38020628e-03 2.20165691e-03 9.99983103e-01 -1.86304587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:97.64, Z:-1.86 [[ 1.08820473e-01 -9.94049998e-01 -4.76515849e-03 1.41664690e+02] [ 9.94040291e-01 1.08848164e-01 -5.99812794e-03 9.76426914e+01] [ 6.48111782e-03 -4.08404041e-03 9.99970657e-01 -1.85961105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.67, Z:-1.86 [[ 1.12900855e-01 -9.93601573e-01 3.05156405e-03 1.41665735e+02] [ 9.93581193e-01 1.12875660e-01 -7.44969032e-03 9.76740783e+01] [ 7.05757671e-03 3.87305306e-03 9.99967595e-01 -1.86396834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.70, Z:-1.86 [[ 1.14110160e-01 -9.93467639e-01 -9.59851664e-04 1.41667994e+02] [ 9.93442275e-01 1.14114107e-01 -7.10042970e-03 9.77023957e+01] [ 7.16357974e-03 -1.43326054e-04 9.99974331e-01 -1.86273376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.73, Z:-1.86 [[ 1.16250175e-01 -9.93219467e-01 -9.93666114e-04 1.41667407e+02] [ 9.93192145e-01 1.16254348e-01 -7.36811083e-03 9.77289011e+01] [ 7.43366912e-03 -1.30357207e-04 9.99972361e-01 -1.86217574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.76, Z:-1.86 [[ 1.16795120e-01 -9.93155481e-01 -1.04383092e-03 1.41669410e+02] [ 9.93125200e-01 1.16799712e-01 -7.75652083e-03 9.77566088e+01] [ 7.82535033e-03 -1.30731008e-04 9.99969373e-01 -1.86175406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.78, Z:-1.86 [[ 1.17332124e-01 -9.93092172e-01 -1.05344630e-03 1.41671406e+02] [ 9.93061191e-01 1.17336786e-01 -7.84530283e-03 9.77839398e+01] [ 7.91471683e-03 -1.25630587e-04 9.99968670e-01 -1.86184501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.81, Z:-1.86 [[ 1.17726557e-01 -9.93045438e-01 -1.10263538e-03 1.41673297e+02] [ 9.93011341e-01 1.17731654e-01 -8.23014667e-03 9.78106919e+01] [ 8.30272469e-03 -1.26022604e-04 9.99965524e-01 -1.86182272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.84, Z:-1.86 [[ 1.19057788e-01 -9.92886704e-01 -1.11155070e-03 1.41673430e+02] [ 9.92851923e-01 1.19062922e-01 -8.31137537e-03 9.78372537e+01] [ 8.38459858e-03 -1.14071287e-04 9.99964842e-01 -1.86203221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:97.86, Z:-1.86 [[ 1.19671109e-01 -9.92812970e-01 -1.10995403e-03 1.41674897e+02] [ 9.92778128e-01 1.19676209e-01 -8.31821248e-03 9.78634998e+01] [ 8.39126433e-03 -1.06488365e-04 9.99964787e-01 -1.86214009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:97.89, Z:-1.86 [[ 1.20450303e-01 -9.92718834e-01 -1.02038162e-03 1.41676466e+02] [ 9.92689258e-01 1.20454592e-01 -7.66338647e-03 9.78905408e+01] [ 7.73049773e-03 -8.98646449e-05 9.99970115e-01 -1.86272299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.387628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.68, Y:97.92, Z:-1.86 [[ 1.20982561e-01 -9.92654081e-01 -1.04618966e-03 1.41678511e+02] [ 9.92622851e-01 1.20987054e-01 -7.87454714e-03 9.79181752e+01] [ 7.94327677e-03 -8.57888766e-05 9.99968448e-01 -1.86429611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:97.95, Z:-1.86 [[ 1.23860213e-01 -9.92299172e-01 -1.00049055e-03 1.41681713e+02] [ 9.92270476e-01 1.23864240e-01 -7.54668268e-03 9.79463961e+01] [ 7.61249198e-03 -5.80235102e-05 9.99971023e-01 -1.86180475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:97.97, Z:-1.86 [[ 1.24733060e-01 -9.92189777e-01 -1.05392307e-03 1.41684544e+02] [ 9.92157791e-01 1.24737502e-01 -7.96700681e-03 9.79743014e+01] [ 8.03624644e-03 -5.19088447e-05 9.99967708e-01 -1.86122980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.477628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.69, Y:98.00, Z:-1.86 [[ 1.25030983e-01 -9.92152210e-01 -1.11609482e-03 1.41686594e+02] [ 9.92116221e-01 1.25035954e-01 -8.45067146e-03 9.80012902e+01] [ 8.52390435e-03 -5.07000090e-05 9.99963670e-01 -1.86343141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:98.03, Z:-1.86 [[ 1.26181776e-01 -9.92006412e-01 -1.19891902e-03 1.41689300e+02] [ 9.91964701e-01 1.26187465e-01 -9.09707222e-03 9.80297655e+01] [ 9.17564253e-03 -4.14006165e-05 9.99957902e-01 -1.86253737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:98.06, Z:-1.86 [[ 1.26384641e-01 -9.91980319e-01 -1.40341067e-03 1.41692790e+02] [ 9.91922915e-01 1.26392425e-01 -1.06716702e-02 9.80576318e+01] [ 1.07634673e-02 -4.33399973e-05 9.99942071e-01 -1.86248534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:98.09, Z:-1.86 [[ 1.26586002e-01 -9.91954404e-01 -1.56322714e-03 1.41696268e+02] [ 9.91882860e-01 1.26595646e-01 -1.19136285e-02 9.80851101e+01] [ 1.20156740e-02 -4.24396069e-05 9.99927808e-01 -1.86285469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59762800000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.70, Y:98.11, Z:-1.86 [[ 1.26850913e-01 -9.91920075e-01 -1.84688474e-03 1.41699868e+02] [ 9.91819730e-01 1.26864350e-01 -1.41088730e-02 9.81117270e+01] [ 1.42291782e-02 -4.20533113e-05 9.99898759e-01 -1.86460559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62762800000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.70, Y:98.14, Z:-1.86 [[ 1.26678428e-01 -9.91942122e-01 -1.84437583e-03 1.41703490e+02] [ 9.91841775e-01 1.26691847e-01 -1.41092012e-02 9.81400509e+01] [ 1.42291783e-02 -4.19975685e-05 9.99898759e-01 -1.86459346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:98.17, Z:-1.86 [[ 1.28737455e-01 -9.91676267e-01 -2.20205280e-03 1.41709061e+02] [ 9.91532728e-01 1.28756286e-01 -1.68721360e-02 9.81661783e+01] [ 1.70152250e-02 -1.13315660e-05 9.99855231e-01 -1.86274073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:98.19, Z:-1.86 [[ 1.29201405e-01 -9.91615550e-01 -2.36586708e-03 1.41713589e+02] [ 9.91449127e-01 1.29223065e-01 -1.81666813e-02 9.81942479e+01] [ 1.83200882e-02 1.52390477e-06 9.99832173e-01 -1.86214429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71762800000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:141.72, Y:98.22, Z:-1.86 [[ 1.29106553e-01 -9.91627735e-01 -2.43576571e-03 1.41717425e+02] [ 9.91450553e-01 1.29129528e-01 -1.87447604e-02 9.82216518e+01] [ 1.89023536e-02 5.13015463e-06 9.99821335e-01 -1.86425437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74762800000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.72, Y:98.25, Z:-1.86 [[ 1.29229523e-01 -9.91612038e-01 -2.30125999e-03 1.41721641e+02] [ 9.91453185e-01 1.29250011e-01 -1.77486868e-02 9.82492191e+01] [ 1.78972494e-02 1.20627918e-05 9.99839831e-01 -1.86386712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:98.28, Z:-1.86 [[ 1.28846885e-01 -9.91662452e-01 -2.01529373e-03 1.41728856e+02] [ 9.91540068e-01 1.28862644e-01 -1.55792220e-02 9.82753986e+01] [ 1.57090256e-02 9.08973461e-06 9.99876606e-01 -1.86125050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:98.30, Z:-1.86 [[ 1.27349609e-01 -9.91856207e-01 -1.82804414e-03 1.41735215e+02] [ 9.91755087e-01 1.27362728e-01 -1.41627355e-02 9.83033963e+01] [ 1.42802218e-02 -9.35324780e-06 9.99898032e-01 -1.86023077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83762800000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:141.74, Y:98.33, Z:-1.86 [[ 1.25168263e-01 -9.92133974e-01 -1.75600802e-03 1.41741540e+02] [ 9.92040261e-01 1.25180575e-01 -1.36361444e-02 9.83296481e+01] [ 1.37487003e-02 -3.52181401e-05 9.99905482e-01 -1.86084910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86762800000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:141.75, Y:98.36, Z:-1.86 [[ 1.20954000e-01 -9.92657214e-01 -1.33617586e-03 1.41750041e+02] [ 9.92602748e-01 1.20961360e-01 -1.03987638e-02 9.83566883e+01] [ 1.04840335e-02 -6.85197643e-05 9.99945039e-01 -1.85994408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:98.38, Z:-1.86 [[ 1.19012158e-01 -9.92892136e-01 -1.14546023e-03 1.41755777e+02] [ 9.92851938e-01 1.19017648e-01 -8.93465820e-03 9.83838950e+01] [ 9.00748185e-03 -7.39394501e-05 9.99959429e-01 -1.85691673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:98.41, Z:-1.86 [[ 1.16998461e-01 -9.93131670e-01 -9.19999024e-04 1.41761160e+02] [ 9.93105660e-01 1.17002056e-01 -7.18804015e-03 9.84109172e+01] [ 7.24631210e-03 -7.26666003e-05 9.99973743e-01 -1.85661202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:98.44, Z:-1.86 [[ 1.15179256e-01 -9.93344404e-01 -7.96757840e-04 1.41766397e+02] [ 9.93324836e-01 1.15181988e-01 -6.23533198e-03 9.84380350e+01] [ 6.28560428e-03 -7.32584529e-05 9.99980243e-01 -1.85634908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.77, Y:98.47, Z:-1.86 [[ 1.13284125e-01 -9.93562343e-01 -7.60097072e-04 1.41773182e+02] [ 9.93544461e-01 1.13286646e-01 -5.96147432e-03 9.84655349e+01] [ 6.00920524e-03 -7.98498368e-05 9.99981941e-01 -1.85749311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:98.49, Z:-1.86 [[ 1.13015121e-01 -9.93592965e-01 -7.76298844e-04 1.41777937e+02] [ 9.93574225e-01 1.13017758e-01 -6.10291659e-03 9.84922004e+01] [ 6.15155054e-03 -8.15886651e-05 9.99981076e-01 -1.85686138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:98.52, Z:-1.86 [[ 1.12988283e-01 -9.93595939e-01 -8.70523591e-04 1.41782783e+02] [ 9.93572267e-01 1.12991601e-01 -6.85922214e-03 9.85202994e+01] [ 6.91365711e-03 -8.99163666e-05 9.99976096e-01 -1.85751633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:98.55, Z:-1.86 [[ 1.12781157e-01 -9.93619237e-01 -1.10597906e-03 1.41787553e+02] [ 9.93580853e-01 1.12786522e-01 -8.73437834e-03 9.85483523e+01] [ 8.80338587e-03 -1.13806327e-04 9.99961243e-01 -1.85753901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.107628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:141.79, Y:98.58, Z:-1.86 [[ 1.11624933e-01 -9.93749227e-01 -1.53248896e-03 1.41793544e+02] [ 9.93675202e-01 1.11635325e-01 -1.21304253e-02 9.85764114e+01] [ 1.22256807e-02 -1.68738365e-04 9.99925249e-01 -1.86049377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:141.80, Y:98.60, Z:-1.86 [[ 1.10594499e-01 -9.93864199e-01 -1.67672922e-03 1.41798269e+02] [ 9.93775195e-01 1.10607037e-01 -1.33020393e-02 9.86040690e+01] [ 1.34058787e-02 -1.95159531e-04 9.99910118e-01 -1.86087630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:98.63, Z:-1.86 [[ 1.06430392e-01 -9.94307835e-01 4.94993311e-03 1.41799043e+02] [ 9.94237922e-01 1.06356248e-01 -1.33903847e-02 9.86301055e+01] [ 1.27877081e-02 6.34655511e-03 9.99898093e-01 -1.86363772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.197628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.81, Y:98.66, Z:-1.86 [[ 1.06312379e-01 -9.94298048e-01 -8.31087574e-03 1.41812531e+02] [ 9.94226936e-01 1.06419300e-01 -1.37015279e-02 9.86586436e+01] [ 1.45078400e-02 -6.80625449e-03 9.99871591e-01 -1.85707860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:98.69, Z:-1.86 [[ 1.05028031e-01 -9.94467643e-01 -1.79456383e-03 1.41814419e+02] [ 9.94364850e-01 1.05042981e-01 -1.43009440e-02 9.86864812e+01] [ 1.44103324e-02 -2.82451211e-04 9.99896126e-01 -1.85793902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:98.71, Z:-1.86 [[ 1.03619132e-01 -9.94615408e-01 -1.80705218e-03 1.41818992e+02] [ 9.94510702e-01 1.03634450e-01 -1.44348313e-02 9.87134906e+01] [ 1.45443785e-02 -3.01408044e-04 9.99894180e-01 -1.85781777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:98.74, Z:-1.86 [[ 1.01260716e-01 -9.94858581e-01 -1.63417347e-03 1.41824526e+02] [ 9.94772594e-01 1.01273454e-01 -1.30833027e-02 9.87408616e+01] [ 1.31815343e-02 -3.00806393e-04 9.99913075e-01 -1.85770109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:98.77, Z:-1.86 [[ 1.00617083e-01 -9.94924061e-01 -1.52158659e-03 1.41828984e+02] [ 9.94849166e-01 1.00628183e-01 -1.22108457e-02 9.87677048e+01] [ 1.23019787e-02 -2.85129479e-04 9.99924287e-01 -1.85740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:141.83, Y:98.79, Z:-1.86 [[ 9.99557205e-02 -9.94990740e-01 -1.51070112e-03 1.41833163e+02] [ 9.94916569e-01 9.99667201e-02 -1.21522134e-02 9.87941046e+01] [ 1.22423596e-02 -2.88338335e-04 9.99925018e-01 -1.85877658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.84, Y:98.82, Z:-1.86 [[ 1.01385586e-01 -9.94846247e-01 -1.38105328e-03 1.41838636e+02] [ 9.94783959e-01 1.01394696e-01 -1.11351181e-02 9.88215789e+01] [ 1.12177619e-02 -2.44909176e-04 9.99937049e-01 -1.85814120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:98.85, Z:-1.86 [[ 1.03073432e-01 -9.94672904e-01 -1.29656742e-03 1.41843241e+02] [ 9.94617800e-01 1.03081372e-01 -1.04719504e-02 9.88487362e+01] [ 1.05498173e-02 -2.10209172e-04 9.99944327e-01 -1.85621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:98.88, Z:-1.86 [[ 1.04429660e-01 -9.94531475e-01 -1.26119727e-03 1.41847340e+02] [ 9.94479152e-01 1.04437105e-01 -1.02033181e-02 9.88754071e+01] [ 1.02792368e-02 -1.88705350e-04 9.99947149e-01 -1.85616318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:98.90, Z:-1.86 [[ 1.06344173e-01 -9.94328568e-01 -1.27108779e-03 1.41851595e+02] [ 9.94275168e-01 1.06351637e-01 -1.03062929e-02 9.89036129e+01] [ 1.03830237e-02 -1.67796833e-04 9.99946081e-01 -1.85615177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:141.86, Y:98.93, Z:-1.86 [[ 1.10267636e-01 -9.93900936e-01 -1.40633548e-03 1.41855955e+02] [ 9.93835227e-01 1.10276518e-01 -1.14293793e-02 9.89317219e+01] [ 1.15147565e-02 -1.37375108e-04 9.99933694e-01 -1.85892404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:98.96, Z:-1.86 [[ 1.13052735e-01 -9.93588075e-01 -1.34763058e-03 1.41860059e+02] [ 9.93527433e-01 1.13060724e-01 -1.09778537e-02 9.89598974e+01] [ 1.10598286e-02 -9.78315670e-05 9.99938833e-01 -1.85695894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:98.99, Z:-1.86 [[ 1.15168937e-01 -9.93345023e-01 -1.33490643e-03 1.41864202e+02] [ 9.93285209e-01 1.15176652e-01 -1.09010377e-02 9.89869777e+01] [ 1.09822416e-02 -7.04818843e-05 9.99939691e-01 -1.85715196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:99.01, Z:-1.86 [[ 1.17369176e-01 -9.93087508e-01 -1.29562773e-03 1.41868624e+02] [ 9.93030869e-01 1.17376319e-01 -1.06062834e-02 9.90133556e+01] [ 1.06850436e-02 -4.17475937e-05 9.99942912e-01 -1.85752886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:141.87, Y:99.04, Z:-1.86 [[ 1.21540745e-01 -9.92585475e-01 -1.38682498e-03 1.41874596e+02] [ 9.92520237e-01 1.21548656e-01 -1.13799647e-02 9.90409140e+01] [ 1.14641544e-02 6.67752259e-06 9.99934284e-01 -1.85911440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:99.07, Z:-1.86 [[ 1.23723833e-01 -9.92303286e-01 5.15767738e-03 1.41876567e+02] [ 9.92236815e-01 1.23646257e-01 -1.33306290e-02 9.90694512e+01] [ 1.25902994e-02 6.76695389e-03 9.99897841e-01 -1.85989342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:99.10, Z:-1.85 [[ 1.25457348e-01 -9.92066860e-01 -7.98745465e-03 1.41886177e+02] [ 9.92041232e-01 1.25532868e-01 -9.78230601e-03 9.90967218e+01] [ 1.07073897e-02 -6.69662218e-03 9.99920250e-01 -1.85423711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:99.13, Z:-1.86 [[ 1.26757570e-01 -9.91932882e-01 -1.29481966e-03 1.41887652e+02] [ 9.91875176e-01 1.26764163e-01 -1.06996180e-02 9.91252939e+01] [ 1.07774397e-02 7.19581109e-05 9.99941919e-01 -1.85755246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:99.15, Z:-1.86 [[ 1.28917790e-01 -9.91654463e-01 -1.27643497e-03 1.41894056e+02] [ 9.91598106e-01 1.28924072e-01 -1.05725964e-02 9.91528506e+01] [ 1.06489256e-02 9.72852624e-05 9.99943294e-01 -1.85778697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:99.18, Z:-1.86 [[ 1.29598930e-01 -9.91565708e-01 -1.25030563e-03 1.41899111e+02] [ 9.91511362e-01 1.29604918e-01 -1.03819418e-02 9.91799471e+01] [ 1.04564232e-02 1.05796311e-04 9.99945325e-01 -1.85743938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:99.21, Z:-1.86 [[ 1.30573072e-01 -9.91437876e-01 -1.26927924e-03 1.41904254e+02] [ 9.91381584e-01 1.30579185e-01 -1.05655438e-02 9.92069886e+01] [ 1.06408218e-02 1.21235450e-04 9.99943378e-01 -1.85702542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:99.23, Z:-1.86 [[ 1.31203596e-01 -9.91354656e-01 -1.25034836e-03 1.41909190e+02] [ 9.91299749e-01 1.31209489e-01 -1.04344571e-02 9.92333787e+01] [ 1.05083052e-02 1.29568281e-04 9.99944778e-01 -1.85722431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:99.26, Z:-1.86 [[ 1.32282548e-01 -9.91210959e-01 -1.47077055e-03 1.41915857e+02] [ 9.91134583e-01 1.32290614e-01 -1.23057503e-02 9.92598239e+01] [ 1.23921637e-02 1.70104444e-04 9.99923200e-01 -1.85813670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:99.29, Z:-1.86 [[ 1.32445108e-01 -9.91189114e-01 -1.56026358e-03 1.41920559e+02] [ 9.91102715e-01 1.32454165e-01 -1.30882202e-02 9.92872418e+01] [ 1.31795648e-02 1.87089265e-04 9.99913128e-01 -1.85883134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:99.32, Z:-1.86 [[ 1.33135612e-01 -9.91096542e-01 -1.59812548e-03 1.41923947e+02] [ 9.91005461e-01 1.33145045e-01 -1.34377891e-02 9.93151734e+01] [ 1.35309288e-02 2.05297196e-04 9.99908432e-01 -1.85899683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.947628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:141.93, Y:99.34, Z:-1.86 [[ 1.32845398e-01 -9.91135438e-01 -1.62603822e-03 1.41926257e+02] [ 9.91040678e-01 1.32855184e-01 -1.37067566e-02 9.93420482e+01] [ 1.38012798e-02 2.09409526e-04 9.99904736e-01 -1.86185411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:99.37, Z:-1.86 [[ 1.32347959e-01 -9.91201909e-01 -1.67124147e-03 1.41928596e+02] [ 9.91101325e-01 1.32358339e-01 -1.41220704e-02 9.93702861e+01] [ 1.42190259e-02 2.12657551e-04 9.99898882e-01 -1.85968219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:99.40, Z:-1.86 [[ 1.30692946e-01 -9.91421406e-01 -1.71732114e-03 1.41930943e+02] [ 9.91314700e-01 1.30704077e-01 -1.45468108e-02 9.93985577e+01] [ 1.46464805e-02 1.98759871e-04 9.99892715e-01 -1.85957169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:99.43, Z:-1.86 [[ 1.29170486e-01 -9.91620903e-01 -1.72353003e-03 1.41933353e+02] [ 9.91512918e-01 1.29181856e-01 -1.46349543e-02 9.94261273e+01] [ 1.47349754e-02 1.81501859e-04 9.99891418e-01 -1.85914151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:99.45, Z:-1.86 [[ 1.27608838e-01 -9.91823137e-01 -1.68828120e-03 1.41935831e+02] [ 9.91719010e-01 1.27619905e-01 -1.43723909e-02 9.94527759e+01] [ 1.44703281e-02 1.59743531e-04 9.99895287e-01 -1.85904969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:141.94, Y:99.48, Z:-1.86 [[ 1.25687188e-01 -9.92068507e-01 -1.67573268e-03 1.41939094e+02] [ 9.91965420e-01 1.25698286e-01 -1.43019730e-02 9.94794560e+01] [ 1.43991737e-02 1.35305899e-04 9.99896317e-01 -1.85972898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:99.51, Z:-1.86 [[ 1.26129806e-01 -9.92012573e-01 -1.52536196e-03 1.41942479e+02] [ 9.91926741e-01 1.26138960e-01 -1.30500098e-02 9.95071049e+01] [ 1.31381814e-02 1.32947890e-04 9.99913682e-01 -1.85712155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:99.53, Z:-1.86 [[ 1.26339939e-01 -9.91985966e-01 -1.43658290e-03 1.41945368e+02] [ 9.91909446e-01 1.26348038e-01 -1.23216615e-02 9.95344892e+01] [ 1.24044247e-02 1.31757821e-04 9.99923053e-01 -1.85716889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:99.56, Z:-1.86 [[ 1.26572348e-01 -9.91956461e-01 -1.34928893e-03 1.41948253e+02] [ 9.91888630e-01 1.26579472e-01 -1.16009644e-02 9.95620127e+01] [ 1.16784439e-02 1.30016955e-04 9.99931796e-01 -1.85731026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:99.59, Z:-1.86 [[ 1.26140827e-01 -9.92011521e-01 -1.27794157e-03 1.41950770e+02] [ 9.91950384e-01 1.26147242e-01 -1.10140224e-02 9.95901708e+01] [ 1.10872459e-02 1.21663265e-04 9.99938527e-01 -1.85759855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:99.62, Z:-1.86 [[ 1.25375825e-01 -9.92108442e-01 -1.31976874e-03 1.41953377e+02] [ 9.92042909e-01 1.25382713e-01 -1.14036214e-02 9.96167744e+01] [ 1.14791052e-02 1.20471219e-04 9.99934106e-01 -1.85764442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:99.64, Z:-1.86 [[ 1.24217334e-01 -9.92254147e-01 -1.32769275e-03 1.41956020e+02] [ 9.92187474e-01 1.24224379e-01 -1.15030723e-02 9.96438016e+01] [ 1.15789030e-02 1.11560847e-04 9.99932956e-01 -1.85773172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:99.67, Z:-1.86 [[ 1.22847607e-01 -9.92424715e-01 -1.28444451e-03 1.41959510e+02] [ 9.92362020e-01 1.22854284e-01 -1.11555367e-02 9.96715573e+01] [ 1.12288298e-02 9.57970337e-05 9.99936950e-01 -1.85767737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:99.70, Z:-1.86 [[ 1.19540882e-01 -9.92828577e-01 -1.18058000e-03 1.41964992e+02] [ 9.92775374e-01 1.19546698e-01 -1.02783194e-02 9.96989527e+01] [ 1.03457436e-02 5.66286144e-05 9.99946480e-01 -1.85618655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:99.73, Z:-1.86 [[ 1.17952484e-01 -9.93018584e-01 -1.14170370e-03 1.41969043e+02] [ 9.92968581e-01 1.17958002e-01 -9.96530868e-03 9.97253003e+01] [ 1.00304098e-02 4.17570079e-05 9.99949693e-01 -1.85569593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:99.75, Z:-1.86 [[ 1.16535562e-01 -9.93185899e-01 -1.11048636e-03 1.41972569e+02] [ 9.93138351e-01 1.16540849e-01 -9.71839021e-03 9.97520342e+01] [ 9.78158514e-03 2.96714741e-05 9.99952159e-01 -1.85549370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:99.78, Z:-1.86 [[ 1.15273748e-01 -9.93333118e-01 -1.13125842e-03 1.41976520e+02] [ 9.93283516e-01 1.15279297e-01 -9.92677471e-03 9.97789863e+01] [ 9.99100474e-03 2.06361922e-05 9.99950088e-01 -1.85659290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:99.81, Z:-1.86 [[ 1.14771798e-01 -9.93391146e-01 -1.21040414e-03 1.41979553e+02] [ 9.93334043e-01 1.14778179e-01 -1.06512592e-02 9.98054361e+01] [ 1.07197946e-02 2.01285399e-05 9.99942541e-01 -1.85669884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:99.83, Z:-1.86 [[ 1.15066291e-01 -9.93357065e-01 -1.22074827e-03 1.41982427e+02] [ 9.93298687e-01 1.15072763e-01 -1.07693257e-02 9.98329921e+01] [ 1.08382607e-02 2.66187107e-05 9.99941264e-01 -1.85725206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:99.86, Z:-1.86 [[ 1.16242768e-01 -9.93220001e-01 -1.28427617e-03 1.41985637e+02] [ 9.93155052e-01 1.16249853e-01 -1.13584183e-02 9.98611693e+01] [ 1.14307051e-02 4.48486116e-05 9.99934666e-01 -1.85667587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:99.89, Z:-1.86 [[ 1.15980739e-01 -9.93250636e-01 -1.28127021e-03 1.41988773e+02] [ 9.93185686e-01 1.15987807e-01 -1.13587577e-02 9.98895991e+01] [ 1.14307051e-02 4.48578757e-05 9.99934666e-01 -1.85666114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:141.99, Y:99.92, Z:-1.86 [[ 1.15388819e-01 -9.93319424e-01 -1.39344586e-03 1.41992125e+02] [ 9.93242197e-01 1.15397224e-01 -1.23862010e-02 9.99169311e+01] [ 1.24642538e-02 4.51998761e-05 9.99922317e-01 -1.85885961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:99.94, Z:-1.86 [[ 1.16018542e-01 -9.93246236e-01 -1.26998882e-03 1.41995742e+02] [ 9.93181758e-01 1.16025481e-01 -1.13174372e-02 9.99444840e+01] [ 1.13883529e-02 5.17028285e-05 9.99935149e-01 -1.85591273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:99.97, Z:-1.86 [[ 1.15895107e-01 -9.93260697e-01 -1.22978504e-03 1.41999055e+02] [ 9.93199931e-01 1.15901620e-01 -1.09869013e-02 9.99721898e+01] [ 1.10553913e-02 5.19056913e-05 9.99938886e-01 -1.85511643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:100.00, Z:-1.86 [[ 1.15296484e-01 -9.93330450e-01 -1.15702206e-03 1.42002323e+02] [ 9.93276389e-01 1.15302280e-01 -1.03634062e-02 1.00000542e+02] [ 1.04276943e-02 4.56216109e-05 9.99945629e-01 -1.85507948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:100.03, Z:-1.85 [[ 1.13271373e-01 -9.93563578e-01 -1.00663680e-03 1.42005477e+02] [ 9.93522445e-01 1.13275843e-01 -9.04073451e-03 1.00027709e+02] [ 9.09657216e-03 2.39401541e-05 9.99958625e-01 -1.85452542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:100.06, Z:-1.85 [[ 1.11712670e-01 -9.93740075e-01 -9.70900239e-04 1.42008218e+02] [ 9.93701621e-01 1.11716888e-01 -8.74212219e-03 1.00055358e+02] [ 8.79586311e-03 1.18206670e-05 9.99961316e-01 -1.85440792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.757628 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:142.01, Y:100.08, Z:-1.86 [[ 1.08031452e-01 -9.94146912e-01 -1.05993566e-03 1.42010083e+02] [ 9.94100865e-01 1.08036650e-01 -9.56828395e-03 1.00083544e+02] [ 9.62679183e-03 -2.00073552e-05 9.99953661e-01 -1.85816791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:100.11, Z:-1.86 [[ 1.07695353e-01 -9.94183381e-01 -1.05652220e-03 1.42012579e+02] [ 9.94137392e-01 1.07700533e-01 -9.56249056e-03 1.00111325e+02] [ 9.62065720e-03 -2.04924275e-05 9.99953720e-01 -1.85505491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:100.14, Z:-1.85 [[ 1.06619132e-01 -9.94299296e-01 -1.12705912e-03 1.42015268e+02] [ 9.94246677e-01 1.06625084e-01 -1.02292265e-02 1.00138070e+02] [ 1.02910855e-02 -2.99435379e-05 9.99947045e-01 -1.85498823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:100.17, Z:-1.85 [[ 1.04852488e-01 -9.94487046e-01 -1.21271075e-03 1.42018177e+02] [ 9.94425806e-01 1.04859490e-01 -1.10364679e-02 1.00165179e+02] [ 1.11027885e-02 -4.87497533e-05 9.99938361e-01 -1.85491517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:142.02, Y:100.19, Z:-1.86 [[ 1.00445241e-01 -9.94941574e-01 -1.42051275e-03 1.42021297e+02] [ 9.94857093e-01 1.00455224e-01 -1.29658341e-02 1.00191735e+02] [ 1.30429453e-02 -1.10850862e-04 9.99914931e-01 -1.85742738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90762800000002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:142.02, Y:100.22, Z:-1.86 [[ 9.80796271e-02 -9.95177516e-01 -1.44892592e-03 1.42024069e+02] [ 9.95089186e-01 9.80902272e-02 -1.32596677e-02 1.00219688e+02] [ 1.33378486e-02 -1.41307255e-04 9.99911037e-01 -1.85777249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:100.25, Z:-1.86 [[ 9.71240547e-02 -9.95271291e-01 -1.40551916e-03 1.42027228e+02] [ 9.95187754e-01 9.71341140e-02 -1.28956500e-02 1.00247692e+02] [ 1.29711940e-02 -1.46277639e-04 9.99915860e-01 -1.85527553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:100.28, Z:-1.86 [[ 9.54172449e-02 -9.95436460e-01 -1.34261298e-03 1.42029866e+02] [ 9.95359856e-01 9.54265596e-02 -1.23502736e-02 1.00275355e+02] [ 1.24220336e-02 -1.57953989e-04 9.99922831e-01 -1.85522280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:100.30, Z:-1.86 [[ 9.34395834e-02 -9.95624235e-01 -1.19438436e-03 1.42031512e+02] [ 9.95563297e-01 9.34470801e-02 -1.10165818e-02 1.00302921e+02] [ 1.10799876e-02 -1.59700417e-04 9.99938602e-01 -1.85506800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:100.33, Z:-1.85 [[ 9.28483080e-02 -9.95679639e-01 -1.11732973e-03 1.42033919e+02] [ 9.95626027e-01 9.28549047e-02 -1.03335310e-02 1.00330438e+02] [ 1.03926360e-02 -1.52991684e-04 9.99945983e-01 -1.85489770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:100.36, Z:-1.85 [[ 9.27640249e-02 -9.95687589e-01 -1.02963210e-03 1.42036551e+02] [ 9.95641806e-01 9.27696343e-02 -9.54925157e-03 1.00357884e+02] [ 9.60358987e-03 -1.39317754e-04 9.99953875e-01 -1.85490462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:100.39, Z:-1.85 [[ 9.39770583e-02 -9.95573902e-01 -9.58190875e-04 1.42039279e+02] [ 9.95534035e-01 9.39818707e-02 -8.91031159e-03 1.00385653e+02] [ 8.96092625e-03 -1.16546756e-04 9.99959843e-01 -1.85418592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:100.41, Z:-1.86 [[ 9.55477672e-02 -9.95421388e-01 2.62401891e-03 1.42040027e+02] [ 9.95371293e-01 9.55149514e-02 -1.06246143e-02 1.00412464e+02] [ 1.03253353e-02 3.62703127e-03 9.99940114e-01 -1.85606960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:100.44, Z:-1.85 [[ 9.71358603e-02 -9.95260256e-01 -4.65267556e-03 1.42045538e+02] [ 9.95226962e-01 9.71745296e-02 -8.96689868e-03 1.00440111e+02] [ 9.37651944e-03 -3.75946074e-03 9.99948972e-01 -1.85296206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:100.47, Z:-1.86 [[ 9.92781691e-02 -9.95059126e-01 -1.08676679e-03 1.42046166e+02] [ 9.95007159e-01 9.92840912e-02 -1.01697416e-02 1.00468165e+02] [ 1.02273929e-02 -7.17074063e-05 9.99947696e-01 -1.85509448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:100.50, Z:-1.86 [[ 1.04697419e-01 -9.94503309e-01 -1.27213665e-03 1.42047857e+02] [ 9.94431674e-01 1.04705146e-01 -1.19364428e-02 1.00496570e+02] [ 1.20040311e-02 -1.53382289e-05 9.99927949e-01 -1.85571024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.05, Y:100.52, Z:-1.86 [[ 1.06244105e-01 -9.94339148e-01 -1.35940241e-03 1.42049396e+02] [ 9.94256892e-01 1.06252801e-01 -1.27896259e-02 1.00524177e+02] [ 1.28616660e-02 7.22713890e-06 9.99917285e-01 -1.85876674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.05, Y:100.55, Z:-1.86 [[ 1.08330220e-01 -9.94114069e-01 -1.33482046e-03 1.42051513e+02] [ 9.94034316e-01 1.08338437e-01 -1.25920958e-02 1.00552237e+02] [ 1.26625920e-02 3.72471704e-05 9.99919825e-01 -1.85972643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:100.58, Z:-1.86 [[ 1.10725098e-01 -9.93850210e-01 -1.30867501e-03 1.42054401e+02] [ 9.93773120e-01 1.10732809e-01 -1.23786892e-02 1.00579897e+02] [ 1.24474761e-02 7.01055254e-05 9.99922525e-01 -1.85721663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:100.61, Z:-1.86 [[ 1.12701814e-01 -9.93627984e-01 -1.31579373e-03 1.42058157e+02] [ 9.93549594e-01 1.12709451e-01 -1.24813628e-02 1.00606514e+02] [ 1.25501337e-02 9.93659066e-05 9.99921239e-01 -1.85603812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:100.63, Z:-1.86 [[ 1.13125041e-01 -9.93579946e-01 -1.27105249e-03 1.42061596e+02] [ 9.93506381e-01 1.13132133e-01 -1.20909875e-02 1.00633050e+02] [ 1.21571596e-02 1.04994696e-04 9.99926094e-01 -1.85597956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:100.66, Z:-1.86 [[ 1.12961904e-01 -9.93598541e-01 -1.24441063e-03 1.42064968e+02] [ 9.93527651e-01 1.12968710e-01 -1.18691699e-02 1.00661042e+02] [ 1.19337693e-02 1.04407655e-04 9.99928785e-01 -1.85591184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:100.69, Z:-1.86 [[ 1.12630357e-01 -9.93636429e-01 -1.02490711e-03 1.42069625e+02] [ 9.93588046e-01 1.12634987e-01 -9.80588142e-03 1.00686739e+02] [ 9.85892139e-03 8.61044775e-05 9.99951396e-01 -1.85531318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:100.71, Z:-1.86 [[ 1.12224206e-01 -9.93682514e-01 -8.88629774e-04 1.42073778e+02] [ 9.93645929e-01 1.12227700e-01 -8.52703585e-03 1.00714202e+02] [ 8.57289529e-03 7.39564709e-05 9.99963249e-01 -1.85507219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:100.74, Z:-1.85 [[ 1.11661832e-01 -9.93745953e-01 -7.85472179e-04 1.42077155e+02] [ 9.93717202e-01 1.11664577e-01 -7.55943459e-03 1.00741202e+02] [ 7.59986695e-03 6.35631011e-05 9.99971119e-01 -1.85499186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:100.77, Z:-1.86 [[ 1.11613401e-01 -9.93751431e-01 -7.36084922e-04 1.42080455e+02] [ 9.93726064e-01 1.11615812e-01 -7.10074700e-03 1.00767274e+02] [ 7.13853621e-03 6.10717527e-05 9.99974518e-01 -1.85546538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:100.80, Z:-1.86 [[ 1.11669289e-01 -9.93745189e-01 -6.85742563e-04 1.42085321e+02] [ 9.93723053e-01 1.11671378e-01 -6.63307789e-03 1.00795399e+02] [ 6.66816706e-03 5.92728967e-05 9.99977766e-01 -1.85606948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:100.82, Z:-1.86 [[ 1.11635993e-01 -9.93748863e-01 -7.76644913e-04 1.42089328e+02] [ 9.93720310e-01 1.11638673e-01 -7.53339630e-03 1.00822967e+02] [ 7.57300762e-03 6.92303505e-05 9.99971322e-01 -1.85604362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:100.85, Z:-1.86 [[ 1.11517080e-01 -9.93762117e-01 -8.92193727e-04 1.42092978e+02] [ 9.93724214e-01 1.11520619e-01 -8.67972862e-03 1.00849484e+02] [ 8.72508349e-03 8.13434823e-05 9.99961932e-01 -1.85631030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:100.88, Z:-1.86 [[ 1.11520622e-01 -9.93761617e-01 -1.00005925e-03 1.42095846e+02] [ 9.93713728e-01 1.11525066e-01 -9.75637824e-03 1.00877890e+02] [ 9.80704589e-03 9.42647683e-05 9.99951905e-01 -1.85670158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:100.91, Z:-1.86 [[ 1.13168999e-01 -9.93575126e-01 -1.11674568e-03 1.42096576e+02] [ 9.93515049e-01 1.13174437e-01 -1.09267608e-02 1.00905191e+02] [ 1.09829448e-02 1.27066935e-04 9.99939678e-01 -1.85810613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:100.93, Z:-1.86 [[ 1.14155169e-01 -9.93462187e-01 -1.21695696e-03 1.42098592e+02] [ 9.93390432e-01 1.14161551e-01 -1.19410851e-02 1.00933438e+02] [ 1.20019463e-02 1.54223192e-04 9.99927962e-01 -1.85811930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:100.96, Z:-1.86 [[ 1.14633157e-01 -9.93407085e-01 -1.26576575e-03 1.42100225e+02] [ 9.93328996e-01 1.14640018e-01 -1.24568059e-02 1.00961002e+02] [ 1.25197867e-02 1.70641160e-04 9.99921610e-01 -1.85829058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:100.99, Z:-1.86 [[ 1.14679381e-01 -9.93401656e-01 -1.33787539e-03 1.42101852e+02] [ 9.93313932e-01 1.14687035e-01 -1.32028676e-02 1.00989375e+02] [ 1.32691875e-02 1.85166421e-04 9.99911943e-01 -1.85785073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:142.10, Y:101.02, Z:-1.86 [[ 1.12888663e-01 -9.93606696e-01 -1.37214437e-03 1.42102621e+02] [ 9.93513992e-01 1.12896875e-01 -1.35736530e-02 1.01015646e+02] [ 1.36417833e-02 1.69066908e-04 9.99906932e-01 -1.86087033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:101.04, Z:-1.86 [[ 1.11047507e-01 -9.93814318e-01 -1.24582092e-03 1.42105292e+02] [ 9.93737484e-01 1.11054414e-01 -1.23584337e-02 1.01043417e+02] [ 1.24203423e-02 1.34354307e-04 9.99922856e-01 -1.85838752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:101.07, Z:-1.86 [[ 1.07798156e-01 -9.94171970e-01 -1.28523336e-03 1.42108591e+02] [ 9.94089761e-01 1.07805770e-01 -1.27852477e-02 1.01070971e+02] [ 1.28492905e-02 1.00588798e-04 9.99917439e-01 -1.85777252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:101.10, Z:-1.86 [[ 1.03640111e-01 -9.94614111e-01 -1.22387997e-03 1.42112615e+02] [ 9.94539173e-01 1.03647326e-01 -1.22092056e-02 1.01098930e+02] [ 1.22703000e-02 4.81668522e-05 9.99924716e-01 -1.85740964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:142.12, Y:101.13, Z:-1.86 [[ 9.28981387e-02 -9.95674999e-01 -1.11041241e-03 1.42117470e+02] [ 9.95613014e-01 9.29047458e-02 -1.11101094e-02 1.01126096e+02] [ 1.11652207e-02 -7.34325689e-05 9.99937664e-01 -1.85847210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:142.12, Y:101.15, Z:-1.86 [[ 8.67094638e-02 -9.96233163e-01 -9.76313994e-04 1.42120866e+02] [ 9.96185008e-01 8.67148726e-02 -9.79594432e-03 1.01154170e+02] [ 9.84370554e-03 -1.23188284e-04 9.99951542e-01 -1.85855753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:101.18, Z:-1.86 [[ 8.17890596e-02 -9.96649343e-01 -7.98340358e-04 1.42123733e+02] [ 9.96617028e-01 8.17928374e-02 -8.02691894e-03 1.01181382e+02] [ 8.06532201e-03 -1.39125443e-04 9.99967465e-01 -1.85536802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:142.13, Y:101.21, Z:-1.86 [[ 7.61242673e-02 -9.97098126e-01 -6.51009237e-04 1.42125351e+02] [ 9.97076529e-01 7.61269043e-02 -6.56429315e-03 1.01208560e+02] [ 6.59480371e-03 -1.49404024e-04 9.99978243e-01 -1.85713078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:101.24, Z:-1.85 [[ 6.76782826e-02 -9.97707089e-01 -4.62986403e-04 1.42126733e+02] [ 9.97696117e-01 6.76797107e-02 -4.68137147e-03 1.01236645e+02] [ 4.70197229e-03 -1.45092555e-04 9.99988935e-01 -1.85467105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:101.26, Z:-1.85 [[ 6.33545619e-02 -9.97990980e-01 -4.50702110e-04 1.42129331e+02] [ 9.97980526e-01 6.33559625e-02 -4.57085563e-03 1.01263244e+02] [ 4.59022735e-03 -1.60207373e-04 9.99989452e-01 -1.85463649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07762800000003 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:142.13, Y:101.29, Z:-1.86 [[ 5.89043312e-02 -9.98263518e-01 -4.77161732e-04 1.42132123e+02] [ 9.98251737e-01 5.89059560e-02 -4.85362749e-03 1.01291270e+02] [ 4.87330692e-03 -1.90427847e-04 9.99988107e-01 -1.85753482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:101.32, Z:-1.85 [[ 5.48993536e-02 -9.98491763e-01 -5.10907219e-04 1.42134521e+02] [ 9.98478183e-01 5.49012740e-02 -5.21232570e-03 1.01319125e+02] [ 5.23251374e-03 -2.23976399e-04 9.99986285e-01 -1.85422173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:142.14, Y:101.35, Z:-1.86 [[ 5.28697422e-02 -9.98601247e-01 -5.83535637e-04 1.42135451e+02] [ 9.98583425e-01 5.28722884e-02 -5.97198032e-03 1.01346665e+02] [ 5.99447986e-03 -2.66971954e-04 9.99981997e-01 -1.85805607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.167628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:142.14, Y:101.37, Z:-1.86 [[ 5.27277042e-02 -9.98608750e-01 -5.94503203e-04 1.42135788e+02] [ 9.98590142e-01 5.27303545e-02 -6.10223312e-03 1.01374968e+02] [ 6.12509176e-03 -2.71908295e-04 9.99981204e-01 -1.85911291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.197628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.14, Y:101.40, Z:-1.86 [[ 5.41709047e-02 -9.98531469e-01 -6.47403494e-04 1.42136044e+02] [ 9.98509259e-01 5.41740217e-02 -6.66593873e-03 1.01402483e+02] [ 6.69122204e-03 -2.85338451e-04 9.99977573e-01 -1.85779626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.43, Z:-1.86 [[ 5.62125678e-02 -9.98418622e-01 -6.34774819e-04 1.42136222e+02] [ 9.98397138e-01 5.62155258e-02 -6.55511395e-03 1.01430359e+02] [ 6.58043204e-03 -2.65277576e-04 9.99978314e-01 -1.85726516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.257628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:142.13, Y:101.46, Z:-1.86 [[ 5.99238412e-02 -9.98202785e-01 -5.78097168e-04 1.42134975e+02] [ 9.98184852e-01 5.99262322e-02 -5.98726494e-03 1.01459020e+02] [ 6.01114772e-03 -2.18267923e-04 9.99981909e-01 -1.85923760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.287628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.14, Y:101.49, Z:-1.86 [[ 6.24091335e-02 -9.98050538e-01 -4.72874008e-04 1.42136387e+02] [ 9.98038465e-01 6.24107058e-02 -4.91175613e-03 1.01487531e+02] [ 4.93169325e-03 -1.65408005e-04 9.99987825e-01 -1.85789143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.14, Y:101.52, Z:-1.86 [[ 6.54954716e-02 -9.97852796e-01 -3.76119119e-04 1.42137846e+02] [ 9.97845110e-01 6.54964440e-02 -3.91809109e-03 1.01515424e+02] [ 3.93431261e-03 -1.18691400e-04 9.99992254e-01 -1.85517234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.54, Z:-1.85 [[ 7.15295567e-02 -9.97438467e-01 -1.63517915e-04 1.42136181e+02] [ 9.97437006e-01 7.15297319e-02 -1.70775592e-03 1.01543278e+02] [ 1.71507784e-03 -4.09437958e-05 9.99998528e-01 -1.85415016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.57, Z:-1.86 [[ 7.45099714e-02 -9.97220267e-01 -5.31192865e-05 1.42136098e+02] [ 9.97220113e-01 7.45099895e-02 -5.55354777e-04 1.01571050e+02] [ 5.57768956e-04 -1.15921524e-05 9.99999844e-01 -1.85506314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40762800000002 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.14, Y:101.60, Z:-1.86 [[ 7.63850267e-02 -9.97078392e-01 -8.44754655e-05 1.42135565e+02] [ 9.97077998e-01 7.63850716e-02 -8.86869146e-04 1.01598823e+02] [ 8.90730727e-04 -1.64851047e-05 9.99999603e-01 -1.85827315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43762800000002 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.14, Y:101.63, Z:-1.86 [[ 7.61275600e-02 -9.97098083e-01 -8.42239614e-05 1.42138193e+02] [ 9.97097689e-01 7.61276048e-02 -8.86893044e-04 1.01627295e+02] [ 8.90731122e-04 -1.64625139e-05 9.99999603e-01 -1.85825749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.66, Z:-1.86 [[ 7.93644529e-02 -9.96845666e-01 4.46334912e-05 1.42138595e+02] [ 9.96845553e-01 7.93644652e-02 4.73792322e-04 1.01655934e+02] [-4.75840136e-04 6.89042880e-06 9.99999887e-01 -1.85616486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.68, Z:-1.86 [[ 8.27797543e-02 -9.96567864e-01 7.17972191e-05 1.42137389e+02] [ 9.96567571e-01 8.27797850e-02 7.63481651e-04 1.01684132e+02] [-7.66804636e-04 8.34995683e-06 9.99999706e-01 -1.85643366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.71, Z:-1.86 [[ 8.37827725e-02 -9.96484035e-01 1.25094366e-04 1.42138810e+02] [ 9.96483143e-01 8.37828649e-02 1.33298903e-03 1.01712711e+02] [-1.33878305e-03 1.29729099e-05 9.99999104e-01 -1.85664841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.74, Z:-1.86 [[ 8.46616788e-02 -9.96409748e-01 1.17374453e-04 1.42140192e+02] [ 9.96408958e-01 8.46617595e-02 1.25457194e-03 1.01740575e+02] [-1.26000484e-03 1.07387906e-05 9.99999206e-01 -1.85639177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.77, Z:-1.86 [[ 8.52048322e-02 -9.96363445e-01 1.46990222e-04 1.42141269e+02] [ 9.96362200e-01 8.52049581e-02 1.57540212e-03 1.01769045e+02] [-1.58219738e-03 1.22236280e-05 9.99998748e-01 -1.85668896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:101.80, Z:-1.86 [[ 8.53279932e-02 -9.96352912e-01 8.99440262e-05 1.42140489e+02] [ 9.96352442e-01 8.53280404e-02 9.67551576e-04 1.01797586e+02] [-9.71697578e-04 7.05671579e-06 9.99999528e-01 -1.85815134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:101.82, Z:-1.87 [[ 8.09530765e-02 -9.96674825e-01 9.26782266e-03 1.42133192e+02] [ 9.96709650e-01 8.09867682e-02 3.31905966e-03 1.01822081e+02] [-4.05859421e-03 8.96864020e-03 9.99951544e-01 -1.86689628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:101.85, Z:-1.86 [[ 8.38866315e-02 -9.96434792e-01 -8.98550611e-03 1.42147151e+02] [ 9.96475274e-01 8.38854492e-02 5.09050433e-04 1.01852467e+02] [ 2.46517654e-04 -8.99653719e-03 9.99959500e-01 -1.85586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:101.88, Z:-1.86 [[ 8.19806651e-02 -9.96633915e-01 -1.04653646e-04 1.42145599e+02] [ 9.96633275e-01 8.19807310e-02 -1.12916609e-03 1.01881033e+02] [ 1.13394480e-03 -1.17315195e-05 9.99999357e-01 -1.85967424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:101.91, Z:-1.86 [[ 7.60885796e-02 -9.97101030e-01 -2.55062820e-04 1.42149037e+02] [ 9.97097201e-01 7.60889943e-02 -2.76336049e-03 1.01908899e+02] [ 2.77475706e-03 -4.40622498e-05 9.99996149e-01 -1.85914863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:101.94, Z:-1.86 [[ 7.22035176e-02 -9.97389877e-01 -2.91317451e-04 1.42151806e+02] [ 9.97384852e-01 7.22040788e-02 -3.16684236e-03 1.01935828e+02] [ 3.17961083e-03 -6.18984542e-05 9.99994943e-01 -1.85950923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:101.96, Z:-1.86 [[ 6.80193607e-02 -9.97683957e-01 -2.98502579e-04 1.42154722e+02] [ 9.97678649e-01 6.80199728e-02 -3.25529205e-03 1.01963341e+02] [ 3.26805679e-03 -7.63867660e-05 9.99994657e-01 -1.85984131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:101.99, Z:-1.86 [[ 6.40270361e-02 -9.97948121e-01 -2.93517411e-04 1.42157675e+02] [ 9.97942959e-01 6.40276493e-02 -3.21090968e-03 1.01991172e+02] [ 3.22311451e-03 -8.73286042e-05 9.99994802e-01 -1.86000740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:102.02, Z:-1.86 [[ 5.71199089e-02 -9.98367297e-01 -2.37036262e-04 1.42160854e+02] [ 9.98363918e-01 5.71203326e-02 -2.59911652e-03 1.02018030e+02] [ 2.60841252e-03 -8.81871521e-05 9.99996594e-01 -1.86088904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:102.05, Z:-1.86 [[ 5.42656662e-02 -9.98526489e-01 -2.98598699e-04 1.42163531e+02] [ 9.98521095e-01 5.42663551e-02 -3.28416094e-03 1.02045651e+02] [ 3.29552555e-03 -1.19939918e-04 9.99994563e-01 -1.86098496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:102.07, Z:-1.86 [[ 5.20909703e-02 -9.98642276e-01 -3.67558870e-04 1.42166315e+02] [ 9.98634053e-01 5.20920341e-02 -4.05558884e-03 1.02073265e+02] [ 4.06922936e-03 -1.55797247e-04 9.99991709e-01 -1.86083720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.947628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.17, Y:102.10, Z:-1.86 [[ 4.91464900e-02 -9.98791425e-01 -5.59314558e-04 1.42168660e+02] [ 9.98772263e-01 4.91490146e-02 -6.19208412e-03 1.02101444e+02] [ 6.21209028e-03 -2.54308666e-04 9.99980672e-01 -1.86352773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:102.13, Z:-1.86 [[ 4.91480710e-02 -9.98791409e-01 -4.33186316e-04 1.42170737e+02] [ 9.98779840e-01 4.91495885e-02 -4.81137652e-03 1.02128666e+02] [ 4.82685247e-03 -1.96187884e-04 9.99988331e-01 -1.86148000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:102.16, Z:-1.86 [[ 4.95879476e-02 -9.98769664e-01 -4.39429960e-04 1.42172809e+02] [ 9.98757681e-01 4.95895069e-02 -4.89638597e-03 1.02156268e+02] [ 4.91215289e-03 -1.96082317e-04 9.99987916e-01 -1.86089168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.037628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:142.17, Y:102.18, Z:-1.86 [[ 5.01890456e-02 -9.98739591e-01 -5.37608217e-04 1.42174483e+02] [ 9.98721537e-01 5.01913734e-02 -6.00984147e-03 1.02183864e+02] [ 6.02924990e-03 -2.35292697e-04 9.99981796e-01 -1.86225792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:102.21, Z:-1.86 [[ 5.56785385e-02 -9.98448663e-01 -4.09503115e-04 1.42174977e+02] [ 9.98438112e-01 5.56798338e-02 -4.59258895e-03 1.02211004e+02] [ 4.60826536e-03 -1.53154876e-04 9.99989370e-01 -1.86022346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.18, Y:102.24, Z:-1.86 [[ 5.88119582e-02 -9.98268987e-01 -4.27938939e-04 1.42176446e+02] [ 9.98257386e-01 5.88133387e-02 -4.81481273e-03 1.02239470e+02] [ 4.83164675e-03 -1.44024642e-04 9.99988317e-01 -1.86117318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12762800000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.18, Y:102.27, Z:-1.86 [[ 6.65865710e-02 -9.97780504e-01 -5.42448140e-04 1.42176293e+02] [ 9.97761722e-01 6.65886466e-02 -6.12352753e-03 1.02267630e+02] [ 6.14605728e-03 -1.33489290e-04 9.99981104e-01 -1.86226334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:102.30, Z:-1.86 [[ 7.15918190e-02 -9.97433909e-01 -4.56567834e-04 1.42177772e+02] [ 9.97420511e-01 7.15932241e-02 -5.17048529e-03 1.02296152e+02] [ 5.18990451e-03 -8.52256757e-05 9.99986529e-01 -1.86096250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:102.32, Z:-1.86 [[ 7.59552996e-02 -9.97111103e-01 -4.90340582e-04 1.42179094e+02] [ 9.97095542e-01 7.59568538e-02 -5.57112362e-03 1.02324668e+02] [ 5.59227395e-03 -6.57600444e-05 9.99984361e-01 -1.86120435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:102.35, Z:-1.86 [[ 7.99486398e-02 -9.96798860e-01 -4.98289846e-04 1.42180524e+02] [ 9.96782679e-01 7.99501813e-02 -5.67981371e-03 1.02352592e+02] [ 5.70147020e-03 -4.25933068e-05 9.99983746e-01 -1.86136406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:102.38, Z:-1.86 [[ 8.36371909e-02 -9.96496157e-01 -4.78267236e-04 1.42182534e+02] [ 9.96481149e-01 8.36385561e-02 -5.46921105e-03 1.02380325e+02] [ 5.49004938e-03 -1.91548360e-05 9.99984929e-01 -1.86127559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:102.41, Z:-1.86 [[ 9.02525688e-02 -9.95918845e-01 -3.59231700e-04 1.42185505e+02] [ 9.95910318e-01 9.02532826e-02 -4.12098615e-03 1.02408144e+02] [ 4.13658960e-03 1.41670290e-05 9.99991444e-01 -1.86064949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:102.43, Z:-1.86 [[ 9.27526885e-02 -9.95689124e-01 -3.25874338e-04 1.42188527e+02] [ 9.95682059e-01 9.27532580e-02 -3.75106417e-03 1.02434967e+02] [ 3.76511970e-03 2.34540542e-05 9.99992912e-01 -1.85997230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:102.46, Z:-1.86 [[ 9.49309503e-02 -9.95483816e-01 -2.93143131e-04 1.42191434e+02] [ 9.95478061e-01 9.49313983e-02 -3.38533845e-03 1.02463279e+02] [ 3.39787813e-03 2.95558412e-05 9.99994227e-01 -1.85974409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:102.49, Z:-1.86 [[ 9.88786994e-02 -9.95099456e-01 -2.74095612e-04 1.42194571e+02] [ 9.95094388e-01 9.88790707e-02 -3.17616846e-03 1.02489751e+02] [ 3.18770583e-03 4.13044011e-05 9.99994918e-01 -1.86012909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:102.52, Z:-1.86 [[ 1.00597437e-01 -9.94927161e-01 -3.14727595e-04 1.42197489e+02] [ 9.94920432e-01 1.00597914e-01 -3.65968984e-03 1.02517410e+02] [ 3.67278577e-03 5.50265044e-05 9.99993254e-01 -1.86009704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:102.54, Z:-1.86 [[ 1.01882274e-01 -9.94796411e-01 -3.20563914e-04 1.42200509e+02] [ 9.94789380e-01 1.01882759e-01 -3.74074989e-03 1.02543962e+02] [ 3.75394450e-03 6.22225272e-05 9.99992952e-01 -1.86031458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:102.57, Z:-1.86 [[ 1.02973984e-01 -9.94683986e-01 -3.55680606e-04 1.42204017e+02] [ 9.94675267e-01 1.02974571e-01 -4.16542816e-03 1.02571354e+02] [ 4.17991075e-03 7.51440333e-05 9.99991261e-01 -1.86037671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:142.21, Y:102.60, Z:-1.86 [[ 1.03470220e-01 -9.94632433e-01 -4.85871220e-04 1.42209324e+02] [ 9.94616048e-01 1.03471305e-01 -5.71012044e-03 1.02598894e+02] [ 5.72974471e-03 1.07572106e-04 9.99983579e-01 -1.86252777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:102.63, Z:-1.86 [[ 1.04201428e-01 -9.94556132e-01 -4.03640013e-04 1.42213423e+02] [ 9.94544745e-01 1.04202167e-01 -4.76004593e-03 1.02625464e+02] [ 4.77619303e-03 9.45655300e-05 9.99988589e-01 -1.86020759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:102.65, Z:-1.86 [[ 1.03825838e-01 -9.94595410e-01 -4.06478400e-04 1.42217110e+02] [ 9.94583785e-01 1.03826590e-01 -4.80975749e-03 1.02652974e+02] [ 4.82596599e-03 9.51002749e-05 9.99988350e-01 -1.86054167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:102.68, Z:-1.86 [[ 1.03233911e-01 -9.94657028e-01 -3.96081597e-04 1.42221006e+02] [ 9.94645914e-01 1.03234630e-01 -4.70285510e-03 1.02681229e+02] [ 4.71861722e-03 9.15331811e-05 9.99988863e-01 -1.86048056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.607628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.23, Y:102.71, Z:-1.86 [[ 1.01341192e-01 -9.94851640e-01 -4.21715389e-04 1.42227104e+02] [ 9.94838954e-01 1.01342030e-01 -5.02484428e-03 1.02709050e+02] [ 5.04171206e-03 8.96848135e-05 9.99987286e-01 -1.86256931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:102.74, Z:-1.86 [[ 1.00710512e-01 -9.94915699e-01 -3.80532806e-04 1.42231781e+02] [ 9.94905295e-01 1.00711199e-01 -4.55055904e-03 1.02736145e+02] [ 4.56574654e-03 7.96950254e-05 9.99989574e-01 -1.86069471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:102.76, Z:-1.86 [[ 9.90270061e-02 -9.95084655e-01 -4.24991245e-04 1.42236308e+02] [ 9.95071589e-01 9.90278839e-02 -5.10018543e-03 1.02763689e+02] [ 5.11720224e-03 8.21593801e-05 9.99986904e-01 -1.86080677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:102.79, Z:-1.86 [[ 9.61135057e-02 -9.95370220e-01 -5.64268801e-04 1.42244288e+02] [ 9.95347025e-01 9.61151185e-02 -6.79592503e-03 1.02791306e+02] [ 6.81869615e-03 9.15369068e-05 9.99976748e-01 -1.86135840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:102.82, Z:-1.86 [[ 9.47364239e-02 -9.95502216e-01 -5.89932205e-04 1.42249339e+02] [ 9.95476687e-01 9.47382196e-02 -7.12990545e-03 1.02819455e+02] [ 7.15372580e-03 8.81979878e-05 9.99974408e-01 -1.86132700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:102.85, Z:-1.86 [[ 9.37404909e-02 -9.95596476e-01 -6.14197528e-04 1.42253987e+02] [ 9.95568602e-01 9.37424627e-02 -7.45052597e-03 1.02845953e+02] [ 7.47529378e-03 8.69401873e-05 9.99972056e-01 -1.86138380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:102.87, Z:-1.86 [[ 9.28756052e-02 -9.95677518e-01 -6.34921624e-04 1.42258248e+02] [ 9.95647523e-01 9.28777359e-02 -7.72893785e-03 1.02874072e+02] [ 7.75449973e-03 8.56716377e-05 9.99969930e-01 -1.86172079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:102.90, Z:-1.86 [[ 9.13246009e-02 -9.95820864e-01 -7.89425713e-04 1.42264102e+02] [ 9.95774170e-01 9.13279638e-02 -9.64392478e-03 1.02902177e+02] [ 9.67571815e-03 9.46378471e-05 9.99953185e-01 -1.86227671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:102.93, Z:-1.86 [[ 9.01140217e-02 -9.95931096e-01 -8.45228533e-04 1.42268312e+02] [ 9.95877194e-01 9.01179385e-02 -1.03620470e-02 1.02929835e+02] [ 1.03960551e-02 9.20219067e-05 9.99945955e-01 -1.86252215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87762800000002 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:142.27, Y:102.96, Z:-1.87 [[ 8.82286649e-02 -9.96099805e-01 -9.39081195e-04 1.42272880e+02] [ 9.96032803e-01 8.82336224e-02 -1.15534916e-02 1.02957847e+02] [ 1.15912893e-02 8.39934669e-05 9.99932815e-01 -1.86514923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:102.99, Z:-1.86 [[ 8.68586929e-02 -9.96220254e-01 -8.79562576e-04 1.42277363e+02] [ 9.96161069e-01 8.68631203e-02 -1.08592481e-02 1.02986013e+02] [ 1.08946045e-02 6.70341024e-05 9.99940650e-01 -1.86170416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:103.01, Z:-1.86 [[ 8.36334894e-02 -9.96496324e-01 -7.17730456e-04 1.42282629e+02] [ 9.96456652e-01 8.36365642e-02 -8.89185732e-03 1.03014188e+02] [ 8.92073164e-03 2.84697677e-05 9.99960209e-01 -1.86069530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:103.04, Z:-1.86 [[ 8.24062847e-02 -9.96598667e-01 -5.49738029e-04 1.42284846e+02] [ 9.96575233e-01 8.24081169e-02 -6.83420510e-03 1.03042511e+02] [ 6.85626257e-03 1.53261463e-05 9.99976495e-01 -1.86025020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:103.07, Z:-1.86 [[ 8.08198578e-02 -9.96728627e-01 -4.42062254e-04 1.42287102e+02] [ 9.96713370e-01 8.08210666e-02 -5.51487873e-03 1.03070341e+02] [ 5.53256544e-03 5.10235582e-06 9.99984695e-01 -1.85963554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:103.10, Z:-1.86 [[ 7.68516749e-02 -9.97042477e-01 -3.45318458e-04 1.42289532e+02] [ 9.97033105e-01 7.68524498e-02 -4.32295354e-03 1.03098401e+02] [ 4.33670688e-03 -1.20677138e-05 9.99990596e-01 -1.85808450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:103.12, Z:-1.86 [[ 7.04070748e-02 -9.97517293e-01 1.44708840e-03 1.42285098e+02] [ 9.97515083e-01 7.04030618e-02 -2.65875834e-03 1.03121158e+02] [ 2.55027797e-03 1.63068790e-03 9.99995418e-01 -1.86123585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:103.15, Z:-1.86 [[ 7.29283478e-02 -9.97335252e-01 -1.96244522e-03 1.42294623e+02] [ 9.97327823e-01 7.29360471e-02 -4.18893054e-03 1.03153619e+02] [ 4.32090109e-03 -1.65170943e-03 9.99989301e-01 -1.85651166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:103.18, Z:-1.87 [[ 6.68980631e-02 -9.97725902e-01 8.22637014e-03 1.42286627e+02] [ 9.97759094e-01 6.68858253e-02 -1.75415730e-03 1.03176397e+02] [ 1.19994062e-03 8.32528534e-03 9.99964624e-01 -1.86560942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.21, Z:-1.85 [[ 6.83471446e-02 -9.97624578e-01 -8.59466978e-03 1.42301197e+02] [ 9.97655942e-01 6.83732330e-02 -2.77879700e-03 1.03208667e+02] [ 3.35984155e-03 -8.38460054e-03 9.99959204e-01 -1.85343061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.24, Z:-1.86 [[ 6.68910489e-02 -9.97760247e-01 -2.77066286e-04 1.42298612e+02] [ 9.97754083e-01 6.68916096e-02 -3.50752803e-03 1.03237449e+02] [ 3.51820545e-03 -4.18217892e-05 9.99993810e-01 -1.85721544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.27, Z:-1.86 [[ 6.58987056e-02 -9.97826278e-01 -2.81239807e-04 1.42299335e+02] [ 9.97819882e-01 6.58992902e-02 -3.57317162e-03 1.03265274e+02] [ 3.58393804e-03 -4.51592868e-05 9.99993577e-01 -1.85773726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.29, Z:-1.86 [[ 6.48849050e-02 -9.97892712e-01 -2.91143807e-04 1.42300078e+02] [ 9.97885808e-01 6.48855392e-02 -3.71234738e-03 1.03293617e+02] [ 3.72341542e-03 -4.96529654e-05 9.99993067e-01 -1.85864316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.32, Z:-1.86 [[ 6.36642365e-02 -9.97971317e-01 -3.40780000e-04 1.42299553e+02] [ 9.97961789e-01 6.36651179e-02 -4.36126499e-03 1.03321924e+02] [ 4.37411316e-03 -6.24288130e-05 9.99990432e-01 -1.85955876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.35, Z:-1.86 [[ 6.24937685e-02 -9.98045280e-01 -3.83657661e-04 1.42300212e+02] [ 9.98033116e-01 6.24949013e-02 -4.92807674e-03 1.03349627e+02] [ 4.94242037e-03 -7.49289644e-05 9.99987783e-01 -1.85987387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32762800000003 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:142.30, Y:103.38, Z:-1.86 [[ 6.09619592e-02 -9.98139985e-01 -4.58776543e-04 1.42301315e+02] [ 9.98122461e-01 6.09636078e-02 -5.91543562e-03 1.03377662e+02] [ 5.93240149e-03 -9.72986270e-05 9.99982398e-01 -1.86301532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:142.30, Y:103.41, Z:-1.86 [[ 6.06928996e-02 -9.98156382e-01 -4.57168179e-04 1.42303462e+02] [ 9.98138857e-01 6.06945434e-02 -5.91556011e-03 1.03406183e+02] [ 5.93240169e-03 -9.72848276e-05 9.99982398e-01 -1.86299356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:103.43, Z:-1.86 [[ 5.99624182e-02 -9.98200555e-01 -4.01532056e-04 1.42304411e+02] [ 9.98186933e-01 5.99636979e-02 -5.21559650e-03 1.03433200e+02] [ 5.23028867e-03 -8.80642726e-05 9.99986318e-01 -1.86048181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.46, Z:-1.86 [[ 5.79843332e-02 -9.98317434e-01 -3.44382842e-04 1.42305437e+02] [ 9.98307342e-01 5.79852958e-02 -4.48963477e-03 1.03461639e+02] [ 4.50204980e-03 -8.34714411e-05 9.99989862e-01 -1.86051080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.49, Z:-1.86 [[ 5.67779754e-02 -9.98386777e-01 -3.23148713e-04 1.42306934e+02] [ 9.98377824e-01 5.67788350e-02 -4.22900771e-03 1.03488970e+02] [ 4.24053339e-03 -8.25100133e-05 9.99991006e-01 -1.86077066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.52, Z:-1.86 [[ 5.58899021e-02 -9.98436891e-01 -3.06598988e-04 1.42308449e+02] [ 9.98428772e-01 5.58906843e-02 -4.02721356e-03 1.03516833e+02] [ 4.03805461e-03 -8.10366793e-05 9.99991844e-01 -1.86119412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.55, Z:-1.86 [[ 5.54716591e-02 -9.98460210e-01 -3.22143058e-04 1.42310169e+02] [ 9.98451181e-01 5.54725278e-02 -4.24713764e-03 1.03545346e+02] [ 4.25846803e-03 -8.60483449e-05 9.99990929e-01 -1.86132331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.57, Z:-1.86 [[ 5.52031446e-02 -9.98475085e-01 -3.43987968e-04 1.42311409e+02] [ 9.98464709e-01 5.52041394e-02 -4.55287554e-03 1.03572854e+02] [ 4.56492235e-03 -9.21267996e-05 9.99989576e-01 -1.86194272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:103.60, Z:-1.86 [[ 5.53884989e-02 -9.98464822e-01 -3.36182619e-04 1.42313051e+02] [ 9.98454837e-01 5.53894488e-02 -4.46628461e-03 1.03600979e+02] [ 4.47804904e-03 -8.82823618e-05 9.99989970e-01 -1.86225158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.32, Y:103.63, Z:-1.86 [[ 5.59343368e-02 -9.98434383e-01 -3.64017610e-04 1.42315034e+02] [ 9.98422585e-01 5.59354458e-02 -4.85468477e-03 1.03629337e+02] [ 4.86744568e-03 -9.18998302e-05 9.99988150e-01 -1.86284940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:103.66, Z:-1.86 [[ 5.92726338e-02 -9.98241791e-01 -2.84159523e-04 1.42317601e+02] [ 9.98234545e-01 5.92732864e-02 -3.80413351e-03 1.03656080e+02] [ 3.81428812e-03 -5.81768399e-05 9.99992724e-01 -1.86164720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:103.68, Z:-1.86 [[ 6.11216166e-02 -9.98130290e-01 -2.68152951e-04 1.42319363e+02] [ 9.98123797e-01 6.11221863e-02 -3.60055652e-03 1.03682680e+02] [ 3.61021462e-03 -4.75780066e-05 9.99993482e-01 -1.86107859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:103.71, Z:-1.86 [[ 6.33223329e-02 -9.97993098e-01 -2.41861929e-04 1.42321070e+02] [ 9.97987778e-01 6.33227852e-02 -3.25881679e-03 1.03711165e+02] [ 3.26759204e-03 -3.50193674e-05 9.99994661e-01 -1.86142908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:103.74, Z:-1.86 [[ 6.56245810e-02 -9.97844354e-01 -2.45722315e-04 1.42322445e+02] [ 9.97838820e-01 6.56250355e-02 -3.32335723e-03 1.03739004e+02] [ 3.33231879e-03 -2.70973386e-05 9.99994447e-01 -1.86191073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:103.77, Z:-1.86 [[ 7.06048592e-02 -9.97504331e-01 -2.51662131e-04 1.42323401e+02] [ 9.97498480e-01 7.06053070e-02 -3.41662429e-03 1.03767228e+02] [ 3.42586621e-03 -9.80231608e-06 9.99994132e-01 -1.86375987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:103.79, Z:-1.86 [[ 7.26464523e-02 -9.97357715e-01 -2.86300197e-04 1.42325178e+02] [ 9.97350079e-01 7.26470164e-02 -3.90268891e-03 1.03794712e+02] [ 3.91317575e-03 -2.02502015e-06 9.99992344e-01 -1.86440537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:103.82, Z:-1.86 [[ 7.48341828e-02 -9.97195935e-01 -3.33849061e-04 1.42327781e+02] [ 9.97185468e-01 7.48349270e-02 -4.56897274e-03 1.03822712e+02] [ 4.58114462e-03 9.00590918e-06 9.99989506e-01 -1.86488083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:103.85, Z:-1.87 [[ 7.66901372e-02 -9.97054890e-01 -4.11825443e-04 1.42330869e+02] [ 9.97038833e-01 7.66912394e-02 -5.65849273e-03 1.03850660e+02] [ 5.67341125e-03 2.33446244e-05 9.99983906e-01 -1.86502091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:103.88, Z:-1.87 [[ 7.90890664e-02 -9.96867416e-01 -5.24897521e-04 1.42335108e+02] [ 9.96841110e-01 7.90907927e-02 -7.24208247e-03 1.03877663e+02] [ 7.26091059e-03 4.95301140e-05 9.99973638e-01 -1.86573328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:103.91, Z:-1.87 [[ 7.93898242e-02 -9.96843480e-01 -5.75809321e-04 1.42338199e+02] [ 9.96811552e-01 7.93918901e-02 -7.97858563e-03 1.03905212e+02] [ 7.99911566e-03 5.94451283e-05 9.99968005e-01 -1.86633916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.34, Y:103.93, Z:-1.87 [[ 7.83855719e-02 -9.96922892e-01 -6.70201254e-04 1.42341134e+02] [ 9.96879288e-01 7.83884118e-02 -9.32431997e-03 1.03933299e+02] [ 9.34816404e-03 6.27824051e-05 9.99956303e-01 -1.86870037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95762800000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:142.35, Y:103.96, Z:-1.87 [[ 7.59000802e-02 -9.97115230e-01 -6.29979800e-04 1.42345712e+02] [ 9.97076385e-01 7.59026841e-02 -8.80144623e-03 1.03960125e+02] [ 8.82387324e-03 3.98924934e-05 9.99961068e-01 -1.86856327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:103.99, Z:-1.87 [[ 7.43878031e-02 -9.97229219e-01 -5.83184943e-04 1.42349685e+02] [ 9.97195669e-01 7.43900842e-02 -8.18004341e-03 1.03987784e+02] [ 8.20076147e-03 2.69459587e-05 9.99966373e-01 -1.86678491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:104.02, Z:-1.86 [[ 7.24279514e-02 -9.97373547e-01 -4.47850908e-04 1.42353219e+02] [ 9.97353610e-01 7.24293353e-02 -6.30612071e-03 1.04016204e+02] [ 6.32199552e-03 1.00736848e-05 9.99980016e-01 -1.86479119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:104.04, Z:-1.86 [[ 7.15857420e-02 -9.97434379e-01 -3.76270994e-04 1.42354839e+02] [ 9.97420191e-01 7.15867306e-02 -5.31998735e-03 1.04043266e+02] [ 5.33327428e-03 5.53495434e-06 9.99985778e-01 -1.86417858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.07, Z:-1.86 [[ 6.91020088e-02 -9.97609555e-01 -2.97065062e-04 1.42355968e+02] [ 9.97600645e-01 6.91026472e-02 -4.21640022e-03 1.04071508e+02] [ 4.22684913e-03 -4.99057164e-06 9.99991067e-01 -1.86436050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.10, Z:-1.86 [[ 6.63310672e-02 -9.97797630e-01 -2.80725366e-04 1.42357286e+02] [ 9.97789612e-01 6.63316596e-02 -4.00020708e-03 1.04099716e+02] [ 4.01001812e-03 -1.47668495e-05 9.99991960e-01 -1.86463000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.13, Z:-1.86 [[ 6.60719345e-02 -9.97814823e-01 -2.79672530e-04 1.42359208e+02] [ 9.97806805e-01 6.60725248e-02 -4.00028080e-03 1.04128250e+02] [ 4.01001815e-03 -1.47528626e-05 9.99991960e-01 -1.86460824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.16, Z:-1.86 [[ 6.58127974e-02 -9.97831949e-01 -2.78633628e-04 1.42361123e+02] [ 9.97823930e-01 6.58133855e-02 -4.00035327e-03 1.04156784e+02] [ 4.01001812e-03 -1.47528625e-05 9.99991960e-01 -1.86458648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.19, Z:-1.86 [[ 6.35516316e-02 -9.97978520e-01 -2.53827826e-04 1.42363024e+02] [ 9.97971814e-01 6.35521350e-02 -3.65857830e-03 1.04185253e+02] [ 3.66731386e-03 -2.08043952e-05 9.99993275e-01 -1.86463527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:104.21, Z:-1.86 [[ 6.29281608e-02 -9.98018026e-01 -2.56249325e-04 1.42364503e+02] [ 9.98011134e-01 6.29286786e-02 -3.70928012e-03 1.04212407e+02] [ 3.71805385e-03 -2.23215037e-05 9.99993088e-01 -1.86449563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.24, Z:-1.86 [[ 6.36667243e-02 -9.97971167e-01 -3.13464489e-04 1.42365363e+02] [ 9.97960763e-01 6.36674919e-02 -4.55699890e-03 1.04240197e+02] [ 4.56771100e-03 -2.26960684e-05 9.99989568e-01 -1.86479226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.27, Z:-1.87 [[ 6.43530856e-02 -9.97927129e-01 -3.55451877e-04 1.42366360e+02] [ 9.97913632e-01 6.43540639e-02 -5.19007171e-03 1.04267080e+02] [ 5.20218813e-03 -2.07131451e-05 9.99986468e-01 -1.86529730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.37, Y:104.30, Z:-1.87 [[ 6.47214677e-02 -9.97903249e-01 -4.87767718e-04 1.42367077e+02] [ 9.97877612e-01 6.47233013e-02 -7.15299513e-03 1.04295281e+02] [ 7.16956701e-03 -2.37801429e-05 9.99974298e-01 -1.86764495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.32, Z:-1.87 [[ 6.62905932e-02 -9.97800229e-01 -5.10809022e-04 1.42367863e+02] [ 9.97771875e-01 6.62925603e-02 -7.52213970e-03 1.04323848e+02] [ 7.53945555e-03 -1.10237726e-05 9.99971578e-01 -1.86595596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.37, Y:104.35, Z:-1.87 [[ 6.71880855e-02 -9.97740145e-01 -6.03131450e-04 1.42368588e+02] [ 9.97700261e-01 6.71907925e-02 -8.92111542e-03 1.04351183e+02] [ 8.94147988e-03 -2.35173914e-06 9.99960024e-01 -1.86824004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.38, Z:-1.87 [[ 7.07925290e-02 -9.97490875e-01 -6.09340119e-04 1.42369170e+02] [ 9.97449784e-01 7.07951436e-02 -9.05410294e-03 1.04378628e+02] [ 9.07452339e-03 3.31766750e-05 9.99958825e-01 -1.86634345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.41, Z:-1.87 [[ 7.19334961e-02 -9.97409245e-01 -6.08626314e-04 1.42370872e+02] [ 9.97367900e-01 7.19360560e-02 -9.08163646e-03 1.04406656e+02] [ 9.10189034e-03 4.62495125e-05 9.99958576e-01 -1.86638192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.44, Z:-1.87 [[ 7.26855722e-02 -9.97354733e-01 -5.86973396e-04 1.42372535e+02] [ 9.97315950e-01 7.26879223e-02 -8.79551563e-03 1.04435125e+02] [ 8.81491502e-03 5.39091563e-05 9.99961146e-01 -1.86625891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:104.46, Z:-1.87 [[ 7.27505621e-02 -9.97350022e-01 -5.38532264e-04 1.42374534e+02] [ 9.97317098e-01 7.27525364e-02 -8.10394433e-03 1.04462951e+02] [ 8.12164864e-03 5.24790703e-05 9.99967017e-01 -1.86643070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:104.49, Z:-1.87 [[ 7.16403440e-02 -9.97430450e-01 -3.98806699e-04 1.42377244e+02] [ 9.97412244e-01 7.16414460e-02 -6.02646557e-03 1.04491138e+02] [ 6.03955136e-03 3.39633821e-05 9.99981761e-01 -1.86629350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:104.52, Z:-1.87 [[ 7.01543913e-02 -9.97536086e-01 -3.45100317e-04 1.42379642e+02] [ 9.97522338e-01 7.01552363e-02 -5.23716146e-03 1.04519088e+02] [ 5.24846813e-03 2.31645992e-05 9.99986226e-01 -1.86632185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:104.55, Z:-1.87 [[ 6.66833021e-02 -9.97774168e-01 -2.18849258e-04 1.42383105e+02] [ 9.97768594e-01 6.66836611e-02 -3.33513353e-03 1.04546445e+02] [ 3.34230375e-03 4.03680063e-06 9.99994414e-01 -1.86632691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:104.57, Z:-1.87 [[ 6.45800883e-02 -9.97912508e-01 -1.96871718e-04 1.42386069e+02] [ 9.97907960e-01 6.45803883e-02 -3.01286534e-03 1.04573924e+02] [ 3.01929006e-03 -1.88874459e-06 9.99995442e-01 -1.86587450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:104.60, Z:-1.87 [[ 6.29531695e-02 -9.98016469e-01 -1.62852776e-04 1.42389348e+02] [ 9.98013331e-01 6.29533800e-02 -2.50250889e-03 1.04601790e+02] [ 2.50779722e-03 -4.98837479e-06 9.99996855e-01 -1.86562123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:104.63, Z:-1.87 [[ 6.09968862e-02 -9.98137946e-01 -1.42543246e-04 1.42391707e+02] [ 9.98135522e-01 6.09970522e-02 -2.19997336e-03 1.04628966e+02] [ 2.20457161e-03 -8.08595198e-06 9.99997570e-01 -1.86552806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:104.66, Z:-1.87 [[ 6.02246105e-02 -9.98184850e-01 -3.76296666e-05 1.42393519e+02] [ 9.98184681e-01 6.02246222e-02 -5.80910573e-04 1.04656960e+02] [ 5.82122365e-04 -2.57624376e-06 9.99999831e-01 -1.86520979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.69, Z:-1.87 [[ 6.01972889e-02 -9.98186499e-01 -1.21035798e-05 1.42395097e+02] [ 9.98186482e-01 6.01972901e-02 -1.85361057e-04 1.04685284e+02] [ 1.85753507e-04 -9.23396650e-07 9.99999983e-01 -1.86506488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.71, Z:-1.86 [[ 6.01258909e-02 -9.98190802e-01 -1.91023097e-05 1.42396421e+02] [ 9.98190758e-01 6.01258939e-02 -2.95826855e-04 1.04712991e+02] [ 2.96440189e-04 -1.28089578e-06 9.99999956e-01 -1.86436211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.74, Z:-1.86 [[ 6.02627974e-02 -9.98182543e-01 -7.27073819e-05 1.42397263e+02] [ 9.98181892e-01 6.02628411e-02 -1.14071782e-03 1.04740373e+02] [ 1.14302617e-03 -3.83234511e-06 9.99999347e-01 -1.86447120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.77, Z:-1.87 [[ 6.04982780e-02 -9.98168266e-01 -2.66758579e-04 1.42396546e+02] [ 9.98159371e-01 6.04988650e-02 -4.21385248e-03 1.04768873e+02] [ 4.22227242e-03 -1.13367569e-05 9.99991086e-01 -1.86624731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.80, Z:-1.87 [[ 6.03731886e-02 -9.98175816e-01 -3.44772976e-04 1.42397224e+02] [ 9.98160818e-01 6.03741714e-02 -5.47189417e-03 1.04797410e+02] [ 5.48272781e-03 -1.37831777e-05 9.99984970e-01 -1.86736122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.887628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.40, Y:104.83, Z:-1.87 [[ 5.99009766e-02 -9.98204232e-01 -4.29615950e-04 1.42398248e+02] [ 9.98180727e-01 5.99025144e-02 -6.85020424e-03 1.04825278e+02] [ 6.86363793e-03 -1.85004374e-05 9.99976445e-01 -1.86878806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:142.40, Y:104.85, Z:-1.87 [[ 5.90183045e-02 -9.98256782e-01 -4.86870010e-04 1.42399346e+02] [ 9.98226317e-01 5.90203070e-02 -7.79893140e-03 1.04853725e+02] [ 7.81407138e-03 -2.57267490e-05 9.99969469e-01 -1.87039298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.88, Z:-1.87 [[ 5.82065512e-02 -9.98304464e-01 -4.41153489e-04 1.42400936e+02] [ 9.98279215e-01 5.82082167e-02 -7.10013441e-03 1.04880785e+02] [ 7.11377464e-03 -2.71200220e-05 9.99974696e-01 -1.86741849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.977628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.40, Y:104.91, Z:-1.87 [[ 5.68256308e-02 -9.98384007e-01 -4.70888139e-04 1.42402054e+02] [ 9.98354976e-01 5.68275694e-02 -7.61380485e-03 1.04909047e+02] [ 7.62826042e-03 -3.74542534e-05 9.99970904e-01 -1.86955367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.94, Z:-1.87 [[ 5.65272112e-02 -9.98400980e-01 -3.96614735e-04 1.42403171e+02] [ 9.98380200e-01 5.65285936e-02 -6.44168458e-03 1.04936683e+02] [ 6.45380427e-03 -3.18418331e-05 9.99979173e-01 -1.86716868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:104.96, Z:-1.87 [[ 5.60400369e-02 -9.98428436e-01 -4.14711959e-04 1.42404438e+02] [ 9.98405506e-01 5.60415606e-02 -6.76670238e-03 1.04964374e+02] [ 6.77930918e-03 -3.48444519e-05 9.99977020e-01 -1.86698651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.067628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.41, Y:104.99, Z:-1.87 [[ 5.50558644e-02 -9.98483171e-01 -4.57087730e-04 1.42405317e+02] [ 9.98455056e-01 5.50577443e-02 -7.49299936e-03 1.04992129e+02] [ 7.50679998e-03 -4.38479981e-05 9.99971823e-01 -1.86931091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:105.02, Z:-1.87 [[ 5.55504091e-02 -9.98455805e-01 -3.97770291e-04 1.42407482e+02] [ 9.98434318e-01 5.55518233e-02 -6.55032036e-03 1.05020420e+02] [ 6.56230225e-03 -3.32745327e-05 9.99978467e-01 -1.86679190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:105.05, Z:-1.87 [[ 5.51659683e-02 -9.98477137e-01 -3.50289486e-04 1.42409222e+02] [ 9.98460314e-01 5.51670723e-02 -5.79609190e-03 1.05047845e+02] [ 5.80658970e-03 -3.00031283e-05 9.99983141e-01 -1.86655561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:142.41, Y:105.08, Z:-1.87 [[ 5.40798703e-02 -9.98536560e-01 -3.27156968e-04 1.42410755e+02] [ 9.98521749e-01 5.40808500e-02 -5.43852697e-03 1.05076092e+02] [ 5.44826093e-03 -3.25585150e-05 9.99985158e-01 -1.86872996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:105.10, Z:-1.87 [[ 5.43299779e-02 -9.98523021e-01 -1.73695037e-04 1.42412683e+02] [ 9.98518812e-01 5.43302533e-02 -2.89940057e-03 1.05103841e+02] [ 2.90455512e-03 -1.59133927e-05 9.99995782e-01 -1.86652052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:105.13, Z:-1.87 [[ 5.43727423e-02 -9.98520701e-01 -1.24243796e-04 1.42414118e+02] [ 9.98518532e-01 5.43728832e-02 -2.08107389e-03 1.05130478e+02] [ 2.08475085e-03 -1.09060378e-05 9.99997827e-01 -1.86653397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.16, Z:-1.87 [[ 5.41585520e-02 -9.98532341e-01 -1.23803969e-04 1.42415650e+02] [ 9.98530172e-01 5.41586924e-02 -2.08110009e-03 1.05158183e+02] [ 2.08475080e-03 -1.09126317e-05 9.99997827e-01 -1.86651284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.19, Z:-1.87 [[ 5.43873609e-02 -9.98519910e-01 -7.26398604e-05 1.42416965e+02] [ 9.98519158e-01 5.43874091e-02 -1.22486252e-03 1.05186701e+02] [ 1.22700031e-03 -5.91525210e-06 9.99999247e-01 -1.86701416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.21, Z:-1.87 [[ 5.60067549e-02 -9.98430389e-01 -4.31056938e-05 1.42417999e+02] [ 9.98430123e-01 5.60067715e-02 -7.28848346e-04 1.05214347e+02] [ 7.30118548e-04 -2.21759251e-06 9.99999733e-01 -1.86691116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.24, Z:-1.87 [[ 5.67091122e-02 -9.98390742e-01 -6.11214494e-05 1.42419670e+02] [ 9.98390200e-01 5.67091451e-02 -1.03997564e-03 1.05242124e+02] [ 1.04176820e-03 -2.04696089e-06 9.99999457e-01 -1.86653261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.27, Z:-1.87 [[ 5.73686376e-02 -9.98353061e-01 -7.46393963e-05 1.42421355e+02] [ 9.98352244e-01 5.73686861e-02 -1.27708678e-03 1.05269609e+02] [ 1.27926546e-03 -1.25168011e-06 9.99999182e-01 -1.86663015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:105.30, Z:-1.87 [[ 5.76118491e-02 -9.98339054e-01 -8.63800946e-05 1.42423007e+02] [ 9.98337948e-01 5.76119138e-02 -1.48597369e-03 1.05297233e+02] [ 1.48848209e-03 -6.26834662e-07 9.99998892e-01 -1.86702971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:105.32, Z:-1.87 [[ 5.80422201e-02 -9.98314117e-01 -1.55303569e-04 1.42425227e+02] [ 9.98310499e-01 5.80424278e-02 -2.68762521e-03 1.05324896e+02] [ 2.69210839e-03 9.54549994e-07 9.99996376e-01 -1.86777215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:105.35, Z:-1.87 [[ 5.77665554e-02 -9.98330106e-01 -1.59533711e-04 1.42427024e+02] [ 9.98326250e-01 5.77667757e-02 -2.77444146e-03 1.05352641e+02] [ 2.77902418e-03 1.00323503e-06 9.99996139e-01 -1.86815935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:105.38, Z:-1.87 [[ 5.75234784e-02 -9.98344141e-01 -1.61706058e-04 1.42428913e+02] [ 9.98340141e-01 5.75237057e-02 -2.82612682e-03 1.05380905e+02] [ 2.83074908e-03 1.13099622e-06 9.99995993e-01 -1.86859133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:105.41, Z:-1.87 [[ 5.68835252e-02 -9.98380807e-01 -1.69628020e-04 1.42431861e+02] [ 9.98376361e-01 5.68837781e-02 -2.97957824e-03 1.05408496e+02] [ 2.98440281e-03 1.36308629e-07 9.99995547e-01 -1.86860934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:105.44, Z:-1.87 [[ 5.56970944e-02 -9.98447698e-01 -1.69790163e-04 1.42433788e+02] [ 9.98443196e-01 5.56973531e-02 -2.99806994e-03 1.05435751e+02] [ 3.00287289e-03 -2.54204843e-06 9.99995491e-01 -1.86884819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.46, Z:-1.87 [[ 5.46364963e-02 -9.98506297e-01 -1.69888957e-04 1.42435581e+02] [ 9.98501743e-01 5.46367602e-02 -3.01558100e-03 1.05463156e+02] [ 3.02035879e-03 -4.87363994e-06 9.99995439e-01 -1.86913169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.49, Z:-1.87 [[ 5.30713143e-02 -9.98590707e-01 -1.86177311e-04 1.42436077e+02] [ 9.98585182e-01 5.30716399e-02 -3.32189664e-03 1.05491421e+02] [ 3.32709585e-03 -9.61648296e-06 9.99994465e-01 -1.86995054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.52, Z:-1.87 [[ 5.21117874e-02 -9.98641241e-01 -1.83501742e-04 1.42436783e+02] [ 9.98635819e-01 5.21121092e-02 -3.29067998e-03 1.05519884e+02] [ 3.29577140e-03 -1.17681967e-05 9.99994569e-01 -1.87052945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.55, Z:-1.87 [[ 5.08336115e-02 -9.98707116e-01 -1.99587271e-04 1.42437846e+02] [ 9.98700637e-01 5.08340006e-02 -3.59758777e-03 1.05548416e+02] [ 3.60308232e-03 -1.64495556e-05 9.99993509e-01 -1.87083639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.58, Z:-1.87 [[ 4.95379122e-02 -9.98772223e-01 -2.05392000e-04 1.42438922e+02] [ 9.98765291e-01 4.95383337e-02 -3.72106305e-03 1.05576063e+02] [ 3.72666919e-03 -2.08047058e-05 9.99993056e-01 -1.87111638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.727628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.44, Y:105.60, Z:-1.87 [[ 4.68976199e-02 -9.98899657e-01 -2.97161022e-04 1.42440827e+02] [ 9.98884986e-01 4.68985417e-02 -5.41399294e-03 1.05603209e+02] [ 5.42197211e-03 -4.29263003e-05 9.99985300e-01 -1.87326384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.44, Y:105.63, Z:-1.87 [[ 4.56281385e-02 -9.98958445e-01 -3.13579634e-04 1.42442090e+02] [ 9.98941941e-01 4.56291872e-02 -5.74245455e-03 1.05631104e+02] [ 5.75078185e-03 -5.12303371e-05 9.99983463e-01 -1.87350578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.66, Z:-1.87 [[ 4.46537272e-02 -9.99002480e-01 -2.98595488e-04 1.42442638e+02] [ 9.98987361e-01 4.46546942e-02 -5.49637450e-03 1.05658957e+02] [ 5.50422544e-03 -5.28595113e-05 9.99984850e-01 -1.87174470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:105.69, Z:-1.87 [[ 4.36482852e-02 -9.99046901e-01 -3.41378495e-04 1.42443330e+02] [ 9.99026928e-01 4.36495714e-02 -6.31766181e-03 1.05686707e+02] [ 6.32654148e-03 -6.52912041e-05 9.99979985e-01 -1.87217310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.44, Y:105.71, Z:-1.87 [[ 4.18711554e-02 -9.99122955e-01 -3.57573849e-04 1.42443736e+02] [ 9.99100797e-01 4.18726084e-02 -6.65443610e-03 1.05714165e+02] [ 6.66357241e-03 -7.86233893e-05 9.99977795e-01 -1.87325637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.44, Y:105.74, Z:-1.87 [[ 4.09558693e-02 -9.99160886e-01 -3.74339950e-04 1.42444991e+02] [ 9.99136341e-01 4.09574873e-02 -7.00396588e-03 1.05742249e+02] [ 7.01342078e-03 -8.71631371e-05 9.99975402e-01 -1.87427327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:105.77, Z:-1.87 [[ 4.06681564e-02 -9.99172662e-01 -3.04573941e-04 1.42445879e+02] [ 9.99156285e-01 4.06692338e-02 -5.72117505e-03 1.05769652e+02] [ 5.72882849e-03 -7.16473257e-05 9.99983588e-01 -1.87220466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:105.80, Z:-1.87 [[ 4.04008214e-02 -9.99183520e-01 -2.58115879e-04 1.42446933e+02] [ 9.99171640e-01 4.04015998e-02 -4.87284617e-03 1.05797542e+02] [ 4.87929588e-03 -6.10350783e-05 9.99988094e-01 -1.87255273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.45, Y:105.83, Z:-1.87 [[ 4.13667259e-02 -9.99143986e-01 -2.98506198e-04 1.42447698e+02] [ 9.99127922e-01 4.13677536e-02 -5.66605393e-03 1.05825291e+02] [ 5.67355223e-03 -6.38597776e-05 9.99983903e-01 -1.87416945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.45, Y:105.85, Z:-1.87 [[ 4.24793325e-02 -9.99097312e-01 -2.59114606e-04 1.42447970e+02] [ 9.99085079e-01 4.24800947e-02 -4.94426947e-03 1.05853400e+02] [ 4.95081355e-03 -4.88482697e-05 9.99987743e-01 -1.87425911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:142.45, Y:105.88, Z:-1.88 [[ 4.41680205e-02 -9.99024084e-01 -2.57587209e-04 1.42448479e+02] [ 9.99011892e-01 4.41687541e-02 -4.93557271e-03 1.05880581e+02] [ 4.94213331e-03 -3.93382087e-05 9.99987787e-01 -1.87523702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:105.91, Z:-1.87 [[ 4.76753523e-02 -9.98862863e-01 -2.02860210e-04 1.42449549e+02] [ 9.98855224e-01 4.76757811e-02 -3.90660082e-03 1.05908591e+02] [ 3.91183000e-03 -1.63794099e-05 9.99992349e-01 -1.87343647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:105.94, Z:-1.87 [[ 4.90659429e-02 -9.98795522e-01 -1.96898997e-04 1.42450994e+02] [ 9.98788245e-01 4.90663370e-02 -3.81266126e-03 1.05936690e+02] [ 3.81773010e-03 -9.58858412e-06 9.99992712e-01 -1.87350705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:105.96, Z:-1.87 [[ 5.02264925e-02 -9.98737835e-01 -1.90145482e-04 1.42452637e+02] [ 9.98730970e-01 5.02268522e-02 -3.70311612e-03 1.05963678e+02] [ 3.70799259e-03 -3.90964809e-06 9.99993125e-01 -1.87391534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:105.99, Z:-1.87 [[ 5.24548282e-02 -9.98623274e-01 -2.18512238e-04 1.42455041e+02] [ 9.98614102e-01 5.24552830e-02 -4.27998929e-03 1.05991961e+02] [ 4.28555904e-03 6.29670049e-06 9.99990817e-01 -1.87417516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:106.02, Z:-1.87 [[ 5.35299793e-02 -9.98566218e-01 -2.24531114e-04 1.42457256e+02] [ 9.98556423e-01 5.35304487e-02 -4.42279911e-03 1.06019822e+02] [ 4.42847703e-03 1.25453583e-05 9.99990194e-01 -1.87474435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:106.05, Z:-1.87 [[ 5.41795502e-02 -9.98531182e-01 -2.33527874e-04 1.42459176e+02] [ 9.98520464e-01 5.41800507e-02 -4.62656033e-03 1.06048011e+02] [ 4.63241730e-03 1.74825964e-05 9.99989270e-01 -1.87474178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:106.07, Z:-1.87 [[ 5.49659772e-02 -9.98488206e-01 -2.11257004e-04 1.42461015e+02] [ 9.98479330e-01 5.49663794e-02 -4.21017677e-03 1.06074838e+02] [ 4.21542388e-03 2.04807290e-05 9.99991115e-01 -1.87459756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:106.10, Z:-1.87 [[ 5.52521549e-02 -9.98472415e-01 -1.88951288e-04 1.42463146e+02] [ 9.98465234e-01 5.52524741e-02 -3.78690573e-03 1.06102740e+02] [ 3.79156094e-03 2.05734101e-05 9.99992812e-01 -1.87442762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.13, Z:-1.87 [[ 5.62360555e-02 -9.98417483e-01 -1.88492090e-04 1.42466002e+02] [ 9.98410255e-01 5.62363657e-02 -3.79930123e-03 1.06131196e+02] [ 3.80388888e-03 2.54652800e-05 9.99992765e-01 -1.87425300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.16, Z:-1.87 [[ 5.62078005e-02 -9.98419078e-01 -1.65219360e-04 1.42467433e+02] [ 9.98413460e-01 5.62080385e-02 -3.34962776e-03 1.06158130e+02] [ 3.35361891e-03 2.33179762e-05 9.99994376e-01 -1.87441760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.19, Z:-1.87 [[ 5.64540131e-02 -9.98405189e-01 -1.54028442e-04 1.42469081e+02] [ 9.98400249e-01 5.64542184e-02 -3.14080065e-03 1.06186676e+02] [ 3.14448722e-03 2.35287665e-05 9.99995056e-01 -1.87407051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.21, Z:-1.87 [[ 5.63862080e-02 -9.98409023e-01 -1.32312919e-04 1.42470510e+02] [ 9.98405346e-01 5.63863595e-02 -2.71005643e-03 1.06213373e+02] [ 2.71320543e-03 2.07078803e-05 9.99996319e-01 -1.87390667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.24, Z:-1.87 [[ 5.55478691e-02 -9.98456021e-01 -9.50073244e-05 1.42471593e+02] [ 9.98454106e-01 5.55479486e-02 -1.95528812e-03 1.06241227e+02] [ 1.95754665e-03 1.37516351e-05 9.99998084e-01 -1.87413314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.27, Z:-1.87 [[ 5.42459159e-02 -9.98527603e-01 -8.69564074e-05 1.42472736e+02] [ 9.98525981e-01 5.42459846e-02 -1.79981920e-03 1.06268872e+02] [ 1.80188619e-03 1.08046090e-05 9.99998377e-01 -1.87408243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.30, Z:-1.87 [[ 5.23355273e-02 -9.98629554e-01 -8.58047893e-05 1.42474109e+02] [ 9.98627959e-01 5.23355971e-02 -1.78484710e-03 1.06295866e+02] [ 1.78689170e-03 7.72385243e-06 9.99998403e-01 -1.87424952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.32, Z:-1.87 [[ 4.72256468e-02 -9.98884237e-01 -1.36122695e-04 1.42476556e+02] [ 9.98880174e-01 4.72258430e-02 -2.84899916e-03 1.06323963e+02] [ 2.85224887e-03 -1.42443314e-06 9.99995932e-01 -1.87444334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.35, Z:-1.87 [[ 4.41604383e-02 -9.99024450e-01 -6.22416629e-05 1.42478906e+02] [ 9.99023594e-01 4.41604820e-02 -1.30814402e-03 1.06351293e+02] [ 1.30961648e-03 -4.41267649e-06 9.99999142e-01 -1.87427419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.567628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.48, Y:106.38, Z:-1.87 [[ 4.05912954e-02 -9.99175812e-01 -2.08446209e-04 1.42480707e+02] [ 9.99166041e-01 4.05918203e-02 -4.41890301e-03 1.06379087e+02] [ 4.42372221e-03 -2.89033757e-05 9.99990215e-01 -1.87499690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.41, Z:-1.87 [[ 3.78094188e-02 -9.99284952e-01 -1.79778794e-04 1.42481722e+02] [ 9.99277599e-01 3.78098303e-02 -3.83371722e-03 1.06407569e+02] [ 3.83777333e-03 -3.46983015e-05 9.99992635e-01 -1.87333754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.43, Z:-1.87 [[ 3.12828244e-02 -9.99510546e-01 -2.31757972e-04 1.42482247e+02] [ 9.99498167e-01 3.12835905e-02 -4.97511864e-03 1.06434763e+02] [ 4.97993376e-03 -7.60059051e-05 9.99987597e-01 -1.87293372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.46, Z:-1.87 [[ 2.76558610e-02 -9.99617464e-01 -2.80321357e-04 1.42482809e+02] [ 9.99599128e-01 2.76570519e-02 -6.05570464e-03 1.06462922e+02] [ 6.06114098e-03 -1.12733258e-04 9.99981625e-01 -1.87279938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.48, Y:106.49, Z:-1.87 [[ 2.39204063e-02 -9.99713795e-01 -3.77073785e-04 1.42483289e+02] [ 9.99680196e-01 2.39226945e-02 -8.19814609e-03 1.06491376e+02] [ 8.20482036e-03 -1.80850210e-04 9.99966324e-01 -1.87487407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.52, Z:-1.87 [[ 1.81605434e-02 -9.99834987e-01 -4.40586316e-04 1.42482701e+02] [ 9.99788551e-01 1.81639478e-02 -9.63976440e-03 1.06519951e+02] [ 9.64617649e-03 -2.65429794e-04 9.99953439e-01 -1.87309726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.55, Z:-1.87 [[ 1.51686455e-02 -9.99884835e-01 -4.78571451e-04 1.42482774e+02] [ 9.99829328e-01 1.51728483e-02 -1.05403889e-02 1.06547502e+02] [ 1.05464363e-02 -3.18606350e-04 9.99944334e-01 -1.87299473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.58, Z:-1.87 [[ 1.25259943e-02 -9.99921421e-01 -5.02134656e-04 1.42482494e+02] [ 9.99859573e-01 1.25308073e-02 -1.11271772e-02 1.06575220e+02] [ 1.11325950e-02 -3.62685185e-04 9.99937965e-01 -1.87268895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.60, Z:-1.87 [[ 7.08346404e-03 -9.99974804e-01 -4.63639179e-04 1.42479500e+02] [ 9.99921348e-01 7.08788275e-03 -1.03469628e-02 1.06601484e+02] [ 1.03499883e-02 -3.90310374e-04 9.99946361e-01 -1.87221220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:142.48, Y:106.63, Z:-1.87 [[ 4.76599205e-03 -9.99988534e-01 -4.65477074e-04 1.42478985e+02] [ 9.99933982e-01 4.77059791e-03 -1.04533606e-02 1.06629794e+02] [ 1.04554614e-02 -4.15625710e-04 9.99945254e-01 -1.87289045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.66, Z:-1.87 [[ 4.01153865e-03 -9.99991878e-01 -3.88611969e-04 1.42478404e+02] [ 9.99953363e-01 4.01479762e-03 -8.78367854e-03 1.06657149e+02] [ 8.78516740e-03 -3.53357780e-04 9.99961347e-01 -1.87068136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.69, Z:-1.87 [[ 5.55116545e-03 -9.99984536e-01 -3.36075197e-04 1.42476449e+02] [ 9.99955357e-01 5.55357271e-03 -7.64469682e-03 1.06685486e+02] [ 7.64644502e-03 -2.93623217e-04 9.99970722e-01 -1.86866733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.71, Z:-1.87 [[ 8.06025968e-03 -9.99967504e-01 -1.53827451e-04 1.42475983e+02] [ 9.99940821e-01 8.06116845e-03 -7.30561587e-03 1.06712605e+02] [ 7.30661849e-03 -9.49331863e-05 9.99973302e-01 -1.86741359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:106.74, Z:-1.87 [[ 1.15324941e-02 -9.99933415e-01 -4.09108172e-04 1.42475461e+02] [ 9.99916700e-01 1.15346709e-02 -5.79178016e-03 1.06741465e+02] [ 5.79611344e-03 -3.42280423e-04 9.99983144e-01 -1.86631294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.77, Z:-1.87 [[ 2.17636179e-02 -9.99763126e-01 -1.91973343e-04 1.42471277e+02] [ 9.99753323e-01 2.17642549e-02 -4.42842605e-03 1.06769986e+02] [ 4.43155523e-03 -9.55474145e-05 9.99990176e-01 -1.86606412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.80, Z:-1.87 [[ 2.72300594e-02 -9.99629180e-01 -1.61880747e-04 1.42469507e+02] [ 9.99622113e-01 2.72304757e-02 -3.75939063e-03 1.06797642e+02] [ 3.76240467e-03 -5.94511443e-05 9.99992920e-01 -1.86690955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.83, Z:-1.87 [[ 3.30242517e-02 -9.99454536e-01 -1.68834557e-04 1.42468325e+02] [ 9.99446764e-01 3.30246608e-02 -3.94174974e-03 1.06825099e+02] [ 3.94517536e-03 -3.85678164e-05 9.99992217e-01 -1.86716419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:142.47, Y:106.85, Z:-1.87 [[ 4.20171505e-02 -9.99116863e-01 -2.31307631e-04 1.42466526e+02] [ 9.99102073e-01 4.20177871e-02 -5.43628525e-03 1.06853748e+02] [ 5.44120330e-03 -2.68271856e-06 9.99985197e-01 -1.86965904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.88, Z:-1.87 [[ 4.59257626e-02 -9.98944832e-01 -2.18509175e-04 1.42466913e+02] [ 9.98931454e-01 4.59262784e-02 -5.16987267e-03 1.06881390e+02] [ 5.17445289e-03 1.91546570e-05 9.99986612e-01 -1.86800294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.91, Z:-1.87 [[ 4.86342273e-02 -9.98816632e-01 -2.19379318e-04 1.42468035e+02] [ 9.98802953e-01 4.86347094e-02 -5.22742928e-03 1.06908039e+02] [ 5.23191276e-03 3.51152732e-05 9.99986313e-01 -1.86790085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.94, Z:-1.87 [[ 4.83710640e-02 -9.98829411e-01 -2.17973806e-04 1.42469157e+02] [ 9.98815732e-01 4.83715423e-02 -5.22748805e-03 1.06936607e+02] [ 5.23191254e-03 3.51434921e-05 9.99986313e-01 -1.86787896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.96, Z:-1.87 [[ 5.03231461e-02 -9.98732961e-01 -2.32875580e-04 1.42470431e+02] [ 9.98717133e-01 5.03236597e-02 -5.62294756e-03 1.06964718e+02] [ 5.62754222e-03 5.03875803e-05 9.99984164e-01 -1.86809418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:106.99, Z:-1.87 [[ 5.16200254e-02 -9.98666756e-01 -2.89935571e-04 1.42472967e+02] [ 9.98641869e-01 5.16207860e-02 -7.05069938e-03 1.06993093e+02] [ 7.05626578e-03 7.44154809e-05 9.99975101e-01 -1.86810657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:107.02, Z:-1.87 [[ 5.13751929e-02 -9.98679372e-01 -3.17158349e-04 1.42475172e+02] [ 9.98649149e-01 5.13761057e-02 -7.76997971e-03 1.07020443e+02] [ 7.77601282e-03 8.24542906e-05 9.99969763e-01 -1.86799369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:107.05, Z:-1.87 [[ 5.07514994e-02 -9.98711256e-01 -3.36902446e-04 1.42477469e+02] [ 9.98676663e-01 5.07525457e-02 -8.31276626e-03 1.07048586e+02] [ 8.31915188e-03 8.54287408e-05 9.99965392e-01 -1.86831860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:107.08, Z:-1.87 [[ 4.97134182e-02 -9.98763460e-01 -3.56514310e-04 1.42479967e+02] [ 9.98724139e-01 4.97146246e-02 -8.86284332e-03 1.07075144e+02] [ 8.86960804e-03 8.45427891e-05 9.99960661e-01 -1.86893851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:107.10, Z:-1.87 [[ 4.72992487e-02 -9.98880667e-01 -4.39855347e-04 1.42485389e+02] [ 9.98819948e-01 4.73012234e-02 -1.10139070e-02 1.07102678e+02] [ 1.10223844e-02 8.16132298e-05 9.99939248e-01 -1.86947021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:107.13, Z:-1.87 [[ 4.56223760e-02 -9.98958655e-01 -4.53048292e-04 1.42488931e+02] [ 9.98893271e-01 4.56245734e-02 -1.14293914e-02 1.07130096e+02] [ 1.14381596e-02 6.88891028e-05 9.99934580e-01 -1.87019011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:107.16, Z:-1.87 [[ 4.39014367e-02 -9.99035750e-01 -4.84796281e-04 1.42492490e+02] [ 9.98959793e-01 4.39040769e-02 -1.23192698e-02 1.07158413e+02] [ 1.23286755e-02 5.65416500e-05 9.99923997e-01 -1.86995994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:107.19, Z:-1.87 [[ 3.97046353e-02 -9.99211339e-01 -4.91456622e-04 1.42498533e+02] [ 9.99132096e-01 3.97076758e-02 -1.25839599e-02 1.07185367e+02] [ 1.25935501e-02 8.61145609e-06 9.99920698e-01 -1.86988724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:107.21, Z:-1.87 [[ 3.68241071e-02 -9.99321646e-01 -4.82849375e-04 1.42502266e+02] [ 9.99243992e-01 3.68272650e-02 -1.24578002e-02 1.07212417e+02] [ 1.24671315e-02 -2.37369668e-05 9.99922282e-01 -1.86964975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.24, Z:-1.87 [[ 3.34643891e-02 -9.99439809e-01 -4.51404905e-04 1.42506163e+02] [ 9.99370871e-01 3.34673827e-02 -1.17387124e-02 1.07240028e+02] [ 1.17472438e-02 -5.82920734e-05 9.99930997e-01 -1.86927855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.27, Z:-1.87 [[ 3.03582479e-02 -9.99538982e-01 -4.48179728e-04 1.42509892e+02] [ 9.99470035e-01 3.03614180e-02 -1.17402098e-02 1.07268129e+02] [ 1.17484047e-02 -9.15300083e-05 9.99930981e-01 -1.86875247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.30, Z:-1.87 [[ 2.37013798e-02 -9.99718990e-01 -4.31660567e-04 1.42516579e+02] [ 9.99654116e-01 2.37047598e-02 -1.13900480e-02 1.07295983e+02] [ 1.13970797e-02 -1.61551408e-04 9.99935038e-01 -1.86839079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.32, Z:-1.87 [[ 2.05442936e-02 -9.99788855e-01 -4.21998206e-04 1.42519567e+02] [ 9.99725947e-01 2.05477355e-02 -1.12169792e-02 1.07324353e+02] [ 1.12232819e-02 -1.91437643e-04 9.99936999e-01 -1.86834888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.35, Z:-1.87 [[ 2.00888709e-02 -9.99798116e-01 -4.06750648e-04 1.42520353e+02] [ 9.99738787e-01 2.00921106e-02 -1.08933863e-02 1.07352260e+02] [ 1.08993596e-02 -1.87808568e-04 9.99940583e-01 -1.86823011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.38, Z:-1.87 [[ 1.97397082e-02 -9.99805071e-01 -4.05865718e-04 1.42520870e+02] [ 9.99745098e-01 1.97429701e-02 -1.09523553e-02 1.07380447e+02] [ 1.09582334e-02 -1.89565963e-04 9.99939939e-01 -1.86832885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.41, Z:-1.87 [[ 1.92731035e-02 -9.99814148e-01 -4.65690333e-04 1.42521858e+02] [ 9.99733966e-01 1.92774565e-02 -1.26640072e-02 1.07408292e+02] [ 1.26706309e-02 -2.21491721e-04 9.99919700e-01 -1.86777867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:142.52, Y:107.44, Z:-1.87 [[ 1.78842352e-02 -9.99839941e-01 -4.97543910e-04 1.42521622e+02] [ 9.99746996e-01 1.78893578e-02 -1.36350549e-02 1.07436411e+02] [ 1.36417732e-02 -2.53565502e-04 9.99906915e-01 -1.86961299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.52, Y:107.46, Z:-1.87 [[ 1.47928095e-02 -9.99890431e-01 -5.46606864e-04 1.42520849e+02] [ 9.99776517e-01 1.47993767e-02 -1.50961547e-02 1.07464804e+02] [ 1.51025900e-02 -3.23170167e-04 9.99885897e-01 -1.87027825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.49, Z:-1.87 [[ 1.30947089e-02 -9.99914116e-01 -5.37330688e-04 1.42521408e+02] [ 9.99802320e-01 1.31012818e-02 -1.49558315e-02 1.07492988e+02] [ 1.49615868e-02 -3.41382209e-04 9.99888011e-01 -1.86926673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.52, Z:-1.87 [[ 1.01934874e-02 -9.99947898e-01 -5.42394122e-04 1.42521358e+02] [ 9.99832206e-01 1.02005612e-02 -1.52154043e-02 1.07520751e+02] [ 1.52201442e-02 -3.87205079e-04 9.99884092e-01 -1.86922608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.55, Z:-1.87 [[ 7.21854646e-03 -9.99973798e-01 -5.44131941e-04 1.42521143e+02] [ 9.99855524e-01 7.22606467e-03 -1.53855632e-02 1.07548753e+02] [ 1.53890920e-02 -4.32991924e-04 9.99881487e-01 -1.86894433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.58, Z:-1.87 [[ 1.29369565e-03 -9.99999048e-01 -4.80252099e-04 1.42519943e+02] [ 9.99905486e-01 1.30014771e-03 -1.36867760e-02 1.07577271e+02] [ 1.36873874e-02 -4.62500186e-04 9.99906216e-01 -1.86861173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.61, Z:-1.87 [[-1.27187127e-03 -9.99999098e-01 -4.32819004e-04 1.42520281e+02] [ 9.99921905e-01 -1.26639185e-03 -1.24329933e-02 1.07605550e+02] [ 1.24324340e-02 -4.48598370e-04 9.99922614e-01 -1.86745400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.52, Y:107.63, Z:-1.87 [[-3.50987670e-03 -9.99993769e-01 -3.77480931e-04 1.42520443e+02] [ 9.99934128e-01 -3.50554172e-03 -1.09293516e-02 1.07633813e+02] [ 1.09279603e-02 -4.15816743e-04 9.99940202e-01 -1.86656162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.66, Z:-1.87 [[-4.38625483e-03 -9.99990333e-01 -3.07494682e-04 1.42520282e+02] [ 9.99950122e-01 -4.38331885e-03 -8.97437903e-03 1.07661685e+02] [ 8.97294443e-03 -3.46843258e-04 9.99959682e-01 -1.86523424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.69, Z:-1.86 [[-2.79553748e-03 -9.99996073e-01 -1.95214414e-04 1.42517141e+02] [ 9.99979609e-01 -2.79437050e-03 -5.74213854e-03 1.07689698e+02] [ 5.74157049e-03 -2.11262797e-04 9.99983495e-01 -1.86453378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.72, Z:-1.86 [[-7.99994492e-04 -9.99999670e-01 -1.43175810e-04 1.42515992e+02] [ 9.99990665e-01 -7.99379310e-04 -4.24638113e-03 1.07716959e+02] [ 4.24626527e-03 -1.46571555e-04 9.99990974e-01 -1.86465975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.74, Z:-1.86 [[ 1.84640251e-03 -9.99998290e-01 -1.04918377e-04 1.42515033e+02] [ 9.99993371e-01 1.84672268e-03 -3.13813967e-03 1.07743925e+02] [ 3.13832806e-03 -9.91234126e-05 9.99995071e-01 -1.86478404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.77, Z:-1.87 [[ 6.30298846e-03 -9.99969047e-01 4.70938225e-03 1.42507678e+02] [ 9.99980134e-01 6.30263082e-03 -9.07783668e-05 1.07770597e+02] [ 6.10940591e-05 4.70986086e-03 9.99988907e-01 -1.86993036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.80, Z:-1.86 [[ 1.27829392e-02 -9.99906857e-01 -4.78264711e-03 1.42513768e+02] [ 9.99916636e-01 1.27914833e-02 -1.76018262e-03 1.07800607e+02] [ 1.82119582e-03 -4.75974811e-03 9.99987014e-01 -1.86298952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.83, Z:-1.87 [[ 1.68239116e-02 -9.99858466e-01 -5.68250669e-05 1.42510780e+02] [ 9.99856956e-01 1.68239850e-02 -1.73840966e-03 1.07827566e+02] [ 1.73911965e-03 -2.75700878e-05 9.99998487e-01 -1.86566975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.85, Z:-1.87 [[ 2.10340233e-02 -9.99778757e-01 -8.38516601e-05 1.42510060e+02] [ 9.99775394e-01 2.10341700e-02 -2.59349132e-03 1.07854841e+02] [ 2.59468128e-03 -2.92812696e-05 9.99996633e-01 -1.86599936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.88, Z:-1.87 [[ 2.89347519e-02 -9.99581294e-01 -1.31673164e-04 1.42508589e+02] [ 9.99572830e-01 2.89350488e-02 -4.11345491e-03 1.07883348e+02] [ 4.11554255e-03 -1.25951201e-05 9.99991531e-01 -1.86677744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.91, Z:-1.87 [[ 3.19666046e-02 -9.99488928e-01 -1.38991559e-04 1.42508776e+02] [ 9.99479319e-01 3.19669067e-02 -4.38261466e-03 1.07910477e+02] [ 4.38481796e-03 1.17812120e-06 9.99990387e-01 -1.86703772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:107.93, Z:-1.88 [[ 3.09870602e-02 -9.99351664e-01 1.83317953e-02 1.42496194e+02] [ 9.99519763e-01 3.09779487e-02 -7.80855763e-04 1.07934036e+02] [ 2.12468091e-04 1.83471882e-02 9.99831654e-01 -1.88266659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:107.97, Z:-1.86 [[ 3.66015144e-02 -9.99164655e-01 -1.81747672e-02 1.42518735e+02] [ 9.99313465e-01 3.66992896e-02 -5.07554602e-03 1.07967249e+02] [ 5.73830723e-03 -1.79765170e-02 9.99821942e-01 -1.85976724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:107.99, Z:-1.87 [[ 3.78853690e-02 -9.99282068e-01 -2.15538736e-04 1.42512963e+02] [ 9.99258712e-01 3.78859571e-02 -6.83226919e-03 1.07994501e+02] [ 6.83552998e-03 4.34640794e-05 9.99976637e-01 -1.86730902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:108.02, Z:-1.87 [[ 3.73271175e-02 -9.99303078e-01 -2.10788184e-04 1.42514875e+02] [ 9.99280334e-01 3.73276901e-02 -6.74217978e-03 1.08022226e+02] [ 6.74534925e-03 4.10296501e-05 9.99977249e-01 -1.86807110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:108.05, Z:-1.87 [[ 3.52186516e-02 -9.99379608e-01 -2.13695473e-04 1.42518855e+02] [ 9.99355804e-01 3.52192876e-02 -6.89769692e-03 1.08050098e+02] [ 6.90094385e-03 2.93697737e-05 9.99976188e-01 -1.86838713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:108.08, Z:-1.87 [[ 3.37596808e-02 -9.99429959e-01 -2.03993842e-04 1.42521396e+02] [ 9.99407872e-01 3.37602909e-02 -6.64443996e-03 1.08078461e+02] [ 6.64753925e-03 2.04411203e-05 9.99977905e-01 -1.86883148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:108.11, Z:-1.87 [[ 3.24097202e-02 -9.99474649e-01 -1.91831711e-04 1.42524131e+02] [ 9.99454760e-01 3.24102854e-02 -6.30517817e-03 1.08106315e+02] [ 6.30808306e-03 1.26219434e-05 9.99980104e-01 -1.86901240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:108.13, Z:-1.87 [[ 3.09376719e-02 -9.99521298e-01 -1.87329250e-04 1.42527458e+02] [ 9.99501982e-01 3.09382386e-02 -6.21394983e-03 1.08134591e+02] [ 6.21677084e-03 5.00918356e-06 9.99980676e-01 -1.86901383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:108.16, Z:-1.87 [[ 2.82446933e-02 -9.99601023e-01 -1.77714804e-04 1.42533589e+02] [ 9.99583319e-01 2.82452508e-02 -5.94925251e-03 1.08162033e+02] [ 5.95189850e-03 -9.60594136e-06 9.99982287e-01 -1.86836921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.19, Z:-1.87 [[ 2.69465504e-02 -9.99636860e-01 -1.75866004e-04 1.42536625e+02] [ 9.99619168e-01 2.69471198e-02 -5.94746550e-03 1.08189570e+02] [ 5.95004482e-03 -1.55353501e-05 9.99982298e-01 -1.86810806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.22, Z:-1.87 [[ 2.56641787e-02 -9.99670605e-01 -1.75534817e-04 1.42539383e+02] [ 9.99652635e-01 2.56647699e-02 -5.99404347e-03 1.08217754e+02] [ 5.99657412e-03 -2.16416395e-05 9.99982020e-01 -1.86844710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.25, Z:-1.87 [[ 2.40483521e-02 -9.99710781e-01 -1.79000508e-04 1.42543789e+02] [ 9.99691728e-01 2.40489989e-02 -6.17206098e-03 1.08245286e+02] [ 6.17458068e-03 -3.05174317e-05 9.99980937e-01 -1.86908801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.27, Z:-1.87 [[ 2.32952411e-02 -9.99676573e-01 1.02020231e-02 1.42541718e+02] [ 9.99686205e-01 2.31990284e-02 -9.44968402e-03 1.08273008e+02] [ 9.20995071e-03 1.04189544e-02 9.99903306e-01 -1.87366884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.30, Z:-1.86 [[ 2.52922898e-02 -9.99624551e-01 -1.05383438e-02 1.42552049e+02] [ 9.99663034e-01 2.53520486e-02 -5.57611681e-03 1.08300798e+02] [ 5.84119187e-03 -1.03937600e-02 9.99928923e-01 -1.86442970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.32, Z:-1.88 [[ 2.22699017e-02 -9.99745177e-01 3.69216252e-03 1.42542030e+02] [ 9.99746334e-01 2.22571960e-02 -3.44736436e-03 1.08324874e+02] [ 3.36430871e-03 3.76799841e-03 9.99987242e-01 -1.87513512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.36, Z:-1.87 [[ 2.66873056e-02 -9.99636084e-01 -3.93533175e-03 1.42550118e+02] [ 9.99619418e-01 2.67139594e-02 -6.88351492e-03 1.08356652e+02] [ 6.98613819e-03 -3.75013157e-03 9.99968565e-01 -1.86762500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.39, Z:-1.87 [[ 2.51234279e-02 -9.99684326e-01 -2.48608723e-04 1.42547817e+02] [ 9.99644434e-01 2.51246463e-02 -8.93071654e-03 1.08385271e+02] [ 8.93414355e-03 -2.41501135e-05 9.99960089e-01 -1.87044336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.41, Z:-1.87 [[ 2.29006194e-02 -9.99737714e-01 -2.53493865e-04 1.42548031e+02] [ 9.99695378e-01 2.29019825e-02 -9.20058110e-03 1.08413667e+02] [ 9.20397343e-03 -4.27176394e-05 9.99957642e-01 -1.87070021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.44, Z:-1.87 [[ 2.01472773e-02 -9.99796994e-01 -2.42611768e-04 1.42548465e+02] [ 9.99757375e-01 2.01486388e-02 -8.90071222e-03 1.08440454e+02] [ 8.90379362e-03 -6.32277876e-05 9.99960358e-01 -1.87060128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.47, Z:-1.87 [[ 1.67061657e-02 -9.99860416e-01 -2.27297157e-04 1.42548865e+02] [ 9.99824914e-01 1.67074881e-02 -8.42625302e-03 1.08468680e+02] [ 8.42887442e-03 -8.64869813e-05 9.99964473e-01 -1.87032241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84762800000001 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:142.55, Y:108.50, Z:-1.87 [[ 1.20050992e-02 -9.99927909e-01 -2.34950260e-04 1.42548995e+02] [ 9.99889162e-01 1.20067026e-02 -8.80356372e-03 1.08496865e+02] [ 8.80575003e-03 -1.29236562e-04 9.99961220e-01 -1.87270993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.55, Y:108.52, Z:-1.87 [[ 3.53766955e-03 -9.99993725e-01 -1.87940881e-04 1.42550454e+02] [ 9.99968405e-01 3.53891772e-03 -7.11788252e-03 1.08523591e+02] [ 7.11850296e-03 -1.62754227e-04 9.99974650e-01 -1.87244845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.55, Z:-1.87 [[-7.18853388e-04 -9.99999730e-01 -1.54420225e-04 1.42551534e+02] [ 9.99982357e-01 -7.17930331e-04 -5.89669751e-03 1.08550904e+02] [ 5.89658506e-03 -1.58656361e-04 9.99982602e-01 -1.86992454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.58, Z:-1.87 [[-4.28066996e-03 -9.99990829e-01 -1.37033165e-04 1.42551809e+02] [ 9.99976885e-01 -4.27988629e-03 -5.28317660e-03 1.08578953e+02] [ 5.28254166e-03 -1.59645533e-04 9.99986035e-01 -1.86933752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.61, Z:-1.87 [[-9.92638218e-03 -9.99950726e-01 -1.08266732e-04 1.42550755e+02] [ 9.99941847e-01 -9.92583748e-03 -4.21675810e-03 1.08606684e+02] [ 4.21547569e-03 -1.50117589e-04 9.99991104e-01 -1.86928960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.63, Z:-1.87 [[-1.18431628e-02 -9.99929863e-01 -9.55216592e-05 1.42550541e+02] [ 9.99922797e-01 -1.18427198e-02 -3.76169465e-03 1.08633504e+02] [ 3.76029958e-03 -1.40064647e-04 9.99992920e-01 -1.86930634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.66, Z:-1.87 [[-1.28085201e-02 -9.99917965e-01 -7.22741336e-05 1.42550079e+02] [ 9.99913836e-01 -1.28082594e-02 -2.87567349e-03 1.08660247e+02] [ 2.87451188e-03 -1.09101028e-04 9.99995863e-01 -1.86943385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.69, Z:-1.87 [[-1.29819499e-02 -9.99915728e-01 -7.15739778e-05 1.42550711e+02] [ 9.99911599e-01 -1.29816904e-02 -2.87569095e-03 1.08688805e+02] [ 2.87451946e-03 -1.08899726e-04 9.99995863e-01 -1.86938786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.72, Z:-1.87 [[-1.19323534e-02 -9.99928806e-01 -4.03394716e-05 1.42548817e+02] [ 9.99927484e-01 -1.19322720e-02 -1.62721956e-03 1.08716392e+02] [ 1.62662237e-03 -5.97531053e-05 9.99998675e-01 -1.86941895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.74, Z:-1.87 [[-1.02535882e-02 -9.99947430e-01 -2.04001228e-05 1.42548378e+02] [ 9.99947094e-01 -1.02535681e-02 -8.20562902e-04 1.08744855e+02] [ 8.20310591e-04 -2.88127576e-05 9.99999663e-01 -1.86950822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.77, Z:-1.87 [[-7.75223258e-03 -9.99969951e-01 -1.86426693e-05 1.42547928e+02] [ 9.99969665e-01 -7.75221624e-03 -7.57100917e-04 1.08773385e+02] [ 7.56933644e-04 -2.45113261e-05 9.99999713e-01 -1.86936317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.80, Z:-1.87 [[-4.58814361e-03 -9.99989474e-01 -1.15504833e-05 1.42547043e+02] [ 9.99989366e-01 -4.58813772e-03 -4.66632669e-04 1.08800057e+02] [ 4.66574762e-04 -1.36913382e-05 9.99999891e-01 -1.86983756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.83, Z:-1.87 [[-1.22764930e-03 -9.99999246e-01 -2.27112061e-05 1.42545531e+02] [ 9.99998796e-01 -1.22762719e-03 -9.49090592e-04 1.08827871e+02] [ 9.49061995e-04 -2.38763291e-05 9.99999549e-01 -1.87014534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.86, Z:-1.87 [[ 6.57128370e-03 -9.99978408e-01 -4.46436815e-05 1.42542834e+02] [ 9.99976591e-01 6.57135688e-03 -1.90661067e-03 1.08856501e+02] [ 1.90686287e-03 -3.21137568e-05 9.99998181e-01 -1.87122327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.88, Z:-1.87 [[ 9.95158548e-03 -9.99950480e-01 -5.33088368e-05 1.42542724e+02] [ 9.99947816e-01 9.95168204e-03 -2.30858879e-03 1.08884684e+02] [ 2.30900498e-03 -3.03319362e-05 9.99997334e-01 -1.87148246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.91, Z:-1.87 [[ 1.27309052e-02 -9.99918957e-01 -6.37309526e-05 1.42542676e+02] [ 9.99915039e-01 1.27310338e-02 -2.79936512e-03 1.08911758e+02] [ 2.79994961e-03 -2.80870859e-05 9.99996080e-01 -1.87180230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.94, Z:-1.87 [[ 1.70383435e-02 -9.99854833e-01 -8.27820213e-05 1.42543273e+02] [ 9.99848025e-01 1.70385330e-02 -3.68988413e-03 1.08939496e+02] [ 3.69075897e-03 -1.98999272e-05 9.99993189e-01 -1.87176620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:108.97, Z:-1.87 [[ 1.81344886e-02 -9.99835553e-01 -8.55189856e-05 1.42544378e+02] [ 9.99828091e-01 1.81346836e-02 -3.86293955e-03 1.08966166e+02] [ 3.86385517e-03 -1.54518509e-05 9.99992535e-01 -1.87183804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.99, Z:-1.87 [[ 1.88289435e-02 -9.99822716e-01 -8.74581865e-05 1.42545257e+02] [ 9.99814700e-01 1.88291427e-02 -4.00363551e-03 1.08994132e+02] [ 4.00457249e-03 -1.20577538e-05 9.99991982e-01 -1.87190629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:109.02, Z:-1.87 [[ 1.90502125e-02 -9.99818525e-01 -7.96103356e-05 1.42546420e+02] [ 9.99811714e-01 1.90503766e-02 -3.69049647e-03 1.09022529e+02] [ 3.69134335e-03 -9.29060411e-06 9.99993187e-01 -1.87310685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:109.05, Z:-1.87 [[ 1.79941586e-02 -9.99838089e-01 -8.33500374e-05 1.42548126e+02] [ 9.99830412e-01 1.79943470e-02 -3.91799478e-03 1.09049200e+02] [ 3.91886024e-03 -1.28348828e-05 9.99992321e-01 -1.87310492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:109.08, Z:-1.87 [[ 1.64265930e-02 -9.99865071e-01 -8.32866696e-05 1.42550566e+02] [ 9.99857195e-01 1.64267942e-02 -3.96873294e-03 1.09077489e+02] [ 3.96956558e-03 -1.80820151e-05 9.99992121e-01 -1.87282038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:109.11, Z:-1.87 [[ 1.40289469e-02 -9.99901587e-01 -7.31109378e-05 1.42552698e+02] [ 9.99895362e-01 1.40291176e-02 -3.52820241e-03 1.09105387e+02] [ 3.52888087e-03 -2.36063234e-05 9.99993773e-01 -1.87224211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.13, Z:-1.87 [[ 9.26993962e-03 -9.99957032e-01 -5.49419837e-05 1.42556395e+02] [ 9.99953446e-01 9.27005353e-03 -2.67818177e-03 1.09132220e+02] [ 2.67857601e-03 -3.01128426e-05 9.99996412e-01 -1.87216850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.16, Z:-1.87 [[ 6.39931688e-03 -9.99979523e-01 -5.70344144e-05 1.42558238e+02] [ 9.99975562e-01 6.39945207e-03 -2.81476778e-03 1.09159033e+02] [ 2.81507513e-03 -3.90204296e-05 9.99996037e-01 -1.87218340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.19, Z:-1.87 [[ 3.45049864e-03 -9.99994046e-01 -5.06903653e-05 1.42560104e+02] [ 9.99990825e-01 3.45061619e-03 -2.53820485e-03 1.09185051e+02] [ 2.53836465e-03 -4.19318278e-05 9.99996777e-01 -1.87230068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.21, Z:-1.87 [[ 9.32775525e-04 -9.99999564e-01 -4.68856508e-05 1.42562409e+02] [ 9.99996724e-01 9.32884631e-04 -2.38357169e-03 1.09212641e+02] [ 2.38361439e-03 -4.46621598e-05 9.99997158e-01 -1.87198994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.24, Z:-1.87 [[-3.20360961e-03 -9.99994867e-01 -5.58327529e-05 1.42565249e+02] [ 9.99990699e-01 -3.20343503e-03 -2.88773986e-03 1.09239600e+02] [ 2.88754618e-03 -6.50834248e-05 9.99995829e-01 -1.87222097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.27, Z:-1.87 [[-3.87952517e-03 -9.99992473e-01 -5.51741882e-05 1.42565236e+02] [ 9.99988271e-01 -3.87934888e-03 -2.89966609e-03 1.09266139e+02] [ 2.89943022e-03 -6.64228687e-05 9.99995794e-01 -1.87217742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.29, Z:-1.87 [[-3.91612152e-03 -9.99992330e-01 -6.23266333e-05 1.42564853e+02] [ 9.99986779e-01 -3.91589205e-03 -3.33289781e-03 1.09292949e+02] [ 3.33262818e-03 -7.53778421e-05 9.99994444e-01 -1.87253792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.32, Z:-1.87 [[-3.96043227e-03 -9.99992152e-01 -1.08017301e-04 1.42564859e+02] [ 9.99974800e-01 -3.95972707e-03 -5.89237316e-03 1.09319086e+02] [ 5.89189919e-03 -1.31350924e-04 9.99982634e-01 -1.87216934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.35, Z:-1.87 [[-4.50091970e-03 -9.99989863e-01 -1.26456917e-04 1.42564439e+02] [ 9.99965261e-01 -4.49992171e-03 -7.01623686e-03 1.09346074e+02] [ 7.01559669e-03 -1.58032043e-04 9.99975378e-01 -1.87247215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.38, Z:-1.88 [[-4.89907435e-03 -9.99968185e-01 6.29511672e-03 1.42561039e+02] [ 9.99942232e-01 -4.95898100e-03 -9.53626298e-03 1.09375687e+02] [ 9.56717694e-03 6.24803420e-03 9.99934713e-01 -1.87602295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.40, Z:-1.87 [[-3.91713463e-03 -9.99970666e-01 -6.58206430e-03 1.42566046e+02] [ 9.99947898e-01 -3.85482971e-03 -9.45203631e-03 1.09403165e+02] [ 9.42638631e-03 -6.61874626e-03 9.99933666e-01 -1.87053412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.43, Z:-1.87 [[-3.75360991e-03 -9.99992939e-01 -1.78804827e-04 1.42562667e+02] [ 9.99938703e-01 -3.75154369e-03 -1.04170969e-02 1.09431248e+02] [ 1.04163525e-02 -2.17895585e-04 9.99945725e-01 -1.87386524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.56, Y:109.46, Z:-1.88 [[-3.88906598e-03 -9.99992417e-01 -2.04655017e-04 1.42561651e+02] [ 9.99918946e-01 -3.88629894e-03 -1.21242385e-02 1.09458937e+02] [ 1.21233512e-02 -2.51790393e-04 9.99926478e-01 -1.87553036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.49, Z:-1.87 [[-3.30013916e-03 -9.99994537e-01 -1.85534937e-04 1.42560948e+02] [ 9.99932040e-01 -3.29785822e-03 -1.11821191e-02 1.09486187e+02] [ 1.11814462e-02 -2.22424877e-04 9.99937461e-01 -1.87409239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.51, Z:-1.87 [[-2.04173463e-03 -9.99997901e-01 -1.70776807e-04 1.42560376e+02] [ 9.99943100e-01 -2.03983459e-03 -1.04707022e-02 1.09514191e+02] [ 1.04703319e-02 -1.92145485e-04 9.99945166e-01 -1.87324887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.54, Z:-1.87 [[-1.00959720e-03 -9.99999479e-01 -1.53293417e-04 1.42560261e+02] [ 9.99953746e-01 -1.00808477e-03 -9.56500975e-03 1.09542410e+02] [ 9.56485023e-03 -1.62943134e-04 9.99954243e-01 -1.87265453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.57, Z:-1.87 [[ 4.38711156e-04 -9.99999895e-01 -1.34112600e-04 1.42560185e+02] [ 9.99963564e-01 4.39838536e-04 -8.52506851e-03 1.09569505e+02] [ 8.52512661e-03 -1.30367671e-04 9.99963652e-01 -1.87152378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.60, Z:-1.87 [[ 2.35758010e-03 -9.99997215e-01 -1.11255316e-04 1.42560216e+02] [ 9.99971306e-01 2.35831995e-03 -7.19899015e-03 1.09597966e+02] [ 7.19923247e-03 -9.42799277e-05 9.99974081e-01 -1.87153215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.63, Z:-1.87 [[ 6.90807095e-03 -9.99976135e-01 -8.72750302e-05 1.42560304e+02] [ 9.99959602e-01 6.90845861e-03 -5.75040320e-03 1.09625145e+02] [ 5.75086891e-03 -4.75473112e-05 9.99983462e-01 -1.87091871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.65, Z:-1.87 [[ 9.12914334e-03 -9.99958325e-01 -8.78493152e-05 1.42560287e+02] [ 9.99940917e-01 9.12950278e-03 -5.90036162e-03 1.09653554e+02] [ 5.90091774e-03 -3.39788778e-05 9.99982589e-01 -1.87102553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.68, Z:-1.87 [[ 1.09330392e-02 -9.99940230e-01 -7.42152652e-05 1.42560399e+02] [ 9.99927340e-01 1.09332751e-02 -5.07719850e-03 1.09681280e+02] [ 5.07770645e-03 -1.87006625e-05 9.99987108e-01 -1.87177142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.71, Z:-1.87 [[ 1.43885526e-02 -9.99896478e-01 -6.02387182e-05 1.42561433e+02] [ 9.99887668e-01 1.43886787e-02 -4.19723783e-03 1.09709780e+02] [ 4.19767008e-03 1.60225729e-07 9.99991190e-01 -1.87197159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.74, Z:-1.87 [[ 1.56283319e-02 -9.99877868e-01 -6.18057809e-05 1.42562495e+02] [ 9.99868194e-01 1.56284526e-02 -4.39831429e-03 1.09736549e+02] [ 4.39874304e-03 6.94068104e-06 9.99990325e-01 -1.87169671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.76, Z:-1.87 [[ 1.67768498e-02 -9.99859257e-01 -6.28802340e-05 1.42563545e+02] [ 9.99848811e-01 1.67769619e-02 -4.57043525e-03 1.09764156e+02] [ 4.57084693e-03 1.38067784e-05 9.99989554e-01 -1.87174815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:109.79, Z:-1.87 [[ 1.73222172e-02 -9.99849956e-01 -7.35151104e-05 1.42564605e+02] [ 9.99835033e-01 1.73223603e-02 -5.46275696e-03 1.09791825e+02] [ 5.46321076e-03 2.11240795e-05 9.99985076e-01 -1.87178494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.82, Z:-1.87 [[ 1.82409726e-02 -9.99833615e-01 -9.87106460e-05 1.42566750e+02] [ 9.99805436e-01 1.82411996e-02 -7.50660174e-03 1.09819756e+02] [ 7.50715335e-03 3.82362765e-05 9.99971820e-01 -1.87269409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.85, Z:-1.87 [[ 1.83957422e-02 -9.99830778e-01 -1.09688723e-04 1.42568098e+02] [ 9.99794384e-01 1.83960084e-02 -8.53096187e-03 1.09847891e+02] [ 8.53153607e-03 4.72672059e-05 9.99963605e-01 -1.87279620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.87, Z:-1.87 [[ 1.83691160e-02 -9.99831267e-01 -1.14409596e-04 1.42569501e+02] [ 9.99789754e-01 1.83693959e-02 -9.11112243e-03 1.09874508e+02] [ 9.11168672e-03 5.29777224e-05 9.99958486e-01 -1.87277719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.90, Z:-1.87 [[ 1.79225728e-02 -9.99839371e-01 -1.12675154e-04 1.42572000e+02] [ 9.99797209e-01 1.79228518e-02 -9.18220377e-03 1.09902466e+02] [ 9.18274830e-03 5.19164111e-05 9.99957836e-01 -1.87367697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.93, Z:-1.87 [[ 1.67308982e-02 -9.99860022e-01 -1.13549072e-04 1.42573467e+02] [ 9.99815058e-01 1.67312226e-02 -9.48239107e-03 1.09929974e+02] [ 9.48296356e-03 4.51208475e-05 9.99955035e-01 -1.87372791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.96, Z:-1.87 [[ 1.57354065e-02 -9.99876184e-01 -1.13413805e-04 1.42574348e+02] [ 9.99829055e-01 1.57357659e-02 -9.70810661e-03 1.09958325e+02] [ 9.70868925e-03 3.93665862e-05 9.99952869e-01 -1.87326571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.99, Z:-1.87 [[ 1.53797211e-02 -9.99881720e-01 -9.68950965e-05 1.42572984e+02] [ 9.99845515e-01 1.53799888e-02 -8.50892091e-03 1.09985938e+02] [ 8.50940473e-03 3.39847030e-05 9.99963794e-01 -1.87330911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.01, Z:-1.87 [[ 1.54428910e-02 -9.99880747e-01 -9.15095622e-05 1.42571769e+02] [ 9.99846701e-01 1.54431204e-02 -8.25131375e-03 1.10012800e+02] [ 8.25174295e-03 3.59286051e-05 9.99965953e-01 -1.87365548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.04, Z:-1.87 [[ 1.57256443e-02 -9.99876341e-01 -8.54201899e-05 1.42570922e+02] [ 9.99845098e-01 1.57258282e-02 -7.90430165e-03 1.10040636e+02] [ 7.90466751e-03 3.88932777e-05 9.99968757e-01 -1.87352157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.07, Z:-1.87 [[ 1.55943389e-02 -9.99878397e-01 -8.46428014e-05 1.42569815e+02] [ 9.99846411e-01 1.55945171e-02 -7.99783342e-03 1.10067897e+02] [ 7.99818083e-03 4.00911239e-05 9.99968013e-01 -1.87363305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.10, Z:-1.87 [[ 1.53810328e-02 -9.99881702e-01 -8.27588638e-05 1.42568777e+02] [ 9.99849545e-01 1.53812019e-02 -8.01909453e-03 1.10095699e+02] [ 8.01941882e-03 4.05955438e-05 9.99967843e-01 -1.87395945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.12, Z:-1.88 [[ 1.38915990e-02 -9.99903503e-01 -8.54049549e-05 1.42567273e+02] [ 9.99867277e-01 1.38918227e-02 -8.51155133e-03 1.10123821e+02] [ 8.51191642e-03 3.28454381e-05 9.99963772e-01 -1.87530087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.15, Z:-1.88 [[ 1.29302624e-02 -9.99916397e-01 -8.85144360e-05 1.42567586e+02] [ 9.99875153e-01 1.29305330e-02 -9.08183769e-03 1.10152284e+02] [ 9.08222296e-03 2.89271592e-05 9.99958755e-01 -1.87590495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.18, Z:-1.88 [[ 1.19741472e-02 -9.99928303e-01 -9.41806143e-05 1.42568248e+02] [ 9.99878721e-01 1.19744913e-02 -9.95761320e-03 1.10180776e+02] [ 9.95802703e-03 2.50647339e-05 9.99950417e-01 -1.87587015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.57, Y:110.21, Z:-1.88 [[ 1.02012435e-02 -9.99947960e-01 -1.07051989e-04 1.42568586e+02] [ 9.99880745e-01 1.02017990e-02 -1.15938993e-02 1.10207686e+02] [ 1.15943880e-02 1.12329660e-05 9.99932783e-01 -1.87797297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.57, Y:110.24, Z:-1.88 [[ 8.41482856e-03 -9.99964588e-01 -1.13674168e-04 1.42567955e+02] [ 9.99884034e-01 8.41559354e-03 -1.26923854e-02 1.10235368e+02] [ 1.26928926e-02 -6.85673800e-06 9.99919442e-01 -1.87935775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.57, Y:110.26, Z:-1.88 [[ 8.14773464e-03 -9.99966801e-01 -1.10252432e-04 1.42568140e+02] [ 9.99886246e-01 8.14847770e-03 -1.26924156e-02 1.10263965e+02] [ 1.26928926e-02 -6.82545612e-06 9.99919442e-01 -1.87930896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.29, Z:-1.88 [[ 6.53153012e-03 -9.99978664e-01 -1.07014684e-04 1.42567847e+02] [ 9.99897316e-01 6.53236377e-03 -1.27548285e-02 1.10291250e+02] [ 1.27552554e-02 -2.36951492e-05 9.99918648e-01 -1.87807745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.32, Z:-1.88 [[ 5.22926256e-03 -9.99986323e-01 -9.33598586e-05 1.42568240e+02] [ 9.99920065e-01 5.22999079e-03 -1.15113672e-02 1.10319047e+02] [ 1.15116981e-02 -3.31564341e-05 9.99933738e-01 -1.87792647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.35, Z:-1.88 [[ 3.99785488e-03 -9.99992005e-01 -8.02911222e-05 1.42569045e+02] [ 9.99939486e-01 3.99846780e-03 -1.02487201e-02 1.10346951e+02] [ 1.02489592e-02 -3.93133677e-05 9.99947477e-01 -1.87682352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.38, Z:-1.88 [[ 2.73211420e-03 -9.99996266e-01 -6.73511042e-05 1.42570150e+02] [ 9.99956599e-01 2.73260572e-03 -8.90695069e-03 1.10375407e+02] [ 8.90710147e-03 -4.30133747e-05 9.99960330e-01 -1.87569662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:142.57, Y:110.40, Z:-1.88 [[-2.26139881e-04 -9.99999973e-01 -5.06941349e-05 1.42570697e+02] [ 9.99975819e-01 -2.25782069e-04 -6.95052673e-03 1.10403361e+02] [ 6.95051510e-03 -5.22647004e-05 9.99975844e-01 -1.87795637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.43, Z:-1.88 [[-6.14772517e-04 -9.99999810e-01 -3.91221299e-05 1.42571217e+02] [ 9.99984311e-01 -6.14545168e-04 -5.56772802e-03 1.10431210e+02] [ 5.56770292e-03 -4.25444023e-05 9.99984499e-01 -1.87628554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.46, Z:-1.88 [[-8.80807272e-04 -9.99999611e-01 -3.76095020e-05 1.42571346e+02] [ 9.99984112e-01 -8.80584222e-04 -5.56773838e-03 1.10459808e+02] [ 5.56770310e-03 -4.25130089e-05 9.99984499e-01 -1.87623674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.49, Z:-1.88 [[-1.49577455e-03 -9.99998881e-01 -3.03026135e-05 1.42571413e+02] [ 9.99987995e-01 -1.49561687e-03 -4.66615093e-03 1.10487731e+02] [ 4.66610038e-03 -3.72817595e-05 9.99989113e-01 -1.87673154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.51, Z:-1.88 [[-2.21888043e-03 -9.99997538e-01 -1.74882908e-05 1.42572546e+02] [ 9.99993655e-01 -2.21882308e-03 -2.78677439e-03 1.10514465e+02] [ 2.78672872e-03 -2.36716990e-05 9.99996117e-01 -1.87755017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.54, Z:-1.88 [[-2.59372091e-03 -9.99996636e-01 -1.21345409e-05 1.42573596e+02] [ 9.99994626e-01 -2.59369136e-03 -2.00539638e-03 1.10543026e+02] [ 2.00535816e-03 -1.73359142e-05 9.99997989e-01 -1.87688771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.57, Z:-1.88 [[-2.87976636e-03 -9.99995853e-01 -8.04436180e-06 1.42574460e+02] [ 9.99994919e-01 -2.87975267e-03 -1.36691429e-03 1.10570310e+02] [ 1.36688545e-03 -1.19807147e-05 9.99999066e-01 -1.87645832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.60, Z:-1.88 [[-2.81169692e-03 -9.99996047e-01 -7.34700264e-06 1.42574646e+02] [ 9.99995186e-01 -2.81168485e-03 -1.31258597e-03 1.10598662e+02] [ 1.31256013e-03 -1.10375612e-05 9.99999139e-01 -1.87636737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.88 [[-9.60670153e-04 -9.99999539e-01 -1.26535439e-05 1.42572657e+02] [ 9.99996514e-01 -9.60636130e-04 -2.45933223e-03 1.10626975e+02] [ 2.45931894e-03 -1.50161069e-05 9.99996976e-01 -1.87728277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.65, Z:-1.88 [[ 2.72530984e-04 -9.99999963e-01 -1.47604999e-05 1.42571008e+02] [ 9.99995272e-01 2.72574916e-04 -3.06300267e-03 1.10654450e+02] [ 3.06300658e-03 -1.39256669e-05 9.99995309e-01 -1.87774538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.68, Z:-1.88 [[ 1.54125934e-03 -9.99998812e-01 -1.86491424e-05 1.42568885e+02] [ 9.99990150e-01 1.54132361e-03 -4.16234726e-03 1.10681681e+02] [ 4.16237106e-03 -1.22337021e-05 9.99991337e-01 -1.87830208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.71, Z:-1.88 [[ 3.96974481e-03 -9.99992120e-01 -2.91216836e-05 1.42565240e+02] [ 9.99967481e-01 3.96985143e-03 -7.01975774e-03 1.10709668e+02] [ 7.01981803e-03 -1.25408972e-06 9.99975361e-01 -1.87970407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.74, Z:-1.88 [[ 4.30364223e-03 -9.99990739e-01 -3.06676165e-05 1.42563786e+02] [ 9.99959193e-01 4.30375006e-03 -7.94287252e-03 1.10737503e+02] [ 7.94293094e-03 3.51691657e-06 9.99968454e-01 -1.88023636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.77, Z:-1.88 [[ 4.33873250e-03 -9.99990587e-01 -2.95302985e-05 1.42562480e+02] [ 9.99956419e-01 4.33882837e-03 -8.26654020e-03 1.10765679e+02] [ 8.26659052e-03 6.33729512e-06 9.99965831e-01 -1.88138431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.79, Z:-1.88 [[ 3.62955868e-03 -9.99993413e-01 -2.90874994e-05 1.42561905e+02] [ 9.99953787e-01 3.62967380e-03 -8.90223975e-03 1.10793282e+02] [ 8.90228669e-03 3.22504636e-06 9.99960374e-01 -1.88123465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.82, Z:-1.88 [[ 1.08566893e-03 -9.99999410e-01 -2.35780037e-05 1.42562304e+02] [ 9.99968299e-01 1.08582114e-03 -7.88811402e-03 1.10821810e+02] [ 7.88813497e-03 -1.50133759e-05 9.99968888e-01 -1.88043114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.85, Z:-1.88 [[-6.82910512e-04 -9.99999767e-01 -1.86111431e-05 1.42562551e+02] [ 9.99976323e-01 -6.82767063e-04 -6.84749611e-03 1.10850208e+02] [ 6.84748180e-03 -2.32869295e-05 9.99976555e-01 -1.87993038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.88, Z:-1.88 [[-2.42214450e-03 -9.99997067e-01 -1.43918983e-05 1.42562391e+02] [ 9.99979798e-01 -2.42201809e-03 -5.87684086e-03 1.10878542e+02] [ 5.87678876e-03 -2.86261653e-05 9.99982731e-01 -1.87991507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.91, Z:-1.88 [[-4.44238648e-03 -9.99990133e-01 -1.12947333e-05 1.42562020e+02] [ 9.99976691e-01 -4.44226821e-03 -5.18496870e-03 1.10906934e+02] [ 5.18486736e-03 -3.43281049e-05 9.99986558e-01 -1.87969596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.93, Z:-1.88 [[-6.36544577e-03 -9.99951011e-01 7.58004827e-03 1.42559260e+02] [ 9.99956872e-01 -6.41638207e-03 -6.71453488e-03 1.10933070e+02] [ 6.76284243e-03 7.53698035e-03 9.99948728e-01 -1.88264552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.96, Z:-1.88 [[-7.50683626e-03 -9.99943310e-01 -7.55149104e-03 1.42566676e+02] [ 9.99962125e-01 -7.47329003e-03 -4.46078490e-03 1.10962048e+02] [ 4.40409753e-03 -7.58469141e-03 9.99961537e-01 -1.87632762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.99, Z:-1.88 [[-7.74840472e-03 -9.99969981e-01 -9.05123017e-06 1.42563362e+02] [ 9.99952124e-01 -7.74821226e-03 -5.97621649e-03 1.10990054e+02] [ 5.97596696e-03 -5.53569409e-05 9.99982142e-01 -1.88034143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.02, Z:-1.88 [[-7.17868336e-03 -9.99974233e-01 -8.78400147e-06 1.42563960e+02] [ 9.99948137e-01 -7.17843256e-03 -7.22456910e-03 1.11017932e+02] [ 7.22431989e-03 -6.06464399e-05 9.99973902e-01 -1.88027884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.607628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.56, Y:111.05, Z:-1.88 [[-6.13543914e-03 -9.99981178e-01 -8.74994273e-06 1.42564459e+02] [ 9.99941200e-01 -6.13511561e-03 -8.94182711e-03 1.11045471e+02] [ 8.94160512e-03 -6.36114643e-05 9.99960021e-01 -1.88042015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.07, Z:-1.88 [[-4.77568458e-03 -9.99988596e-01 -6.73181998e-06 1.42564203e+02] [ 9.99940568e-01 -4.77538923e-03 -9.80077592e-03 1.11072330e+02] [ 9.80063201e-03 -5.35368343e-05 9.99951971e-01 -1.88024891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.10, Z:-1.88 [[-1.59558966e-03 -9.99998727e-01 -4.57094042e-06 1.42563023e+02] [ 9.99932151e-01 -1.59543069e-03 -1.15390163e-02 1.11100347e+02] [ 1.15389943e-02 -2.29821654e-05 9.99933423e-01 -1.88093027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.13, Z:-1.88 [[-4.98234804e-04 -9.99999876e-01 -1.35596919e-06 1.42562095e+02] [ 9.99924270e-01 -4.98180462e-04 -1.22965677e-02 1.11128497e+02] [ 1.22965655e-02 -7.48244449e-06 9.99924394e-01 -1.88094520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.727628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.56, Y:111.16, Z:-1.88 [[ 6.49147430e-05 -9.99999998e-01 2.34146973e-06 1.42561022e+02] [ 9.99911106e-01 6.48777521e-05 -1.33332639e-02 1.11156240e+02] [ 1.33332637e-02 3.20678697e-06 9.99911108e-01 -1.88272698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.16, Z:-1.88 [[ 9.32114812e-04 -9.99999566e-01 6.90303315e-06 1.42560415e+02] [ 9.99918738e-01 9.31951705e-04 -1.27140901e-02 1.11157511e+02] [ 1.27140781e-02 1.87534639e-05 9.99919173e-01 -1.88122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.15, Z:-1.88 [[ 5.24708521e-04 -9.99999862e-01 1.23781101e-05 1.42561172e+02] [ 9.99911107e-01 5.24497036e-04 -1.33230128e-02 1.11151222e+02] [ 1.33230045e-02 1.93677081e-05 9.99911245e-01 -1.88046002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.15, Z:-1.88 [[-1.54005208e-04 -9.99999988e-01 1.71425208e-05 1.42562056e+02] [ 9.99914553e-01 -1.54216128e-04 -1.30714229e-02 1.11150450e+02] [ 1.30714254e-02 1.51279888e-05 9.99914565e-01 -1.87981138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.15, Z:-1.88 [[-1.21410398e-03 -9.99999263e-01 2.17086431e-05 1.42563108e+02] [ 9.99917121e-01 -1.21428249e-03 -1.28170112e-02 1.11147105e+02] [ 1.28170281e-02 6.14565958e-06 9.99917859e-01 -1.87934931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.16, Z:-1.88 [[-2.03537144e-03 -9.99997928e-01 2.60631630e-05 1.42563778e+02] [ 9.99919210e-01 -2.03553824e-03 -1.25470951e-02 1.11156043e+02] [ 1.25471221e-02 5.23058336e-07 9.99921282e-01 -1.87934349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.15, Z:-1.88 [[-2.54076413e-03 -9.99996772e-01 3.11061534e-05 1.42564567e+02] [ 9.99917023e-01 -2.54095435e-03 -1.26289577e-02 1.11147784e+02] [ 1.26289960e-02 -9.83630432e-07 9.99920251e-01 -1.87893622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.14, Z:-1.88 [[-2.66071039e-03 -9.99996460e-01 3.41636180e-05 1.42564723e+02] [ 9.99924348e-01 -2.66092880e-03 -1.20090409e-02 1.11143491e+02] [ 1.20090893e-02 2.20845365e-06 9.99927888e-01 -1.87902469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.56, Y:111.14, Z:-1.88 [[-2.95057436e-03 -9.99995646e-01 4.10334251e-05 1.42564834e+02] [ 9.99915058e-01 -2.95085751e-03 -1.26952176e-02 1.11140779e+02] [ 1.26952834e-02 3.57175605e-06 9.99919412e-01 -1.88014173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.14, Z:-1.88 [[-2.49245523e-03 -9.99996893e-01 4.35947879e-05 1.42565044e+02] [ 9.99924095e-01 -2.49279980e-03 -1.20660398e-02 1.11135116e+02] [ 1.20661109e-02 1.35174150e-05 9.99927202e-01 -1.87865178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.14, Z:-1.88 [[-1.43719209e-03 -9.99998966e-01 5.16736715e-05 1.42564931e+02] [ 9.99915554e-01 -1.43773962e-03 -1.29157783e-02 1.11138975e+02] [ 1.29158392e-02 3.31068535e-05 9.99916587e-01 -1.87819729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.13, Z:-1.88 [[-1.06903591e-03 -9.99999427e-01 5.61795054e-05 1.42564831e+02] [ 9.99917351e-01 -1.06966794e-03 -1.28119541e-02 1.11133746e+02] [ 1.28120069e-02 4.24784232e-05 9.99917922e-01 -1.87858347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.13, Z:-1.88 [[-7.85149093e-04 -9.99999690e-01 6.10670067e-05 1.42564531e+02] [ 9.99917717e-01 -7.85866635e-04 -1.28040092e-02 1.11133711e+02] [ 1.28040532e-02 5.10089257e-05 9.99918023e-01 -1.87866112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.14, Z:-1.88 [[-2.58838575e-04 -9.99999964e-01 6.61599491e-05 1.42564075e+02] [ 9.99917596e-01 -2.59666409e-04 -1.28348470e-02 1.11135348e+02] [ 1.28348637e-02 6.28323438e-05 9.99917628e-01 -1.87855488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.13, Z:-1.88 [[ 6.15649140e-04 -9.99999808e-01 6.90976175e-05 1.42562779e+02] [ 9.99921976e-01 6.14739124e-04 -1.24765179e-02 1.11126373e+02] [ 1.24764731e-02 7.67733838e-05 9.99922163e-01 -1.87879941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.13, Z:-1.88 [[ 4.73688752e-04 -9.99999885e-01 7.59223307e-05 1.42562605e+02] [ 9.99917773e-01 4.72676913e-04 -1.28149722e-02 1.11128647e+02] [ 1.28149348e-02 8.19863960e-05 9.99917882e-01 -1.87867647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.12, Z:-1.88 [[-9.93144234e-05 -9.99999992e-01 8.22755426e-05 1.42562884e+02] [ 9.99914996e-01 -1.00378694e-04 -1.30380251e-02 1.11124088e+02] [ 1.30380333e-02 8.09736849e-05 9.99914998e-01 -1.87858631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.12, Z:-1.88 [[-1.05506794e-03 -9.99999439e-01 9.19111620e-05 1.42563453e+02] [ 9.99905286e-01 -1.05622984e-03 -1.37223481e-02 1.11121641e+02] [ 1.37224375e-02 7.74244472e-05 9.99905840e-01 -1.87811553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26762800000003 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.56, Y:111.11, Z:-1.88 [[-4.81520675e-03 -9.99988402e-01 9.47788551e-05 1.42564765e+02] [ 9.99898814e-01 -4.81604403e-03 -1.33853403e-02 1.11114629e+02] [ 1.33856415e-02 3.03160840e-05 9.99910408e-01 -1.87833226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.11, Z:-1.88 [[-6.94363556e-03 -9.99975888e-01 9.67098120e-05 1.42565395e+02] [ 9.99891907e-01 -6.94430576e-03 -1.29595552e-02 1.11110806e+02] [ 1.29599143e-02 6.71293028e-06 9.99916017e-01 -1.87757915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.11, Z:-1.88 [[-9.36324072e-03 -9.99956159e-01 1.03696784e-04 1.42565358e+02] [ 9.99868829e-01 -9.36379345e-03 -1.32153103e-02 1.11109715e+02] [ 1.32157019e-02 -2.00549499e-05 9.99912669e-01 -1.87792743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.11, Z:-1.88 [[-1.12630412e-02 -9.99936564e-01 1.07320599e-04 1.42565854e+02] [ 9.99851514e-01 -1.12634829e-02 -1.30416068e-02 1.11105513e+02] [ 1.30419883e-02 -3.95834910e-05 9.99914949e-01 -1.87853407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.387628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.57, Y:111.10, Z:-1.88 [[-1.57309222e-02 -9.99876254e-01 1.23136817e-04 1.42566555e+02] [ 9.99774118e-01 -1.57310753e-02 -1.42914660e-02 1.11099271e+02] [ 1.42916345e-02 -1.01708936e-04 9.99897864e-01 -1.88012565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.10, Z:-1.88 [[-1.68330984e-02 -9.99858306e-01 1.25459517e-04 1.42566929e+02] [ 9.99761072e-01 -1.68332112e-02 -1.39442243e-02 1.11101654e+02] [ 1.39443604e-02 -1.09294960e-04 9.99902767e-01 -1.87861378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.10, Z:-1.88 [[-1.78751039e-02 -9.99840218e-01 1.35538354e-04 1.42566639e+02] [ 9.99735845e-01 -1.78751964e-02 -1.44470569e-02 1.11096910e+02] [ 1.44471713e-02 -1.22740092e-04 9.99895627e-01 -1.87882380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:111.09, Z:-1.88 [[-1.83716986e-02 -9.99831217e-01 1.37608183e-04 1.42565839e+02] [ 9.99731866e-01 -1.83718130e-02 -1.40951056e-02 1.11093522e+02] [ 1.40952547e-02 -1.21379748e-04 9.99900650e-01 -1.87948877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.09, Z:-1.88 [[-1.78938183e-02 -9.99839883e-01 1.37988828e-04 1.42564828e+02] [ 9.99747334e-01 -1.78940395e-02 -1.36040967e-02 1.11090532e+02] [ 1.36043876e-02 -1.05475271e-04 9.99907450e-01 -1.87901222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.09, Z:-1.88 [[-1.77416353e-02 -9.99842595e-01 1.37465143e-04 1.42564268e+02] [ 9.99757259e-01 -1.77419171e-02 -1.30632165e-02 1.11088046e+02] [ 1.30635992e-02 -9.43310494e-05 9.99914663e-01 -1.87825538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.09, Z:-1.88 [[-1.73945681e-02 -9.99848695e-01 1.26902592e-04 1.42563639e+02] [ 9.99780893e-01 -1.73948664e-02 -1.16440820e-02 1.11085161e+02] [ 1.16445277e-02 -7.56689912e-05 9.99932197e-01 -1.87771335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.70198597e-02 -9.99855144e-01 1.24695687e-04 1.42562910e+02] [ 9.99794004e-01 -1.70201979e-02 -1.10572619e-02 1.11084503e+02] [ 1.10577826e-02 -6.35230465e-05 9.99938859e-01 -1.87652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.50562596e-02 -9.99886642e-01 1.07776120e-04 1.42561095e+02] [ 9.99843824e-01 -1.50566122e-02 -9.25339119e-03 1.11082334e+02] [ 9.25396499e-03 -3.15621718e-05 9.99957181e-01 -1.87606090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.41600563e-02 -9.99899736e-01 1.06949265e-04 1.42559793e+02] [ 9.99860190e-01 -1.41604475e-02 -8.89279326e-03 1.11080888e+02] [ 8.89341608e-03 -1.89881411e-05 9.99960453e-01 -1.87625242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.34339156e-02 -9.99909755e-01 1.07771457e-04 1.42558500e+02] [ 9.99872026e-01 -1.34343449e-02 -8.68614446e-03 1.11078671e+02] [ 8.68680841e-03 -8.93126653e-06 9.99962269e-01 -1.87676171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.26570216e-02 -9.99919890e-01 1.12035602e-04 1.42557692e+02] [ 9.99881526e-01 -1.26575174e-02 -8.75903516e-03 1.11078084e+02] [ 8.75975157e-03 1.15903089e-06 9.99961633e-01 -1.87753802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.11680344e-02 -9.99937629e-01 1.17981491e-04 1.42557102e+02] [ 9.99897535e-01 -1.11686431e-02 -8.95432751e-03 1.11076976e+02] [ 8.95508671e-03 1.79671642e-05 9.99959902e-01 -1.87771842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.08, Z:-1.88 [[-1.12659847e-02 -9.99936530e-01 1.19710203e-04 1.42556998e+02] [ 9.99897550e-01 -1.12666025e-02 -8.82914058e-03 1.11076868e+02] [ 8.82992892e-03 2.02289757e-05 9.99961015e-01 -1.87770554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.07, Z:-1.88 [[-1.17585742e-02 -9.99930859e-01 1.14854174e-04 1.42557115e+02] [ 9.99896899e-01 -1.17591215e-02 -8.24105121e-03 1.11073680e+02] [ 8.24183200e-03 1.79393202e-05 9.99966035e-01 -1.87767006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.07, Z:-1.88 [[-1.42533669e-02 -9.99898410e-01 1.06438914e-04 1.42557375e+02] [ 9.99870749e-01 -1.42537643e-02 -7.43744046e-03 1.11067192e+02] [ 7.43820205e-03 4.16588815e-07 9.99972336e-01 -1.87767077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.06, Z:-1.88 [[-1.46359620e-02 -9.99892883e-01 1.09286084e-04 1.42557483e+02] [ 9.99865222e-01 -1.46363700e-02 -7.43739904e-03 1.11064832e+02] [ 7.43820191e-03 4.17864636e-07 9.99972336e-01 -1.87767535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.06, Z:-1.88 [[-1.63333025e-02 -9.99866596e-01 1.14548245e-04 1.42557914e+02] [ 9.99837739e-01 -1.63337013e-02 -7.59648436e-03 1.11064868e+02] [ 7.59734196e-03 -9.54601888e-06 9.99971140e-01 -1.87740302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.06, Z:-1.88 [[-1.78998671e-02 -9.99839777e-01 1.21252139e-04 1.42558718e+02] [ 9.99809036e-01 -1.79002675e-02 -7.84042675e-03 1.11059569e+02] [ 7.84134098e-03 -1.91136125e-05 9.99969256e-01 -1.87693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.06, Z:-1.88 [[-2.09320854e-02 -9.99780891e-01 1.32801723e-04 1.42560418e+02] [ 9.99745798e-01 -2.09324634e-02 -8.37681575e-03 1.11057809e+02] [ 8.37776018e-03 -4.25762587e-05 9.99964905e-01 -1.87686109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.06, Z:-1.88 [[-2.23161296e-02 -9.99750953e-01 1.48582094e-04 1.42561119e+02] [ 9.99709108e-01 -2.23165550e-02 -9.14714648e-03 1.11057778e+02] [ 9.14818425e-03 -5.55900337e-05 9.99958153e-01 -1.87699338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.05, Z:-1.88 [[-2.37864975e-02 -9.99717049e-01 1.55515436e-04 1.42561552e+02] [ 9.99673302e-01 -2.37869115e-02 -9.35265601e-03 1.11048951e+02] [ 9.35370890e-03 -6.70022990e-05 9.99956251e-01 -1.87730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.05, Z:-1.88 [[-2.61120989e-02 -9.99659007e-01 1.65803296e-04 1.42561844e+02] [ 9.99611504e-01 -2.61124745e-02 -9.74576450e-03 1.11047941e+02] [ 9.74677080e-03 -8.87434845e-05 9.99952495e-01 -1.87759726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.05, Z:-1.88 [[-2.72759949e-02 -9.99627926e-01 1.71308446e-04 1.42561900e+02] [ 9.99579422e-01 -2.72763591e-02 -9.84780367e-03 1.11045810e+02] [ 9.84881223e-03 -9.73722451e-05 9.99951495e-01 -1.87739061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.04, Z:-1.88 [[-2.79767258e-02 -9.99608562e-01 1.61196907e-04 1.42562254e+02] [ 9.99567411e-01 -2.79770368e-02 -9.07065211e-03 1.11039824e+02] [ 9.07161133e-03 -9.26399716e-05 9.99958848e-01 -1.87745052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.04, Z:-1.88 [[-2.83647468e-02 -9.99597630e-01 1.39932146e-04 1.42562530e+02] [ 9.99567864e-01 -2.83649821e-02 -7.71444193e-03 1.11037785e+02] [ 7.71530704e-03 -7.89465158e-05 9.99970233e-01 -1.87624607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.04, Z:-1.88 [[-2.82294973e-02 -9.99601459e-01 1.34001468e-04 1.42562569e+02] [ 9.99575259e-01 -2.82297277e-02 -7.23770396e-03 1.11036945e+02] [ 7.23860226e-03 -7.03721925e-05 9.99973799e-01 -1.87583991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.03, Z:-1.88 [[-2.83551252e-02 -9.99597903e-01 1.37353707e-04 1.42562337e+02] [ 9.99571477e-01 -2.83553744e-02 -7.26883243e-03 1.11033537e+02] [ 7.26980437e-03 -6.88138059e-05 9.99973572e-01 -1.87573459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.03, Z:-1.88 [[-2.85868468e-02 -9.99591304e-01 1.28406210e-04 1.42561855e+02] [ 9.99569094e-01 -2.85870676e-02 -6.66381038e-03 1.11034052e+02] [ 6.66475767e-03 -6.21464480e-05 9.99977788e-01 -1.87613264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.03, Z:-1.88 [[-2.82428428e-02 -9.99601082e-01 1.34100746e-04 1.42561284e+02] [ 9.99577796e-01 -2.82431003e-02 -6.82321560e-03 1.11030958e+02] [ 6.82428112e-03 -5.86628774e-05 9.99976713e-01 -1.87666181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.03, Z:-1.88 [[-2.81767989e-02 -9.99602945e-01 1.40101923e-04 1.42561459e+02] [ 9.99578494e-01 -2.81770897e-02 -6.99183757e-03 1.11028026e+02] [ 6.99300909e-03 -5.69647319e-05 9.99975547e-01 -1.87632132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.03, Z:-1.88 [[-2.83537496e-02 -9.99597941e-01 1.43408153e-04 1.42561497e+02] [ 9.99573272e-01 -2.83540574e-02 -7.02287240e-03 1.11025858e+02] [ 7.02411500e-03 -5.57778092e-05 9.99975329e-01 -1.87599636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.02, Z:-1.88 [[-2.87837244e-02 -9.99585654e-01 1.33900256e-04 1.42561257e+02] [ 9.99564912e-01 -2.87839897e-02 -6.43968355e-03 1.11023722e+02] [ 6.44086947e-03 -5.15160785e-05 9.99979256e-01 -1.87603449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.02, Z:-1.88 [[-2.94422310e-02 -9.99566474e-01 1.36360681e-04 1.42560673e+02] [ 9.99545732e-01 -2.94424985e-02 -6.43969690e-03 1.11022348e+02] [ 6.44091993e-03 -5.33003076e-05 9.99979256e-01 -1.87560536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.02, Z:-1.88 [[-3.05051576e-02 -9.99534599e-01 1.46582714e-04 1.42560699e+02] [ 9.99511483e-01 -3.05054491e-02 -6.79800600e-03 1.11017564e+02] [ 6.79931377e-03 -6.08631385e-05 9.99976883e-01 -1.87535759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.01, Z:-1.88 [[-3.24880031e-02 -9.99472115e-01 1.47882760e-04 1.42560560e+02] [ 9.99449396e-01 -3.24882618e-02 -6.73932784e-03 1.11014157e+02] [ 6.74057470e-03 -7.11459685e-05 9.99977280e-01 -1.87539428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.01, Z:-1.88 [[-3.36707577e-02 -9.99432969e-01 1.43594248e-04 1.42560374e+02] [ 9.99412265e-01 -3.36709845e-02 -6.43352042e-03 1.11011968e+02] [ 6.43470737e-03 -7.31116549e-05 9.99979294e-01 -1.87534228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.01, Z:-1.88 [[-3.46669813e-02 -9.99398911e-01 1.29527073e-04 1.42559903e+02] [ 9.99382606e-01 -3.46671556e-02 -5.70925759e-03 1.11008363e+02] [ 5.71031615e-03 -6.84756227e-05 9.99983694e-01 -1.87524209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.01, Z:-1.88 [[-3.55179257e-02 -9.99369032e-01 1.24484216e-04 1.42559502e+02] [ 9.99354455e-01 -3.55180801e-02 -5.39800254e-03 1.11005064e+02] [ 5.39901801e-03 -6.73219975e-05 9.99985423e-01 -1.87539914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.01, Z:-1.88 [[-3.66892393e-02 -9.99326714e-01 1.33309489e-04 1.42558507e+02] [ 9.99310546e-01 -3.66894041e-02 -5.68511979e-03 1.11006811e+02] [ 5.68618313e-03 -7.53651423e-05 9.99983831e-01 -1.87518364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.00, Z:-1.87 [[-3.73096237e-02 -9.99303744e-01 1.37268881e-04 1.42558452e+02] [ 9.99287147e-01 -3.73097952e-02 -5.75994181e-03 1.10999863e+02] [ 5.76105289e-03 -7.77302331e-05 9.99983402e-01 -1.87483394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.00, Z:-1.87 [[-3.78444592e-02 -9.99283634e-01 1.28256478e-04 1.42557943e+02] [ 9.99269584e-01 -3.78446073e-02 -5.29939847e-03 1.10998561e+02] [ 5.30045597e-03 -7.23900717e-05 9.99985950e-01 -1.87448450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.00, Z:-1.87 [[-3.79869885e-02 -9.99278228e-01 1.06605829e-04 1.42557575e+02] [ 9.99268798e-01 -3.79870932e-02 -4.34168771e-03 1.10995362e+02] [ 4.34260365e-03 -5.83997627e-05 9.99990569e-01 -1.87400835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.98, Z:-1.88 [[-4.61506645e-02 -9.98882543e-01 1.01872954e-02 1.42546804e+02] [ 9.98925478e-01 -4.61045270e-02 4.71836695e-03 1.10976861e+02] [-4.24341394e-03 1.03941047e-02 9.99936976e-01 -1.88278956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.97, Z:-1.88 [[-4.40028230e-02 -9.99030585e-01 -1.28147126e-03 1.42550815e+02] [ 9.99023680e-01 -4.40074914e-02 3.87651690e-03 1.10972553e+02] [-3.92915328e-03 -1.10964244e-03 9.99991665e-01 -1.87744724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:111.00, Z:-1.87 [[-3.45790840e-02 -9.99362488e-01 -8.88282725e-03 1.42556915e+02] [ 9.99399052e-01 -3.45561593e-02 -2.72147786e-03 1.10997508e+02] [ 2.41278649e-03 -8.97159535e-03 9.99956844e-01 -1.86925111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.87 [[-3.35559198e-02 -9.99436838e-01 7.93397667e-05 1.42551337e+02] [ 9.99432085e-01 -3.35560049e-02 -3.08253208e-03 1.10992603e+02] [ 3.08345844e-03 -2.41424909e-05 9.99995246e-01 -1.87340912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.88 [[-3.12103387e-02 -9.99512831e-01 1.21842590e-04 1.42548321e+02] [ 9.99502010e-01 -3.12105678e-02 -4.65113833e-03 1.10991908e+02] [ 4.65267522e-03 -2.33816895e-05 9.99989176e-01 -1.87508089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.88 [[-3.03695892e-02 -9.99538727e-01 1.47966165e-04 1.42547472e+02] [ 9.99523252e-01 -3.03699423e-02 -5.56199087e-03 1.10989286e+02] [ 5.56391900e-03 -2.10197551e-05 9.99984521e-01 -1.87536105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.88 [[-2.97377426e-02 -9.99557721e-01 1.73359891e-04 1.42547164e+02] [ 9.99537102e-01 -2.97382426e-02 -6.42020085e-03 1.10987268e+02] [ 6.42251674e-03 -1.76426372e-05 9.99979375e-01 -1.87540262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.88 [[-2.87555828e-02 -9.99586454e-01 1.92839515e-04 1.42546364e+02] [ 9.99561667e-01 -2.87562278e-02 -7.03934161e-03 1.10986315e+02] [ 7.04197585e-03 -9.66538360e-06 9.99975205e-01 -1.87546411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.98, Z:-1.88 [[-2.86045655e-02 -9.99590785e-01 2.01228216e-04 1.42546165e+02] [ 9.99564540e-01 -2.86052727e-02 -7.24354935e-03 1.10983881e+02] [ 7.24634138e-03 -6.05799311e-06 9.99973745e-01 -1.87538572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.99, Z:-1.88 [[-2.83133305e-02 -9.99599075e-01 2.11382731e-04 1.42546032e+02] [ 9.99570904e-01 -2.83141195e-02 -7.50455646e-03 1.10986202e+02] [ 7.50753282e-03 -1.18695938e-06 9.99971818e-01 -1.87521223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.98, Z:-1.87 [[-2.79693144e-02 -9.99608759e-01 2.15745744e-04 1.42546118e+02] [ 9.99580199e-01 -2.79701461e-02 -7.55618607e-03 1.10983642e+02] [ 7.55926422e-03 4.31382970e-06 9.99971428e-01 -1.87497230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.98, Z:-1.87 [[-2.79251699e-02 -9.99609989e-01 2.36063147e-04 1.42545719e+02] [ 9.99576715e-01 -2.79261664e-02 -8.15598898e-03 1.10982766e+02] [ 8.15940039e-03 8.20584758e-06 9.99966712e-01 -1.87399338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.98, Z:-1.87 [[-2.85844602e-02 -9.99591351e-01 2.46045133e-04 1.42545452e+02] [ 9.99556149e-01 -2.85855184e-02 -8.38883474e-03 1.10975296e+02] [ 8.39243998e-03 6.14561312e-06 9.99964783e-01 -1.87416308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.97, Z:-1.87 [[-2.96404927e-02 -9.99560589e-01 2.65603798e-04 1.42544874e+02] [ 9.99520633e-01 -2.96416827e-02 -8.93731157e-03 1.10972151e+02] [ 8.94125736e-03 5.70158018e-07 9.99960026e-01 -1.87419662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.97, Z:-1.87 [[-3.19645951e-02 -9.99488959e-01 2.91058230e-04 1.42544034e+02] [ 9.99442208e-01 -3.19659151e-02 -9.66711582e-03 1.10974403e+02] [ 9.67147947e-03 -1.81095635e-05 9.99953230e-01 -1.87459493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.97, Z:-1.87 [[-3.34673144e-02 -9.99439767e-01 3.02014976e-04 1.42544494e+02] [ 9.99390692e-01 -3.34686640e-02 -9.90423904e-03 1.10966544e+02] [ 9.90879839e-03 -2.96373262e-05 9.99950906e-01 -1.87413898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.93, Z:-1.88 [[-4.44478349e-02 -9.98990397e-01 6.52505305e-03 1.42537796e+02] [ 9.99001330e-01 -4.44761947e-02 -4.26742477e-03 1.10934102e+02] [ 4.55332590e-03 6.32885889e-03 9.99969606e-01 -1.88078528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.96, Z:-1.87 [[-3.82560404e-02 -9.99250381e-01 -5.92894206e-03 1.42546764e+02] [ 9.99210988e-01 -3.81898233e-02 -1.09059055e-02 1.10964195e+02] [ 1.06713050e-02 -6.34148081e-03 9.99922951e-01 -1.87067624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.96, Z:-1.87 [[-3.96981525e-02 -9.99202002e-01 4.40639605e-03 1.42541116e+02] [ 9.99149985e-01 -3.97443328e-02 -1.09405563e-02 1.10958638e+02] [ 1.11069551e-02 3.96833067e-03 9.99930442e-01 -1.87466676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24762800000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.54, Y:110.95, Z:-1.87 [[-4.18325942e-02 -9.99117990e-01 -3.64374531e-03 1.42543671e+02] [ 9.99044452e-01 -4.17827565e-02 -1.28212736e-02 1.10953872e+02] [ 1.26577194e-02 -4.17661067e-03 9.99911165e-01 -1.87385368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.95, Z:-1.87 [[-4.23921016e-02 -9.99100978e-01 3.81637563e-04 1.42541082e+02] [ 9.99029133e-01 -4.23936302e-02 -1.19821361e-02 1.10952311e+02] [ 1.19875429e-02 -1.26680889e-04 9.99928139e-01 -1.87363664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.95, Z:-1.87 [[-4.35288285e-02 -9.99052102e-01 3.71385101e-04 1.42541047e+02] [ 9.98985657e-01 -4.35302169e-02 -1.15229380e-02 1.10948063e+02] [ 1.15281819e-02 -1.30571604e-04 9.99933540e-01 -1.87297733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.95, Z:-1.87 [[-4.41537379e-02 -9.99024670e-01 3.94067828e-04 1.42540826e+02] [ 9.98951611e-01 -4.41552750e-02 -1.20826432e-02 1.10945524e+02] [ 1.20882588e-02 -1.39839169e-04 9.99926925e-01 -1.87231930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.94, Z:-1.87 [[-4.44790653e-02 -9.99010235e-01 4.04184916e-04 1.42540418e+02] [ 9.98935145e-01 -4.44806779e-02 -1.22493207e-02 1.10942808e+02] [ 1.22551751e-02 -1.41083816e-04 9.99924893e-01 -1.87273084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.88 [[-5.18000009e-02 -9.98650209e-01 3.81055089e-03 1.42535351e+02] [ 9.98615722e-01 -5.18323508e-02 -8.94690407e-03 1.10920739e+02] [ 9.13233743e-03 3.34182639e-03 9.99952715e-01 -1.87682158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:110.91, Z:-1.88 [[-5.34981084e-02 -9.98526020e-01 9.15095431e-03 1.42530354e+02] [ 9.98540615e-01 -5.35622047e-02 -6.90867919e-03 1.10914984e+02] [ 7.38864123e-03 8.76799827e-03 9.99934263e-01 -1.88031663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.88 [[-5.28361050e-02 -9.98592453e-01 -4.63244181e-03 1.42536223e+02] [ 9.98573248e-01 -5.27980242e-02 -7.98983521e-03 1.10916829e+02] [ 7.73400537e-03 -5.04798424e-03 9.99957351e-01 -1.87562744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.94, Z:-1.87 [[-4.54137817e-02 -9.98947066e-01 -6.50749572e-03 1.42539725e+02] [ 9.98877723e-01 -4.53210004e-02 -1.37586619e-02 1.10936145e+02] [ 1.34492487e-02 -7.12502538e-03 9.99884169e-01 -1.87137804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.94, Z:-1.87 [[-4.57549661e-02 -9.98952567e-01 5.02584058e-04 1.42536586e+02] [ 9.98846688e-01 -4.57574342e-02 -1.45448078e-02 1.10936889e+02] [ 1.45525701e-02 -1.63492768e-04 9.99894092e-01 -1.87382689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.93, Z:-1.87 [[-4.61888439e-02 -9.98932589e-01 5.21939698e-04 1.42536910e+02] [ 9.98820888e-01 -4.61914848e-02 -1.49392387e-02 1.10932184e+02] [ 1.49474016e-02 -1.68701893e-04 9.99888267e-01 -1.87344295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.93, Z:-1.87 [[-4.67635912e-02 -9.98905836e-01 5.45894663e-04 1.42536788e+02] [ 9.98786281e-01 -4.67664404e-02 -1.54552869e-02 1.10930372e+02] [ 1.54639058e-02 -1.77512618e-04 9.99880411e-01 -1.87334328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.93, Z:-1.87 [[-4.74206348e-02 -9.98874848e-01 5.66712165e-04 1.42535416e+02] [ 9.98748745e-01 -4.74236535e-02 -1.58726491e-02 1.10925453e+02] [ 1.58816656e-02 -1.86688034e-04 9.99873861e-01 -1.87397910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.87 [[-4.78894735e-02 -9.98852475e-01 5.76020457e-04 1.42535836e+02] [ 9.98724934e-01 -4.78925641e-02 -1.59627081e-02 1.10924848e+02] [ 1.59719776e-02 -1.89159695e-04 9.99872422e-01 -1.87375654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:110.89, Z:-1.88 [[-5.86369186e-02 -9.98268381e-01 4.68532252e-03 1.42530953e+02] [ 9.98231872e-01 -5.86792688e-02 -9.48016341e-03 1.10888299e+02] [ 9.73867867e-03 4.12115070e-03 9.99944086e-01 -1.87914602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.87 [[-4.92898089e-02 -9.98777826e-01 -3.65647421e-03 1.42539033e+02] [ 9.98688467e-01 -4.92339681e-02 -1.40485456e-02 1.10919081e+02] [ 1.38513531e-02 -4.34412875e-03 9.99894629e-01 -1.87029493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.87 [[-4.96063993e-02 -9.98768737e-01 4.62956880e-04 1.42537490e+02] [ 9.98690210e-01 -4.96083048e-02 -1.25251990e-02 1.10917327e+02] [ 1.25327437e-02 -1.58979520e-04 9.99921449e-01 -1.87147829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.87 [[-4.92653944e-02 -9.98785645e-01 3.96094019e-04 1.42538058e+02] [ 9.98729302e-01 -4.92668227e-02 -1.06095459e-02 1.10915384e+02] [ 1.06161764e-02 -1.27092758e-04 9.99943639e-01 -1.87103501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.96460319e-02 -9.98766795e-01 4.00137224e-04 1.42538221e+02] [ 9.98710453e-01 -4.96474817e-02 -1.06093940e-02 1.10913017e+02] [ 1.06161763e-02 -1.27093085e-04 9.99943639e-01 -1.87103947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.91575609e-02 -9.98790963e-01 3.82306446e-04 1.42538452e+02] [ 9.98740546e-01 -4.91589210e-02 -1.00360005e-02 1.10912457e+02] [ 1.00426604e-02 -1.11520357e-04 9.99949565e-01 -1.87133340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.84639394e-02 -9.98824865e-01 3.67947492e-04 1.42538536e+02] [ 9.98779080e-01 -4.84652411e-02 -9.56395839e-03 1.10910920e+02] [ 9.57055211e-03 -9.60088426e-05 9.99954197e-01 -1.87162749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.74206816e-02 -9.98874937e-01 3.74258170e-04 1.42538890e+02] [ 9.98828498e-01 -4.74220860e-02 -9.63210966e-03 1.10909957e+02] [ 9.63902102e-03 -8.29414792e-05 9.99953540e-01 -1.87183102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.60166354e-02 -9.98940600e-01 3.83276334e-04 1.42539834e+02] [ 9.98892846e-01 -4.60181833e-02 -9.76771794e-03 1.10909224e+02] [ 9.77500770e-03 -6.66255268e-05 9.99952221e-01 -1.87177288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.91, Z:-1.87 [[-4.34517419e-02 -9.99055432e-01 4.36707334e-04 1.42541218e+02] [ 9.98994658e-01 -4.34539155e-02 -1.10195673e-02 1.10907115e+02] [ 1.10281352e-02 -4.25510985e-05 9.99939187e-01 -1.87249600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.88, Z:-1.88 [[-5.04385593e-02 -9.98725687e-01 1.71878309e-03 1.42538426e+02] [ 9.98690313e-01 -5.04514077e-02 -8.50382124e-03 1.10878429e+02] [ 8.57969974e-03 1.28761153e-03 9.99962365e-01 -1.87691340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.91, Z:-1.87 [[-3.99286473e-02 -9.99202253e-01 -7.49027750e-04 1.42545050e+02] [ 9.99125718e-01 -3.99162716e-02 -1.24294038e-02 1.10909253e+02] [ 1.23895899e-02 -1.24466217e-03 9.99922471e-01 -1.87357345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.90, Z:-1.87 [[-3.90471182e-02 -9.99237220e-01 5.49206604e-04 1.42546410e+02] [ 9.99146201e-01 -3.90509741e-02 -1.34866752e-02 1.10903839e+02] [ 1.34978349e-02 2.21218903e-05 9.99908900e-01 -1.87393068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.90, Z:-1.87 [[-3.83464264e-02 -9.99264324e-01 6.01274690e-04 1.42548106e+02] [ 9.99157283e-01 -3.83511193e-02 -1.46258171e-02 1.10903391e+02] [ 1.46381168e-02 3.99201692e-05 9.99892856e-01 -1.87368419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.90, Z:-1.87 [[-3.76733628e-02 -9.99289912e-01 6.24410938e-04 1.42549836e+02] [ 9.99176615e-01 -3.76784939e-02 -1.50473656e-02 1.10900884e+02] [ 1.50602075e-02 5.70119441e-05 9.99886587e-01 -1.87458356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.90, Z:-1.88 [[-3.68884660e-02 -9.99319149e-01 6.92880662e-04 1.42553768e+02] [ 9.99182224e-01 -3.68948813e-02 -1.65423886e-02 1.10899526e+02] [ 1.65566894e-02 8.20907024e-05 9.99862925e-01 -1.87505709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.90, Z:-1.87 [[-3.71655271e-02 -9.99308877e-01 7.02063847e-04 1.42556390e+02] [ 9.99170846e-01 -3.71720622e-02 -1.66089649e-02 1.10897265e+02] [ 1.66235832e-02 8.42007936e-05 9.99861815e-01 -1.87487204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.90, Z:-1.87 [[-3.79488466e-02 -9.99279432e-01 7.07852684e-04 1.42558769e+02] [ 9.99141635e-01 -3.79553686e-02 -1.65946751e-02 1.10898108e+02] [ 1.66095843e-02 7.74963084e-05 9.99862048e-01 -1.87459840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.89, Z:-1.87 [[-3.85909676e-02 -9.99254851e-01 6.92708449e-04 1.42561374e+02] [ 9.99125229e-01 -3.85971189e-02 -1.60946849e-02 1.10894075e+02] [ 1.61094285e-02 7.09930266e-05 9.99870232e-01 -1.87459625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.89, Z:-1.87 [[-3.94463011e-02 -9.99221474e-01 6.59817827e-04 1.42567135e+02] [ 9.99105929e-01 -3.94517738e-02 -1.51954233e-02 1.10890327e+02] [ 1.52096242e-02 5.98246610e-05 9.99884325e-01 -1.87344476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.89, Z:-1.87 [[-3.97086943e-02 -9.99211097e-01 6.34778448e-04 1.42570063e+02] [ 9.99106015e-01 -3.97137242e-02 -1.44910808e-02 1.10887878e+02] [ 1.45048582e-02 5.87890668e-05 9.99894797e-01 -1.87276143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:142.57, Y:110.89, Z:-1.87 [[-4.03826573e-02 -9.99184082e-01 6.40905630e-04 1.42572423e+02] [ 9.99078817e-01 -4.03877059e-02 -1.45035019e-02 1.10886999e+02] [ 1.45175530e-02 5.46252908e-05 9.99894613e-01 -1.87386523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.89, Z:-1.87 [[-3.94407456e-02 -9.99221785e-01 5.01714226e-04 1.42576451e+02] [ 9.99158354e-01 -3.94438950e-02 -1.12589269e-02 1.10886186e+02] [ 1.12699546e-02 5.72314889e-05 9.99936490e-01 -1.87190363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.88, Z:-1.87 [[-3.91017032e-02 -9.99235122e-01 4.76765690e-04 1.42578388e+02] [ 9.99178813e-01 -3.91045612e-02 -1.06081990e-02 1.10882998e+02] [ 1.06187287e-02 6.15755280e-05 9.99943618e-01 -1.87216933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.88, Z:-1.87 [[-3.85365255e-02 -9.99257077e-01 4.79476871e-04 1.42580728e+02] [ 9.99201090e-01 -3.85394420e-02 -1.05779186e-02 1.10879171e+02] [ 1.05885388e-02 7.14575824e-05 9.99943937e-01 -1.87195931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.88, Z:-1.87 [[-3.80815275e-02 -9.99274517e-01 4.86006736e-04 1.42583066e+02] [ 9.99217963e-01 -3.80845430e-02 -1.06315998e-02 1.10877460e+02] [ 1.06423961e-02 8.07591005e-05 9.99943365e-01 -1.87190023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.88, Z:-1.87 [[-3.75534427e-02 -9.99294493e-01 5.04801969e-04 1.42587904e+02] [ 9.99234502e-01 -3.75567198e-02 -1.09500351e-02 1.10877048e+02] [ 1.09612685e-02 9.32040285e-05 9.99939919e-01 -1.87193593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.88, Z:-1.87 [[-3.90462431e-02 -9.99237257e-01 5.44194015e-04 1.42589834e+02] [ 9.99168695e-01 -3.90499390e-02 -1.17056021e-02 1.10875033e+02] [ 1.17179245e-02 8.66818384e-05 9.99931339e-01 -1.87217478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.87, Z:-1.87 [[-4.21819954e-02 -9.99109749e-01 6.23013105e-04 1.42590985e+02] [ 9.99021371e-01 -4.21865506e-02 -1.32889005e-02 1.10869635e+02] [ 1.33033528e-02 6.18510685e-05 9.99911505e-01 -1.87305101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.87, Z:-1.87 [[-4.73328132e-02 -9.98878915e-01 7.19776961e-04 1.42590754e+02] [ 9.98762865e-01 -4.73382856e-02 -1.52258323e-02 1.10866210e+02] [ 1.52428358e-02 -1.79497427e-06 9.99883821e-01 -1.87413476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.567628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:142.59, Y:110.86, Z:-1.88 [[-5.04865122e-02 -9.98724447e-01 7.69068969e-04 1.42589998e+02] [ 9.98594080e-01 -5.04923480e-02 -1.61365071e-02 1.10861745e+02] [ 1.61547562e-02 -4.66882447e-05 9.99869502e-01 -1.87626818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.86, Z:-1.87 [[-5.23989886e-02 -9.98625970e-01 7.19961474e-04 1.42590166e+02] [ 9.98513516e-01 -5.24038924e-02 -1.49863430e-02 1.10861161e+02] [ 1.50034801e-02 -6.63779523e-05 9.99887439e-01 -1.87366431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.85, Z:-1.87 [[-5.80260425e-02 -9.98314835e-01 6.84643576e-04 1.42591742e+02] [ 9.98214713e-01 -5.80299196e-02 -1.41391135e-02 1.10851046e+02] [ 1.41550166e-02 -1.37015512e-04 9.99899803e-01 -1.87123453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.85, Z:-1.87 [[-6.12126415e-02 -9.98124533e-01 6.55067170e-04 1.42592472e+02] [ 9.98034284e-01 -6.12159163e-02 -1.34230662e-02 1.10846652e+02] [ 1.34379922e-02 -1.67881847e-04 9.99909692e-01 -1.87043020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.84, Z:-1.87 [[-6.48420888e-02 -9.97895339e-01 6.28591706e-04 1.42592910e+02] [ 9.97813503e-01 -6.48448224e-02 -1.27813165e-02 1.10842178e+02] [ 1.27951771e-02 -2.01549966e-04 9.99918118e-01 -1.86981231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.84, Z:-1.87 [[-6.81871244e-02 -9.97672379e-01 5.84091603e-04 1.42593124e+02] [ 9.97602781e-01 -6.81892679e-02 -1.17862246e-02 1.10839187e+02] [ 1.17986195e-02 -2.20977353e-04 9.99930369e-01 -1.86969907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.83, Z:-1.87 [[-7.45426787e-02 -9.97217693e-01 5.11005144e-04 1.42591529e+02] [ 9.97165205e-01 -7.45439997e-02 -1.02345953e-02 1.10834549e+02] [ 1.02442119e-02 -2.53357604e-04 9.99947495e-01 -1.87003511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.83, Z:-1.87 [[-7.73286764e-02 -9.97005545e-01 4.68971473e-04 1.42590474e+02] [ 9.96961986e-01 -7.73296834e-02 -9.32298075e-03 1.10828396e+02] [ 9.33132891e-03 -2.53387031e-04 9.99956430e-01 -1.86984551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.82, Z:-1.87 [[-7.92957492e-02 -9.96851053e-01 4.02322775e-04 1.42589474e+02] [ 9.96819456e-01 -7.92964404e-02 -7.94015807e-03 1.10823908e+02] [ 7.94705770e-03 -2.28577613e-04 9.99968396e-01 -1.86984129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.83, Z:-1.87 [[-8.01671321e-02 -9.96781386e-01 3.16780323e-04 1.42588002e+02] [ 9.96762068e-01 -8.01675515e-02 -6.20831204e-03 1.10827561e+02] [ 6.21372538e-03 -1.81947962e-04 9.99980678e-01 -1.86742899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.82, Z:-1.87 [[-7.92687701e-02 -9.96853243e-01 2.72439041e-04 1.42587619e+02] [ 9.96839155e-01 -7.92690988e-02 -5.30178667e-03 1.10819207e+02] [ 5.30669924e-03 -1.48688205e-04 9.99985908e-01 -1.86619739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.82, Z:-1.87 [[-7.72121308e-02 -9.97014658e-01 2.40631794e-04 1.42586063e+02] [ 9.97003821e-01 -7.72124138e-02 -4.65009799e-03 1.10817386e+02] [ 4.65479562e-03 -1.19133155e-04 9.99989159e-01 -1.86589201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.82, Z:-1.87 [[-6.91737269e-02 -9.97604593e-01 2.65722241e-04 1.42580363e+02] [ 9.97591580e-01 -6.91741820e-02 -5.09631959e-03 1.10822365e+02] [ 5.10249295e-03 -8.74491498e-05 9.99986978e-01 -1.86711920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.82, Z:-1.87 [[-6.46752961e-02 -9.97906312e-01 3.14878591e-04 1.42577951e+02] [ 9.97888319e-01 -6.46760210e-02 -5.99300010e-03 1.10823987e+02] [ 6.00081772e-03 -7.33853884e-05 9.99981992e-01 -1.86831712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.83, Z:-1.87 [[-6.03455006e-02 -9.98177475e-01 3.85240418e-04 1.42575596e+02] [ 9.98150955e-01 -6.03467056e-02 -7.27634561e-03 1.10831084e+02] [ 7.28633228e-03 -5.45666274e-05 9.99973453e-01 -1.86906641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.83, Z:-1.87 [[-5.27523552e-02 -9.98607476e-01 5.46348466e-04 1.42573481e+02] [ 9.98554975e-01 -5.27551841e-02 -1.02397406e-02 1.10825162e+02] [ 1.02543042e-02 5.38854474e-06 9.99947423e-01 -1.87008956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.83, Z:-1.87 [[-4.95058477e-02 -9.98773619e-01 6.55280152e-04 1.42572777e+02] [ 9.98699215e-01 -4.95101581e-02 -1.21910480e-02 1.10826238e+02] [ 1.22085402e-02 5.08996085e-05 9.99925472e-01 -1.87016648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.83, Z:-1.87 [[-4.72043900e-02 -9.98884975e-01 7.43340704e-04 1.42572370e+02] [ 9.98790623e-01 -4.72101481e-02 -1.37293060e-02 1.10827698e+02] [ 1.37490907e-02 9.43582094e-05 9.99905472e-01 -1.87057391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.83, Z:-1.87 [[-4.41121382e-02 -9.99026256e-01 8.11639291e-04 1.42572919e+02] [ 9.98915394e-01 -4.41193349e-02 -1.48835689e-02 1.10826049e+02] [ 1.49048851e-02 1.54212935e-04 9.99888904e-01 -1.87039943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.82, Z:-1.87 [[-4.38321553e-02 -9.99038588e-01 8.01459793e-04 1.42573677e+02] [ 9.98932004e-01 -4.38391865e-02 -1.45937701e-02 1.10823761e+02] [ 1.46148748e-02 1.60927440e-04 9.99893184e-01 -1.86978320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.82, Z:-1.87 [[-4.39554351e-02 -9.99033193e-01 7.74115533e-04 1.42574374e+02] [ 9.98935136e-01 -4.39619673e-02 -1.39978307e-02 1.10822984e+02] [ 1.40183291e-02 1.58010467e-04 9.99901726e-01 -1.86907828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.82, Z:-1.87 [[-4.45712796e-02 -9.99005958e-01 7.04651538e-04 1.42574926e+02] [ 9.98925818e-01 -4.45766299e-02 -1.26544224e-02 1.10821460e+02] [ 1.26732544e-02 1.39870813e-04 9.99919681e-01 -1.86870677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.82, Z:-1.87 [[-4.68070473e-02 -9.98903806e-01 5.36216045e-04 1.42576428e+02] [ 9.98858002e-01 -4.68100362e-02 -9.56617805e-03 1.10815032e+02] [ 9.58079195e-03 8.78391391e-05 9.99954099e-01 -1.86832753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.81, Z:-1.87 [[-4.86296765e-02 -9.98816757e-01 4.90614461e-04 1.42577963e+02] [ 9.98778922e-01 -4.86321048e-02 -8.69388659e-03 1.10812160e+02] [ 8.70745923e-03 6.72344901e-05 9.99962087e-01 -1.86785695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.80, Z:-1.87 [[-5.65158331e-02 -9.98378031e-01 6.87510476e-03 1.42574014e+02] [ 9.98397867e-01 -5.65333657e-02 -2.38298047e-03 1.10801808e+02] [ 2.76778816e-03 6.72941380e-03 9.99973527e-01 -1.87407709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.81, Z:-1.87 [[-5.38366098e-02 -9.98530133e-01 -6.26048927e-03 1.42586403e+02] [ 9.98526275e-01 -5.37912881e-02 -7.19550379e-03 1.10805942e+02] [ 6.84816757e-03 -6.63864456e-03 9.99954514e-01 -1.86509847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.79, Z:-1.87 [[-5.96491686e-02 -9.98219341e-01 3.51339008e-04 1.42584161e+02] [ 9.98195976e-01 -5.96501764e-02 -6.83002336e-03 1.10788803e+02] [ 6.83881885e-03 -5.67000311e-05 9.99976613e-01 -1.86939435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.80, Z:-1.87 [[-5.55723923e-02 -9.98454496e-01 5.72919881e-04 1.42587385e+02] [ 9.98419093e-01 -5.55752468e-02 -8.40869441e-03 1.10801722e+02] [ 8.42753890e-03 1.04722884e-04 9.99964482e-01 -1.86856392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.80, Z:-1.87 [[-5.47140120e-02 -9.98501933e-01 5.15613037e-04 1.42587427e+02] [ 9.98462113e-01 -5.47164348e-02 -8.91747316e-03 1.10802228e+02] [ 8.93232670e-03 2.69093489e-05 9.99960106e-01 -1.86858585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.80, Z:-1.87 [[-5.18110835e-02 -9.98656724e-01 5.99207134e-04 1.42585115e+02] [ 9.98603683e-01 -5.18145075e-02 -1.02927340e-02 1.10800427e+02] [ 1.03099557e-02 6.50927497e-05 9.99946849e-01 -1.87021627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.80, Z:-1.87 [[-5.12136818e-02 -9.98687469e-01 7.06246095e-04 1.42584112e+02] [ 9.98614780e-01 -5.12184753e-02 -1.20494288e-02 1.10800577e+02] [ 1.20697864e-02 8.81721769e-05 9.99927154e-01 -1.87087080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.79, Z:-1.87 [[-5.14676743e-02 -9.98674327e-01 8.17099489e-04 1.42583953e+02] [ 9.98578320e-01 -5.14740566e-02 -1.38477680e-02 1.10793333e+02] [ 1.38714698e-02 1.03225422e-04 9.99903781e-01 -1.87142794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.79, Z:-1.87 [[-5.38594232e-02 -9.98548054e-01 9.72717551e-04 1.42583510e+02] [ 9.98413768e-01 -5.38681325e-02 -1.63759526e-02 1.10793211e+02] [ 1.64045741e-02 8.91752333e-05 9.99865432e-01 -1.87186183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.80, Z:-1.87 [[-5.59390559e-02 -9.98433682e-01 1.00250502e-03 1.42583452e+02] [ 9.98292871e-01 -5.59480030e-02 -1.67679601e-02 1.10797375e+02] [ 1.67977842e-02 6.28097585e-05 9.99858905e-01 -1.87167201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.78, Z:-1.87 [[-5.84516702e-02 -9.98289696e-01 1.04178557e-03 1.42584614e+02] [ 9.98139564e-01 -5.84609467e-02 -1.73126908e-02 1.10784275e+02] [ 1.73439846e-02 2.78917042e-05 9.99849581e-01 -1.87097414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.78, Z:-1.87 [[-6.46194531e-02 -9.97909458e-01 1.02011610e-03 1.42585062e+02] [ 9.97767276e-01 -6.46274660e-02 -1.68449901e-02 1.10784588e+02] [ 1.68757025e-02 -7.06755831e-05 9.99857593e-01 -1.87004713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.78, Z:-1.87 [[-6.84881997e-02 -9.97651429e-01 9.96513689e-04 1.42585503e+02] [ 9.97517425e-01 -6.84953334e-02 -1.63516378e-02 1.10776926e+02] [ 1.63814914e-02 -1.25854468e-04 9.99865806e-01 -1.86959235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.77, Z:-1.87 [[-6.88700180e-02 -9.97625138e-01 1.00277382e-03 1.42585720e+02] [ 9.97491137e-01 -6.88772030e-02 -1.63512550e-02 1.10774578e+02] [ 1.63814913e-02 -1.25853231e-04 9.99865806e-01 -1.86959678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.77, Z:-1.87 [[-7.28337500e-02 -9.97343597e-01 9.96994529e-04 1.42585746e+02] [ 9.97212748e-01 -7.28403448e-02 -1.61561234e-02 1.10766757e+02] [ 1.61858277e-02 -1.82495398e-04 9.99868984e-01 -1.86937048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.76, Z:-1.87 [[-8.08216417e-02 -9.96728106e-01 9.72068527e-04 1.42584777e+02] [ 9.96605191e-01 -8.08269432e-02 -1.56556127e-02 1.10758701e+02] [ 1.56829585e-02 -2.96543778e-04 9.99876971e-01 -1.86947124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.76, Z:-1.87 [[-8.47653159e-02 -9.96400487e-01 9.54495280e-04 1.42584170e+02] [ 9.96283395e-01 -8.47699910e-02 -1.52789103e-02 1.10760534e+02] [ 1.53048262e-02 -3.44173858e-04 9.99882815e-01 -1.86933671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.75, Z:-1.87 [[-8.84476408e-02 -9.96080404e-01 9.18466142e-04 1.42584295e+02] [ 9.95973273e-01 -8.84516028e-02 -1.46134929e-02 1.10749360e+02] [ 1.46374537e-02 -3.77761240e-04 9.99892795e-01 -1.86908961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.76, Z:-1.88 [[-9.72986614e-02 -9.95236285e-01 6.14059713e-03 1.42577151e+02] [ 9.95213439e-01 -9.73492638e-02 -8.56338919e-03 1.10762771e+02] [ 9.12037826e-03 5.27799848e-03 9.99944479e-01 -1.87512379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.74, Z:-1.86 [[-9.56847795e-02 -9.95400506e-01 -4.71759863e-03 1.42585719e+02] [ 9.95341715e-01 -9.56207862e-02 -1.23099835e-02 1.10740347e+02] [ 1.18022634e-02 -5.87350077e-03 9.99913101e-01 -1.86390371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.74, Z:-1.87 [[-9.63166087e-02 -9.95350470e-01 7.43902105e-04 1.42582425e+02] [ 9.95282093e-01 -9.63187163e-02 -1.16730896e-02 1.10739105e+02] [ 1.16904669e-02 -3.83919957e-04 9.99931590e-01 -1.86567172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.74, Z:-1.87 [[-9.63507482e-02 -9.95347172e-01 7.34732467e-04 1.42580786e+02] [ 9.95281255e-01 -9.63528275e-02 -1.14610987e-02 1.10743672e+02] [ 1.14785657e-02 -3.73019984e-04 9.99934050e-01 -1.86593661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.78, Z:-1.87 [[-9.78702171e-02 -9.95181509e-01 5.93171050e-03 1.42570883e+02] [ 9.95171845e-01 -9.79099713e-02 -6.82914835e-03 1.10775067e+02] [ 7.37701577e-03 5.23470105e-03 9.99959088e-01 -1.87171470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.74, Z:-1.86 [[-9.14220731e-02 -9.95801370e-01 -4.65152905e-03 1.42578837e+02] [ 9.95747306e-01 -9.13617750e-02 -1.18460659e-02 1.10735627e+02] [ 1.13713567e-02 -5.71473942e-03 9.99919014e-01 -1.86401932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.73, Z:-1.88 [[-9.74908742e-02 -9.95075916e-01 1.78731972e-02 1.42561907e+02] [ 9.95236012e-01 -9.74588655e-02 2.65531449e-03 1.10733620e+02] [-9.00337985e-04 1.80469184e-02 9.99836736e-01 -1.88290711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.76, Z:-1.86 [[-8.47647673e-02 -9.96333146e-01 -1.16273621e-02 1.42575321e+02] [ 9.96328468e-01 -8.46120363e-02 -1.30532105e-02 1.10758749e+02] [ 1.20215315e-02 -1.26911242e-02 9.99847197e-01 -1.86199745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.067628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.57, Y:110.74, Z:-1.87 [[-8.37025008e-02 -9.96481837e-01 -4.22368199e-03 1.42573043e+02] [ 9.96414627e-01 -8.36429486e-02 -1.27180590e-02 1.10735056e+02] [ 1.23200335e-02 -5.27307186e-03 9.99910202e-01 -1.86603480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.73, Z:-1.87 [[-8.29992021e-02 -9.96549310e-01 7.77694676e-04 1.42570579e+02] [ 9.96479014e-01 -8.30025858e-02 -1.18383453e-02 1.10732455e+02] [ 1.18620455e-02 -2.07616786e-04 9.99929622e-01 -1.86676873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.73, Z:-1.87 [[-8.33421505e-02 -9.96520729e-01 7.23175024e-04 1.42570542e+02] [ 9.96460632e-01 -8.33450677e-02 -1.09456885e-02 1.10731107e+02] [ 1.09678786e-02 -1.91621778e-04 9.99939833e-01 -1.86656017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.73, Z:-1.87 [[-8.69588771e-02 -9.96211704e-01 6.28416138e-04 1.42570808e+02] [ 9.96166823e-01 -8.69609257e-02 -9.45823691e-03 1.10732722e+02] [ 9.47705396e-03 -1.96470353e-04 9.99955072e-01 -1.86551895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.72, Z:-1.87 [[-8.98030709e-02 -9.95959364e-01 5.95219455e-04 1.42571835e+02] [ 9.95919547e-01 -8.98048044e-02 -8.90805090e-03 1.10722140e+02] [ 8.92551027e-03 -2.07179637e-04 9.99960145e-01 -1.86500170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.72, Z:-1.87 [[-9.27401720e-02 -9.95690202e-01 5.31215478e-04 1.42571910e+02] [ 9.95658832e-01 -9.27414683e-02 -7.90635247e-03 1.10717883e+02] [ 7.92154339e-03 -2.04327105e-04 9.99968603e-01 -1.86521695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.71, Z:-1.87 [[-9.82214429e-02 -9.95164500e-01 4.08113770e-04 1.42571247e+02] [ 9.95146172e-01 -9.82221121e-02 -6.04253041e-03 1.10711784e+02] [ 6.05339755e-03 -1.87373200e-04 9.99981660e-01 -1.86543718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.71, Z:-1.87 [[-1.00601044e-01 -9.94926769e-01 3.92657767e-04 1.42571362e+02] [ 9.94909988e-01 -1.00601629e-01 -5.78170208e-03 1.10707095e+02] [ 5.79187218e-03 -1.90986130e-04 9.99983209e-01 -1.86545158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.71, Z:-1.87 [[-1.02529721e-01 -9.94729863e-01 3.94102399e-04 1.42571224e+02] [ 9.94713144e-01 -1.02530284e-01 -5.77082663e-03 1.10705050e+02] [ 5.78082102e-03 -1.99662407e-04 9.99983271e-01 -1.86564190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:110.84, Z:-1.87 [[-1.07523535e-01 -9.94190496e-01 4.89356654e-03 1.42556900e+02] [ 9.94199578e-01 -1.07533926e-01 -1.91153832e-03 1.10835199e+02] [ 2.42665766e-03 4.65964643e-03 9.99986199e-01 -1.87093952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.86 [[-1.02961905e-01 -9.94676329e-01 -4.22460250e-03 1.42571874e+02] [ 9.94663986e-01 -1.02930966e-01 -6.98365778e-03 1.10700894e+02] [ 6.51163667e-03 -4.92111067e-03 9.99966690e-01 -1.86419556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-1.01825186e-01 -9.94802168e-01 5.26454983e-04 1.42569193e+02] [ 9.94773323e-01 -1.01826245e-01 -7.57975587e-03 1.10699436e+02] [ 7.59396451e-03 -2.48106679e-04 9.99971135e-01 -1.86585390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-1.00263775e-01 -9.94960739e-01 5.50260932e-04 1.42568365e+02] [ 9.94929571e-01 -1.00264991e-01 -7.87913498e-03 1.10697853e+02] [ 7.89460188e-03 -2.42520942e-04 9.99968808e-01 -1.86582985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-9.66178083e-02 -9.95321376e-01 5.98562414e-04 1.42566148e+02] [ 9.95284904e-01 -9.66193938e-02 -8.52360920e-03 1.10699731e+02] [ 8.54156317e-03 -2.27792304e-04 9.99963494e-01 -1.86618804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-9.53010636e-02 -9.95448331e-01 5.72839664e-04 1.42565900e+02] [ 9.95415283e-01 -9.53025689e-02 -8.11389832e-03 1.10696071e+02] [ 8.13155963e-03 -2.03049784e-04 9.99966918e-01 -1.86593243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-9.40457221e-02 -9.95567725e-01 5.53352034e-04 1.42565999e+02] [ 9.95537216e-01 -9.40471733e-02 -7.79625593e-03 1.10698623e+02] [ 7.81374197e-03 -1.82321975e-04 9.99969456e-01 -1.86540126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-9.10964892e-02 -9.95841916e-01 5.54816908e-04 1.42566162e+02] [ 9.95811575e-01 -9.10980455e-02 -7.77517805e-03 1.10696096e+02] [ 7.79339095e-03 -1.55798324e-04 9.99969619e-01 -1.86538471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-8.99519305e-02 -9.95945857e-01 7.07139104e-04 1.42565784e+02] [ 9.95897120e-01 -8.99545255e-02 -9.85445027e-03 1.10696083e+02] [ 9.87810928e-03 -1.82189029e-04 9.99951194e-01 -1.86821410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.69, Z:-1.87 [[-8.78845176e-02 -9.96130402e-01 7.30722133e-04 1.42565264e+02] [ 9.96078917e-01 -8.78874055e-02 -1.01289131e-02 1.10693889e+02] [ 1.01539395e-02 -1.62317729e-04 9.99948434e-01 -1.86705137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.69, Z:-1.87 [[-8.47736466e-02 -9.96399854e-01 8.71915163e-04 1.42565679e+02] [ 9.96327355e-01 -8.47779971e-02 -1.20205207e-02 1.10693799e+02] [ 1.20511643e-02 -1.50310442e-04 9.99927371e-01 -1.86755967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.69, Z:-1.87 [[-8.37589122e-02 -9.96485689e-01 8.45862006e-04 1.42566101e+02] [ 9.96418173e-01 -8.37630842e-02 -1.16004367e-02 1.10694681e+02] [ 1.16305212e-02 -1.28807684e-04 9.99932355e-01 -1.86730796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.70, Z:-1.87 [[-8.29548275e-02 -9.96552967e-01 8.25222849e-04 1.42566712e+02] [ 9.96489376e-01 -8.29588569e-02 -1.12583915e-02 1.10696352e+02] [ 1.12880430e-02 -1.11612123e-04 9.99936282e-01 -1.86658688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.69, Z:-1.87 [[-8.29447924e-02 -9.96553891e-01 7.09500680e-04 1.42568822e+02] [ 9.96507360e-01 -8.29477761e-02 -9.63057688e-03 1.10688908e+02] [ 9.65624037e-03 -9.17835510e-05 9.99953373e-01 -1.86582300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.69, Z:-1.87 [[-8.37899658e-02 -9.96483199e-01 6.89807982e-04 1.42570002e+02] [ 9.96439664e-01 -8.37927535e-02 -9.31509436e-03 1.10688415e+02] [ 9.34013593e-03 -9.31594041e-05 9.99956376e-01 -1.86516629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.787628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.57, Y:110.68, Z:-1.87 [[-8.60527847e-02 -9.96290316e-01 7.24807822e-04 1.42571709e+02] [ 9.96242741e-01 -8.60557592e-02 -9.73689231e-03 1.10682062e+02] [ 9.76314540e-03 -1.15802166e-04 9.99952333e-01 -1.86644209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.68, Z:-1.86 [[-9.04616719e-02 -9.95899767e-01 5.82515448e-04 1.42573566e+02] [ 9.95869330e-01 -9.04634620e-02 -7.78720532e-03 1.10684759e+02] [ 7.80797233e-03 -1.24334345e-04 9.99969510e-01 -1.86463546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.67, Z:-1.86 [[-9.37874439e-02 -9.95592117e-01 5.01297988e-04 1.42575533e+02] [ 9.95569791e-01 -9.37886985e-02 -6.66871072e-03 1.10673793e+02] [ 6.68633192e-03 -1.26364200e-04 9.99977638e-01 -1.86478190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.67, Z:-1.86 [[-9.71040696e-02 -9.95274127e-01 4.59513863e-04 1.42577109e+02] [ 9.95255548e-01 -9.71050653e-02 -6.08281352e-03 1.10668394e+02] [ 6.09868804e-03 -1.33332226e-04 9.99981394e-01 -1.86436257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.67, Z:-1.86 [[-1.00428496e-01 -9.94944186e-01 4.27975875e-04 1.42578229e+02] [ 9.94928224e-01 -1.00429310e-01 -5.63759452e-03 1.10665560e+02] [ 5.65207321e-03 -1.40369860e-04 9.99984017e-01 -1.86389555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.65, Z:-1.86 [[-1.09920700e-01 -9.93939459e-01 -1.33854742e-03 1.42579546e+02] [ 9.93922855e-01 -1.09910672e-01 -6.08291098e-03 1.10648460e+02] [ 5.89892460e-03 -1.99905071e-03 9.99980603e-01 -1.86361040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.65, Z:-1.86 [[-1.08060121e-01 -9.94141927e-01 2.20001356e-03 1.42580203e+02] [ 9.94131409e-01 -1.08069745e-01 -4.86541062e-03 1.10654743e+02] [ 5.07466360e-03 1.66134572e-03 9.99985744e-01 -1.86479619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.65, Z:-1.86 [[-1.10557358e-01 -9.93869674e-01 3.75588953e-04 1.42581708e+02] [ 9.93857724e-01 -1.10557872e-01 -4.87670938e-03 1.10654007e+02] [ 4.88833788e-03 -1.65874125e-04 9.99988038e-01 -1.86458429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.65, Z:-1.87 [[-1.14403551e-01 -9.93434276e-01 4.08054208e-04 1.42582627e+02] [ 9.93420309e-01 -1.14404107e-01 -5.27155638e-03 1.10648389e+02] [ 5.28362788e-03 -1.97715430e-04 9.99986022e-01 -1.86532511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.64, Z:-1.87 [[-1.16457163e-01 -9.93195620e-01 4.34596473e-04 1.42582822e+02] [ 9.93179932e-01 -1.16457768e-01 -5.58660002e-03 1.10643036e+02] [ 5.59919881e-03 -2.18967093e-04 9.99984300e-01 -1.86596503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.63, Z:-1.86 [[-1.22042487e-01 -9.92516248e-01 -4.13880594e-03 1.42583756e+02] [ 9.92488895e-01 -1.22001494e-01 -9.02383861e-03 1.10630710e+02] [ 8.45136592e-03 -5.20901065e-03 9.99950719e-01 -1.86300661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.64, Z:-1.87 [[-1.19556377e-01 -9.92813173e-01 5.31752272e-03 1.42580657e+02] [ 9.92805951e-01 -1.19587295e-01 -5.93494079e-03 1.10640173e+02] [ 6.52819555e-03 4.56970819e-03 9.99968250e-01 -1.86930099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.64, Z:-1.87 [[-1.21411406e-01 -9.92602135e-01 5.21096314e-04 1.42583843e+02] [ 9.92580075e-01 -1.21412185e-01 -6.62393864e-03 1.10636002e+02] [ 6.63820308e-03 -2.86991882e-04 9.99977926e-01 -1.86773522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.63, Z:-1.87 [[-1.21986581e-01 -9.92531604e-01 5.37797864e-04 1.42584359e+02] [ 9.92508331e-01 -1.21987407e-01 -6.80336665e-03 1.10631199e+02] [ 6.81816098e-03 -2.96150577e-04 9.99976712e-01 -1.86715236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.63, Z:-1.87 [[-1.21781400e-01 -9.92556796e-01 5.45536572e-04 1.42584163e+02] [ 9.92533075e-01 -1.21782264e-01 -6.86840750e-03 1.10631339e+02] [ 6.88372122e-03 -2.94981188e-04 9.99976263e-01 -1.86683837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.61, Z:-1.88 [[-1.29900987e-01 -9.91433987e-01 1.35787573e-02 1.42571115e+02] [ 9.91523776e-01 -1.29853621e-01 4.31733617e-03 1.10607562e+02] [-2.51710301e-03 1.40244869e-02 9.99898484e-01 -1.88052666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.64, Z:-1.86 [[-1.17025248e-01 -9.93042921e-01 -1.30708797e-02 1.42585794e+02] [ 9.93098891e-01 -1.16909190e-01 -9.31847164e-03 1.10635164e+02] [ 7.72553633e-03 -1.40711726e-02 9.99871151e-01 -1.86305582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.63, Z:-1.87 [[-1.14657969e-01 -9.93404765e-01 7.23709473e-04 1.42578639e+02] [ 9.93363884e-01 -1.14659820e-01 -9.01774783e-03 1.10629767e+02] [ 9.04125406e-03 -3.15049796e-04 9.99959077e-01 -1.86875252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.63, Z:-1.87 [[-1.11995394e-01 -9.93708480e-01 6.99585631e-04 1.42577645e+02] [ 9.93670638e-01 -1.11997238e-01 -8.67650787e-03 1.10629584e+02] [ 8.70027110e-03 -2.76571220e-04 9.99962114e-01 -1.86931982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.64, Z:-1.87 [[-1.06358204e-01 -9.94327666e-01 6.52244896e-04 1.42574656e+02] [ 9.94295084e-01 -1.06360001e-01 -8.05205422e-03 1.10635339e+02] [ 8.07575304e-03 -2.07878133e-04 9.99967369e-01 -1.86868675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.64, Z:-1.87 [[-1.03576886e-01 -9.94621290e-01 5.63444282e-04 1.42572991e+02] [ 9.94597199e-01 -1.03578300e-01 -6.92442238e-03 1.10637040e+02] [ 6.94553853e-03 -1.56810007e-04 9.99975867e-01 -1.86896173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-1.00642996e-01 -9.94922466e-01 5.23322871e-04 1.42572066e+02] [ 9.94901876e-01 -1.00644280e-01 -6.40195639e-03 1.10629762e+02] [ 6.42211969e-03 -1.23657164e-04 9.99979370e-01 -1.86869336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-9.75305242e-02 -9.95232417e-01 4.82693588e-04 1.42570556e+02] [ 9.95215062e-01 -9.75316744e-02 -5.87818836e-03 1.10630006e+02] [ 5.89724153e-03 -9.29188635e-05 9.99982607e-01 -1.86832290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-9.16452154e-02 -9.95791636e-01 4.15999952e-04 1.42568057e+02] [ 9.95778863e-01 -9.16461470e-02 -5.04376601e-03 1.10632570e+02] [ 5.06066480e-03 -4.79930639e-05 9.99987194e-01 -1.86792671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-8.94509777e-02 -9.95991150e-01 3.88672063e-04 1.42567161e+02] [ 9.95980103e-01 -8.94518162e-02 -4.69123036e-03 1.10631831e+02] [ 4.70719135e-03 -3.25255013e-05 9.99988921e-01 -1.86799108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:110.92, Z:-1.87 [[-9.18740026e-02 -9.95765234e-01 3.28107805e-03 1.42538287e+02] [ 9.95770638e-01 -9.18737180e-02 2.37673441e-04 1.10921116e+02] [ 6.47778897e-05 3.28903719e-03 9.99994589e-01 -1.87149383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-8.37526014e-02 -9.96482535e-01 -2.83894811e-03 1.42567444e+02] [ 9.96474745e-01 -8.37373823e-02 -5.11212412e-03 1.10632664e+02] [ 4.85641632e-03 -3.25709378e-03 9.99982903e-01 -1.86695725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-8.41248049e-02 -9.96455143e-01 4.05545344e-04 1.42566265e+02] [ 9.96443384e-01 -8.41257824e-02 -4.84109071e-03 1.10630190e+02] [ 4.85804655e-03 -3.15283651e-06 9.99988200e-01 -1.86820712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:110.86, Z:-1.87 [[-8.35350505e-02 -9.96503217e-01 1.79831482e-03 1.42546337e+02] [ 9.96491126e-01 -8.35432323e-02 -5.09543593e-03 1.10862614e+02] [ 5.22785533e-03 1.36635727e-03 9.99985401e-01 -1.86859728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-8.34770577e-02 -9.96509301e-01 -8.90521439e-04 1.42567753e+02] [ 9.96494893e-01 -8.34709127e-02 -5.52583648e-03 1.10626111e+02] [ 5.43221481e-03 -1.34868064e-03 9.99984336e-01 -1.86866685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.63, Z:-1.87 [[-8.40287506e-02 -9.96463210e-01 4.90615994e-04 1.42567921e+02] [ 9.96446379e-01 -8.40301828e-02 -5.79163233e-03 1.10625359e+02] [ 5.81237509e-03 2.20890218e-06 9.99983108e-01 -1.87011735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.62, Z:-1.87 [[-8.58022904e-02 -9.96312006e-01 5.94529086e-04 1.42571794e+02] [ 9.96287523e-01 -8.58043499e-02 -6.98466917e-03 1.10620770e+02] [ 7.00992293e-03 -6.97870194e-06 9.99975430e-01 -1.87087054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.62, Z:-1.87 [[-8.72832113e-02 -9.96183326e-01 6.50017882e-04 1.42574503e+02] [ 9.96154324e-01 -8.72856302e-02 -7.60135965e-03 1.10617201e+02] [ 7.62908496e-03 -1.59529562e-05 9.99970898e-01 -1.87116207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.61, Z:-1.87 [[-8.90923580e-02 -9.96023131e-01 6.88592966e-04 1.42577107e+02] [ 9.95990876e-01 -8.90950145e-02 -8.01587615e-03 1.10614482e+02] [ 8.04534826e-03 -2.83209963e-05 9.99967635e-01 -1.87151255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:110.61, Z:-1.87 [[-9.21008794e-02 -9.95749395e-01 7.55032652e-04 1.42582683e+02] [ 9.95710957e-01 -9.21039583e-02 -8.74930767e-03 1.10610976e+02] [ 8.78165931e-03 -5.40246452e-05 9.99961439e-01 -1.87154891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.61, Z:-1.87 [[-9.33432595e-02 -9.95633664e-01 8.01453366e-04 1.42585645e+02] [ 9.95590738e-01 -9.33466774e-02 -9.24550487e-03 1.10610563e+02] [ 9.27994890e-03 -6.50860113e-05 9.99956938e-01 -1.87113201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:110.61, Z:-1.87 [[-9.45878281e-02 -9.95516205e-01 7.92384765e-04 1.42588786e+02] [ 9.95474610e-01 -9.45911196e-02 -9.10060950e-03 1.10607011e+02] [ 9.13475680e-03 -7.20079713e-05 9.99958275e-01 -1.87075667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:110.60, Z:-1.87 [[-9.66715618e-02 -9.95316046e-01 7.60650893e-04 1.42595041e+02] [ 9.95278042e-01 -9.66745180e-02 -8.69808048e-03 1.10604911e+02] [ 8.73087463e-03 -8.37978935e-05 9.99961882e-01 -1.87012689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:110.60, Z:-1.87 [[-9.81565785e-02 -9.95170702e-01 7.47843607e-04 1.42598423e+02] [ 9.95134283e-01 -9.81593847e-02 -8.51434702e-03 1.10603326e+02] [ 8.54663657e-03 -9.15343604e-05 9.99963473e-01 -1.86988539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:110.61, Z:-1.87 [[-9.99354857e-02 -9.94993617e-01 7.74706812e-04 1.42601436e+02] [ 9.94954872e-01 -9.99384314e-02 -8.78140056e-03 1.10605109e+02] [ 8.81486049e-03 -1.06775213e-04 9.99961143e-01 -1.86952215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.60, Z:-1.87 [[-1.01440431e-01 -9.94841329e-01 7.54659938e-04 1.42605485e+02] [ 9.94804875e-01 -1.01443175e-01 -8.51723458e-03 1.10596127e+02] [ 8.54985206e-03 -1.13252564e-04 9.99963443e-01 -1.86927774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.05153800e-01 -9.94455623e-01 8.32520653e-04 1.42611046e+02] [ 9.94411635e-01 -1.05156980e-01 -9.35463276e-03 1.10590403e+02] [ 9.39031250e-03 -1.55806961e-04 9.99955898e-01 -1.87011770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.03757029e-01 -9.94602407e-01 7.28561394e-04 1.42610835e+02] [ 9.94569003e-01 -1.03759516e-01 -8.15240368e-03 1.10594062e+02] [ 8.18399550e-03 -1.21264607e-04 9.99966503e-01 -1.86907416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.01976873e-01 -9.94786499e-01 7.34465704e-04 1.42611220e+02] [ 9.94752845e-01 -1.01979465e-01 -8.18324067e-03 1.10591143e+02] [ 8.21547776e-03 -1.03889448e-04 9.99966247e-01 -1.86894943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.01237647e-01 -9.94861924e-01 8.31578932e-04 1.42612161e+02] [ 9.94819161e-01 -1.01241006e-01 -9.22470484e-03 1.10586068e+02] [ 9.26149749e-03 -1.06616757e-04 9.99957106e-01 -1.86869277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.58, Z:-1.87 [[-1.01218297e-01 -9.94863804e-01 9.31439483e-04 1.42612232e+02] [ 9.94810618e-01 -1.01222517e-01 -1.02876909e-02 1.10584639e+02] [ 1.03291340e-02 -1.14696665e-04 9.99946647e-01 -1.86873076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.01820780e-01 -9.94802167e-01 1.08531044e-03 1.42612408e+02] [ 9.94730578e-01 -1.01826474e-01 -1.19350953e-02 1.10591759e+02] [ 1.19835720e-02 -1.35649225e-04 9.99928185e-01 -1.86828192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.59, Z:-1.87 [[-1.02873038e-01 -9.94693862e-01 1.12161239e-03 1.42612466e+02] [ 9.94618047e-01 -1.02879046e-01 -1.22818035e-02 1.10592568e+02] [ 1.23320250e-02 -1.47890519e-04 9.99923947e-01 -1.86810416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.58, Z:-1.87 [[-1.04693155e-01 -9.94503898e-01 1.15804881e-03 1.42613298e+02] [ 9.94423746e-01 -1.04699421e-01 -1.26271458e-02 1.10578757e+02] [ 1.26789928e-02 -1.70384496e-04 9.99919604e-01 -1.86774949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.58, Z:-1.87 [[-1.08583092e-01 -9.94086793e-01 1.07696801e-03 1.42611636e+02] [ 9.94018023e-01 -1.08588250e-01 -1.16945529e-02 1.10578781e+02] [ 1.17423466e-02 -1.99305094e-04 9.99931036e-01 -1.86807553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.57, Z:-1.87 [[-1.10575458e-01 -9.93867168e-01 1.05875715e-03 1.42611722e+02] [ 9.93801243e-01 -1.10580320e-01 -1.14491238e-02 1.10573518e+02] [ 1.14959860e-02 -2.13797937e-04 9.99933896e-01 -1.86765224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.56, Z:-1.87 [[-1.12189115e-01 -9.93686409e-01 9.60891110e-04 1.42612516e+02] [ 9.93632541e-01 -1.12193040e-01 -1.03486492e-02 1.10564517e+02] [ 1.03911174e-02 -2.06233120e-04 9.99945990e-01 -1.86728960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.56, Z:-1.87 [[-1.14074913e-01 -9.93471783e-01 8.55027158e-04 1.42612577e+02] [ 9.93429466e-01 -1.14077948e-01 -9.17160469e-03 1.10561759e+02] [ 9.20927020e-03 -1.96840836e-04 9.99957574e-01 -1.86683680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.56, Z:-1.87 [[-1.15265043e-01 -9.93334537e-01 6.83451440e-04 1.42611629e+02] [ 9.93307706e-01 -1.15266954e-01 -7.30280476e-03 1.10560079e+02] [ 7.33290755e-03 -1.62880525e-04 9.99973101e-01 -1.86626028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.56, Z:-1.87 [[-1.15455395e-01 -9.93312508e-01 5.59588520e-04 1.42610698e+02] [ 9.93294658e-01 -1.15456675e-01 -5.95638055e-03 1.10560754e+02] [ 5.98115553e-03 -1.31859979e-04 9.99982104e-01 -1.86628339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.15205865e-01 -9.93341540e-01 4.40384939e-04 1.42610587e+02] [ 9.93330566e-01 -1.15206663e-01 -4.67020652e-03 1.10553558e+02] [ 4.68984541e-03 -1.00587362e-04 9.99988998e-01 -1.86590760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.13000704e-01 -9.93594870e-01 2.74570824e-04 1.42609250e+02] [ 9.93590631e-01 -1.13001024e-01 -2.90295068e-03 1.10552557e+02] [ 2.91538369e-03 -5.52244730e-05 9.99995749e-01 -1.86581707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.11369765e-01 -9.93779015e-01 2.11205844e-04 1.42608571e+02] [ 9.93776523e-01 -1.11369959e-01 -2.22582443e-03 1.10552027e+02] [ 2.23549959e-03 -3.79981345e-05 9.99997501e-01 -1.86630931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.09736983e-01 -9.93960648e-01 1.54332075e-04 1.42608093e+02] [ 9.93959325e-01 -1.09737089e-01 -1.62201205e-03 1.10549797e+02] [ 1.62915210e-03 -2.45949045e-05 9.99998673e-01 -1.86679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.06197017e-01 -9.94345102e-01 1.11796201e-04 1.42606482e+02] [ 9.94344410e-01 -1.06197075e-01 -1.17239489e-03 1.10550964e+02] [ 1.17763755e-03 -1.33409126e-05 9.99999307e-01 -1.86778896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.56, Z:-1.87 [[-1.04512327e-01 -9.94523587e-01 8.81414265e-05 1.42605292e+02] [ 9.94523160e-01 -1.04512364e-01 -9.22290586e-04 1.10558106e+02] [ 9.26451611e-04 -8.73204552e-06 9.99999571e-01 -1.86908102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.02944407e-01 -9.94687105e-01 1.07625542e-04 1.42605774e+02] [ 9.94686475e-01 -1.02944463e-01 -1.11998386e-03 1.10550070e+02] [ 1.12511295e-03 -8.24240267e-06 9.99999367e-01 -1.86950361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.01212785e-01 -9.94864791e-01 1.41616158e-04 1.42606298e+02] [ 9.94863712e-01 -1.01212884e-01 -1.46541647e-03 1.10550784e+02] [ 1.47222463e-03 -7.43010492e-06 9.99998916e-01 -1.86960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.01137135e-01 -9.94872485e-01 1.36613238e-04 1.42607141e+02] [ 9.94871488e-01 -1.01137227e-01 -1.40832068e-03 1.10546483e+02] [ 1.41491618e-03 -6.52090212e-06 9.99998999e-01 -1.86987771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.55, Z:-1.87 [[-1.01651707e-01 -9.94820035e-01 1.67981604e-04 1.42607131e+02] [ 9.94818543e-01 -1.01651846e-01 -1.72311596e-03 1.10546314e+02] [ 1.73126592e-03 -8.04646495e-06 9.99998501e-01 -1.87051907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.54, Z:-1.87 [[-1.03584093e-01 -9.94620664e-01 2.65966173e-04 1.42609135e+02] [ 9.94616964e-01 -1.03584433e-01 -2.71308425e-03 1.10542129e+02] [ 2.72603961e-03 -1.64979039e-05 9.99996284e-01 -1.87113651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.54, Z:-1.87 [[-1.05763639e-01 -9.94391251e-01 3.03972256e-04 1.42611025e+02] [ 9.94386458e-01 -1.05764073e-01 -3.08757023e-03 1.10537884e+02] [ 3.10240217e-03 -2.42867693e-05 9.99995187e-01 -1.87143011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.53, Z:-1.87 [[-1.08096727e-01 -9.94140307e-01 3.83707496e-04 1.42613038e+02] [ 9.94132735e-01 -1.08097402e-01 -3.88033931e-03 1.10534898e+02] [ 3.89907949e-03 -3.79957980e-05 9.99992398e-01 -1.87143745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.52, Z:-1.86 [[-1.12296876e-01 -9.93566094e-01 -1.46910941e-02 1.42622370e+02] [ 9.93590680e-01 -1.12082848e-01 -1.46627487e-02 1.10522644e+02] [ 1.29217903e-02 -1.62435150e-02 9.99784565e-01 -1.85926017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.54, Z:-1.87 [[-1.17373312e-01 -9.93075140e-01 5.02707038e-03 1.42613527e+02] [ 9.93026569e-01 -1.17420804e-01 -1.05160465e-02 1.10542248e+02] [ 1.10335070e-02 3.75771125e-03 9.99932068e-01 -1.86972961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.53, Z:-1.88 [[-1.14975217e-01 -9.93291438e-01 1.23620255e-02 1.42611922e+02] [ 9.93360026e-01 -1.15016328e-01 -2.66535621e-03 1.10527968e+02] [ 4.06931028e-03 1.19734921e-02 9.99920035e-01 -1.87759801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.52, Z:-1.87 [[-1.15087963e-01 -9.93355231e-01 3.81192036e-04 1.42616896e+02] [ 9.93347895e-01 -1.15088578e-01 -3.81825658e-03 1.10522261e+02] [ 3.83675600e-03 -6.07790659e-05 9.99992638e-01 -1.87297480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.52, Z:-1.87 [[-1.13727285e-01 -9.93511808e-01 6.25741078e-04 1.42616190e+02] [ 9.93492221e-01 -1.13728972e-01 -6.23926783e-03 1.10521588e+02] [ 6.26995116e-03 -8.79060947e-05 9.99980340e-01 -1.87343363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.52, Z:-1.87 [[-1.13238949e-01 -9.93567501e-01 7.49017071e-04 1.42615920e+02] [ 9.93539660e-01 -1.13241384e-01 -7.43856652e-03 1.10520340e+02] [ 7.47553768e-03 -9.81572899e-05 9.99972053e-01 -1.87376595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.53, Z:-1.87 [[-1.12759022e-01 -9.93622025e-01 8.20706681e-04 1.42614345e+02] [ 9.93588862e-01 -1.12761964e-01 -8.11870868e-03 1.10533418e+02] [ 8.15947226e-03 -1.00012633e-04 9.99966706e-01 -1.87390762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.52, Z:-1.87 [[-1.11981325e-01 -9.93709828e-01 9.80057829e-04 1.42614766e+02] [ 9.93662912e-01 -1.11985562e-01 -9.65670735e-03 1.10518574e+02] [ 9.70571733e-03 -1.07523770e-04 9.99952893e-01 -1.87396377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.11648439e-01 -9.93747263e-01 1.00198467e-03 1.42614854e+02] [ 9.93698596e-01 -1.11652888e-01 -9.83524383e-03 1.10512830e+02] [ 9.88562111e-03 -1.02418867e-04 9.99951131e-01 -1.87415981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.11253977e-01 -9.93791453e-01 1.04913097e-03 1.42614280e+02] [ 9.93738505e-01 -1.11258880e-01 -1.02589247e-02 1.10512418e+02] [ 1.03119568e-02 -9.87843380e-05 9.99946825e-01 -1.87431239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.10496374e-01 -9.93875953e-01 1.06878596e-03 1.42613833e+02] [ 9.93821419e-01 -1.10501508e-01 -1.04117612e-02 1.10511102e+02] [ 1.04661016e-02 -8.82794834e-05 9.99945225e-01 -1.87471751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.07970255e-01 -9.94153468e-01 1.14315540e-03 1.42613547e+02] [ 9.94091567e-01 -1.07976289e-01 -1.10940664e-02 1.10510440e+02] [ 1.11526383e-02 -6.14280367e-05 9.99937806e-01 -1.87457600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.06763494e-01 -9.94283851e-01 1.08599048e-03 1.42613890e+02] [ 9.94228406e-01 -1.06769009e-01 -1.05002560e-02 1.10512014e+02] [ 1.05561851e-02 -4.13214328e-05 9.99944281e-01 -1.87462068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.51, Z:-1.87 [[-1.05703213e-01 -9.94397206e-01 1.01353210e-03 1.42614714e+02] [ 9.94349273e-01 -1.05708070e-01 -9.76359673e-03 1.10508332e+02] [ 9.81603183e-03 -2.42386411e-05 9.99951821e-01 -1.87433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.51, Z:-1.87 [[-1.05338921e-01 -9.94435957e-01 9.16320514e-04 1.42615200e+02] [ 9.94397064e-01 -1.05342905e-01 -8.79496556e-03 1.10511118e+02] [ 8.84255786e-03 -1.52657502e-05 9.99960904e-01 -1.87416430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.04851201e-01 -9.94487746e-01 5.90052571e-04 1.42617600e+02] [ 9.94471726e-01 -1.04852861e-01 -5.64485813e-03 1.10503360e+02] [ 5.67561094e-03 -5.07955410e-06 9.99983894e-01 -1.87285369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.51, Z:-1.87 [[-1.04523395e-01 -9.94522352e-01 3.88782652e-04 1.42617674e+02] [ 9.94515440e-01 -1.04524118e-01 -3.70795710e-03 1.10510070e+02] [ 3.72828338e-03 -9.17912244e-07 9.99993050e-01 -1.87231307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.04420713e-01 -9.94533191e-01 2.17004542e-04 1.42619080e+02] [ 9.94531047e-01 -1.04420939e-01 -2.06503597e-03 1.10500724e+02] [ 2.07640663e-03 1.85225636e-07 9.99997844e-01 -1.87215730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.03046512e-01 -9.94676538e-01 -2.99148196e-05 1.42620482e+02] [ 9.94676500e-01 -1.03046517e-01 2.75912083e-04 1.10498866e+02] [-2.77525893e-04 -1.32379016e-06 9.99999961e-01 -1.87247130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.02513418e-01 -9.94731619e-01 -7.16809173e-05 1.42621159e+02] [ 9.94731395e-01 -1.02513443e-01 6.68146323e-04 1.10497685e+02] [-6.71974531e-04 -2.80929522e-06 9.99999774e-01 -1.87310315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.01783197e-01 -9.94804553e-01 -2.02023221e-03 1.42622369e+02] [ 9.94806157e-01 -1.01784868e-01 7.42039430e-04 1.10501968e+02] [-9.43813272e-04 -1.93421229e-03 9.99997684e-01 -1.87262467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.88 [[-1.00050603e-01 -9.94980725e-01 1.79810399e-03 1.42622945e+02] [ 9.94981939e-01 -1.00048754e-01 1.09022481e-03 1.10498282e+02] [-9.04854606e-04 1.89815864e-03 9.99997789e-01 -1.87535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.50, Z:-1.87 [[-1.00428766e-01 -9.94944247e-01 -9.60266352e-05 1.42624129e+02] [ 9.94943851e-01 -1.00428812e-01 8.87572164e-04 1.10496040e+02] [-8.92728659e-04 -6.40333299e-06 9.99999602e-01 -1.87455504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.87 [[-9.98393657e-02 -9.95003566e-01 -6.45699095e-05 1.42626160e+02] [ 9.95003390e-01 -9.98393865e-02 5.92477341e-04 1.10491763e+02] [-5.95963687e-04 -5.09471689e-06 9.99999822e-01 -1.87479922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.88 [[-9.93472427e-02 -9.95052825e-01 -3.90642835e-05 1.42628113e+02] [ 9.95052762e-01 -9.93472503e-02 3.54531556e-04 1.10488465e+02] [-3.56658555e-04 -3.64929065e-06 9.99999936e-01 -1.87504924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.87 [[-9.88354677e-02 -9.95103789e-01 -1.46152996e-06 1.42628537e+02] [ 9.95103789e-01 -9.88354677e-02 6.81717961e-06 1.10493742e+02] [-6.92825234e-06 -7.80594862e-07 1.00000000e+00 -1.87496522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.88 [[-9.73292324e-02 -9.95252238e-01 5.92908990e-05 1.42628337e+02] [ 9.95252085e-01 -9.73292503e-02 -5.50898686e-04 1.10485649e+02] [ 5.54053889e-04 5.39084461e-06 9.99999847e-01 -1.87713371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.48, Z:-1.88 [[-9.70108587e-02 -9.95283309e-01 1.64980775e-04 1.42628106e+02] [ 9.95282156e-01 -9.70109974e-02 -1.51566949e-03 1.10484106e+02] [ 1.52452549e-03 1.71660225e-05 9.99998838e-01 -1.87794674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.88 [[-9.65257920e-02 -9.95330457e-01 2.31506358e-04 1.42627470e+02] [ 9.95328206e-01 -9.65260661e-02 -2.11663211e-03 1.10488263e+02] [ 2.12909481e-03 2.61152164e-05 9.99997733e-01 -1.87866907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.49, Z:-1.88 [[-9.69442822e-02 -9.95289475e-01 -8.16665551e-04 1.42627606e+02] [ 9.95284981e-01 -9.69412231e-02 -3.19465012e-03 1.10491205e+02] [ 3.10043309e-03 -1.12251802e-03 9.99994564e-01 -1.87888837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.48, Z:-1.88 [[-9.72074026e-02 -9.95262968e-01 1.53121943e-03 1.42626021e+02] [ 9.95258118e-01 -9.72120535e-02 -3.33085502e-03 1.10482221e+02] [ 3.46392964e-03 1.20017480e-03 9.99993280e-01 -1.88064508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.48, Z:-1.88 [[-9.78155137e-02 -9.95204504e-01 3.46570914e-04 1.42626282e+02] [ 9.95199573e-01 -9.78161201e-02 -3.13307344e-03 1.10476950e+02] [ 3.15194902e-03 3.84440376e-05 9.99995032e-01 -1.88072394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.48, Z:-1.88 [[-9.83444182e-02 -9.95152345e-01 4.30466327e-04 1.42625733e+02] [ 9.95144797e-01 -9.83453490e-02 -3.87626456e-03 1.10475536e+02] [ 3.89980813e-03 4.71673425e-05 9.99992395e-01 -1.88072929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.47, Z:-1.88 [[-9.87511155e-02 -9.95111990e-01 5.86838579e-04 1.42623920e+02] [ 9.95098072e-01 -9.87528383e-02 -5.26351580e-03 1.10474117e+02] [ 5.29573966e-03 6.41838818e-05 9.99985975e-01 -1.88155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.47, Z:-1.88 [[-9.92840106e-02 -9.95058938e-01 6.29367981e-04 1.42623370e+02] [ 9.95043042e-01 -9.92859822e-02 -5.62480855e-03 1.10470828e+02] [ 5.65950344e-03 6.77946782e-05 9.99983983e-01 -1.88180173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.46, Z:-1.86 [[-1.01231117e-01 -9.94510961e-01 -2.64614747e-02 1.42635047e+02] [ 9.94585795e-01 -1.00539337e-01 -2.62856927e-02 1.10463437e+02] [ 2.34809904e-02 -2.89791369e-02 9.99304184e-01 -1.86039456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.46, Z:-1.89 [[-9.91504557e-02 -9.94630314e-01 2.96601625e-02 1.42607924e+02] [ 9.95057972e-01 -9.92657654e-02 -2.43720895e-03 1.10463026e+02] [ 5.36836063e-03 2.92719307e-02 9.99557069e-01 -1.89358995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.46, Z:-1.88 [[-9.95732841e-02 -9.95030055e-01 5.92993347e-04 1.42620563e+02] [ 9.95016106e-01 -9.95750284e-02 -5.26907353e-03 1.10464631e+02] [ 5.30193385e-03 6.53789753e-05 9.99985943e-01 -1.88236842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.46, Z:-1.88 [[-1.00049340e-01 -9.94982357e-01 4.88823263e-04 1.42620350e+02] [ 9.94972938e-01 -1.00050520e-01 -4.32962026e-03 1.10462139e+02] [ 4.35680279e-03 5.31902691e-05 9.99990508e-01 -1.88242557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.46, Z:-1.86 [[-1.00676992e-01 -9.94632411e-01 -2.38853601e-02 1.42632524e+02] [ 9.94700943e-01 -1.00123105e-01 -2.33537658e-02 1.10463514e+02] [ 2.08369360e-02 -2.61099771e-02 9.99441890e-01 -1.86155892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.46, Z:-1.89 [[-1.01094559e-01 -9.94522685e-01 2.65427759e-02 1.42609626e+02] [ 9.94870930e-01 -1.01149792e-01 -7.43108244e-04 1.10455682e+02] [ 3.42383426e-03 2.63315120e-02 9.99647402e-01 -1.89278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.45, Z:-1.88 [[-1.02134130e-01 -9.94770582e-01 3.30351985e-04 1.42623175e+02] [ 9.94766319e-01 -1.02134659e-01 -2.91236764e-03 1.10453043e+02] [ 2.93087803e-03 3.11708946e-05 9.99995704e-01 -1.88200706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.45, Z:-1.88 [[-1.03872881e-01 -9.94590561e-01 2.00749583e-04 1.42625351e+02] [ 9.94588993e-01 -1.03873074e-01 -1.76638095e-03 1.10450986e+02] [ 1.77767830e-03 1.61842467e-05 9.99998420e-01 -1.88181894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.43, Z:-1.86 [[-1.05308599e-01 -9.94006955e-01 -2.93304105e-02 1.42643156e+02] [ 9.94227020e-01 -1.04630475e-01 -2.37717387e-02 1.10434145e+02] [ 2.05604188e-02 -3.16644551e-02 9.99287062e-01 -1.85756304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:110.45, Z:-1.89 [[-1.05030755e-01 -9.93967563e-01 3.15757043e-02 1.42612073e+02] [ 9.94468672e-01 -1.05002507e-01 2.55608337e-03 1.10454353e+02] [ 7.74864143e-04 3.16695161e-02 9.99498095e-01 -1.89487614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.45, Z:-1.88 [[-1.06033651e-01 -9.94362536e-01 1.11768195e-04 1.42628722e+02] [ 9.94362052e-01 -1.06033709e-01 -9.80361662e-04 1.10445881e+02] [ 9.86686105e-04 7.18672565e-06 9.99999513e-01 -1.88184685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.44, Z:-1.88 [[-1.07582885e-01 -9.94196088e-01 2.50094613e-04 1.42630207e+02] [ 9.94193701e-01 -1.07583175e-01 -2.17825478e-03 1.10440957e+02] [ 2.19251836e-03 1.42995553e-05 9.99997596e-01 -1.88211428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.44, Z:-1.87 [[-1.09798289e-01 -9.93815765e-01 -1.65698745e-02 1.42638606e+02] [ 9.93849416e-01 -1.09529790e-01 -1.63267971e-02 1.10436915e+02] [ 1.44109335e-02 -1.82606145e-02 9.99729401e-01 -1.86749737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.44, Z:-1.89 [[-1.09285876e-01 -9.93832959e-01 1.87788756e-02 1.42620212e+02] [ 9.93994641e-01 -1.09370891e-01 -3.55829814e-03 1.10437882e+02] [ 5.59021632e-03 1.82772300e-02 9.99817329e-01 -1.89097492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.44, Z:-1.88 [[-1.10816496e-01 -9.93840618e-01 7.28677859e-04 1.42627688e+02] [ 9.93820728e-01 -1.10818889e-01 -6.28757415e-03 1.10436738e+02] [ 6.32959784e-03 2.74082240e-05 9.99979968e-01 -1.88425098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.44, Z:-1.88 [[-1.12457235e-01 -9.93656234e-01 8.11758538e-04 1.42627129e+02] [ 9.93631716e-01 -1.12460162e-01 -6.98027388e-03 1.10436823e+02] [ 7.02728316e-03 2.16067317e-05 9.99975308e-01 -1.88445912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.43, Z:-1.88 [[-1.15042445e-01 -9.93360248e-01 8.08895973e-04 1.42627842e+02] [ 9.93336057e-01 -1.15045289e-01 -6.93248257e-03 1.10428688e+02] [ 6.97951228e-03 5.97578908e-06 9.99975643e-01 -1.88422759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.42, Z:-1.88 [[-1.19925980e-01 -9.92782625e-01 6.47872469e-04 1.42629694e+02] [ 9.92767193e-01 -1.19927729e-01 -5.53531948e-03 1.10422261e+02] [ 5.57306687e-03 -2.06420833e-05 9.99984470e-01 -1.88262675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.42, Z:-1.88 [[-1.22664951e-01 -9.92447989e-01 5.46936353e-04 1.42630593e+02] [ 9.92437056e-01 -1.22666167e-01 -4.65851110e-03 1.10419914e+02] [ 4.69042056e-03 -2.86361311e-05 9.99989000e-01 -1.88209038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.39, Z:-1.86 [[-1.28222768e-01 -9.91553871e-01 -1.94895497e-02 1.42642765e+02] [ 9.91595448e-01 -1.27836909e-01 -1.99045563e-02 1.10394821e+02] [ 1.72449560e-02 -2.18779660e-02 9.99611908e-01 -1.86419489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.42, Z:-1.89 [[-1.29224021e-01 -9.91378773e-01 2.16629051e-02 1.42620058e+02] [ 9.91613416e-01 -1.29236906e-01 8.10008272e-04 1.10417315e+02] [ 1.99662183e-03 2.15858999e-02 9.99765004e-01 -1.88971980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.41, Z:-1.88 [[-1.30728370e-01 -9.91418215e-01 1.27770782e-04 1.42629517e+02] [ 9.91417621e-01 -1.30728431e-01 -1.08508859e-03 1.10410963e+02] [ 1.09247987e-03 -1.51776582e-05 9.99999403e-01 -1.88172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.41, Z:-1.88 [[-1.32119003e-01 -9.91233852e-01 1.39649494e-04 1.42628810e+02] [ 9.91233148e-01 -1.32119076e-01 -1.18151379e-03 1.10407266e+02] [ 1.18960683e-03 -1.76752172e-05 9.99999292e-01 -1.88254127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.88 [[-1.32812951e-01 -9.91141031e-01 4.19807244e-04 1.42629073e+02] [ 9.91134754e-01 -1.32813605e-01 -3.52781806e-03 1.10403788e+02] [ 3.55232134e-03 -5.24543788e-05 9.99993689e-01 -1.88284976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.88 [[-1.33014175e-01 -9.91113955e-01 5.98377401e-04 1.42629862e+02] [ 9.91101297e-01 -1.33015501e-01 -5.00955102e-03 1.10401097e+02] [ 5.04462939e-03 -7.32886770e-05 9.99987273e-01 -1.88252660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.88 [[-1.32696734e-01 -9.91156379e-01 7.80878029e-04 1.42630684e+02] [ 9.91134974e-01 -1.32699001e-01 -6.51451655e-03 1.10397970e+02] [ 6.56052636e-03 -9.04995456e-05 9.99978475e-01 -1.88270976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.88 [[-1.30255275e-01 -9.91479805e-01 1.16596701e-03 1.42630143e+02] [ 9.91432430e-01 -1.30260450e-01 -9.69290529e-03 1.10397947e+02] [ 9.76219924e-03 -1.06574536e-04 9.99952343e-01 -1.88416671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.89 [[-1.28400722e-01 -9.91721421e-01 1.37042438e-03 1.42628590e+02] [ 9.91656418e-01 -1.28407997e-01 -1.13549541e-02 1.10404947e+02] [ 1.14369247e-02 -9.89941768e-05 9.99934591e-01 -1.88536690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.89 [[-1.26528373e-01 -9.91961745e-01 1.57052981e-03 1.42628960e+02] [ 9.91876949e-01 -1.26538092e-01 -1.29703407e-02 1.10398595e+02] [ 1.30648136e-02 -8.33437806e-05 9.99914648e-01 -1.88572382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.89 [[-1.22930116e-01 -9.92413761e-01 1.76437910e-03 1.42629827e+02] [ 9.92307477e-01 -1.22942772e-01 -1.45239571e-02 1.10396055e+02] [ 1.46306926e-02 -3.46251556e-05 9.99892965e-01 -1.88558728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.89 [[-1.21954901e-01 -9.92533964e-01 1.82524659e-03 1.42630340e+02] [ 9.92420960e-01 -1.21968558e-01 -1.49769272e-02 1.10395809e+02] [ 1.50877316e-02 -1.50967014e-05 9.99886174e-01 -1.88513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.89 [[-1.21695095e-01 -9.92565868e-01 1.81678722e-03 1.42630739e+02] [ 9.92454623e-01 -1.21708656e-01 -1.48601317e-02 1.10396139e+02] [ 1.49707783e-02 -5.32626413e-06 9.99887932e-01 -1.88565101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:142.63, Y:110.40, Z:-1.88 [[-1.21396555e-01 -9.92602679e-01 1.67258980e-03 1.42632508e+02] [ 9.92508988e-01 -1.21408077e-01 -1.36377219e-02 1.10395972e+02] [ 1.37399052e-02 4.48795246e-06 9.99905603e-01 -1.88487789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.39, Z:-1.88 [[-1.21428353e-01 -9.92599021e-01 1.52903314e-03 1.42634451e+02] [ 9.92521212e-01 -1.21437979e-01 -1.24282729e-02 1.10390263e+02] [ 1.25219742e-02 8.45311238e-06 9.99921597e-01 -1.88341594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.39, Z:-1.88 [[-1.22237647e-01 -9.92499883e-01 1.39281543e-03 1.42635353e+02] [ 9.92435714e-01 -1.22245582e-01 -1.12859311e-02 1.10387645e+02] [ 1.13715509e-02 2.71411307e-06 9.99935342e-01 -1.88311452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.22844164e-01 -9.92425183e-01 1.25181826e-03 1.42636410e+02] [ 9.92373663e-01 -1.22850542e-01 -1.01121973e-02 1.10383970e+02] [ 1.01893858e-02 4.70546782e-08 9.99948087e-01 -1.88315891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.39, Z:-1.88 [[-1.23506377e-01 -9.92343143e-01 1.12353831e-03 1.42636470e+02] [ 9.92301892e-01 -1.23511487e-01 -9.04811700e-03 1.10388515e+02] [ 9.11760675e-03 -2.61096160e-06 9.99958434e-01 -1.88328366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.24489912e-01 -9.92220316e-01 1.05149596e-03 1.42638275e+02] [ 9.92184404e-01 -1.24494352e-01 -8.44181729e-03 1.10384496e+02] [ 8.50704793e-03 -7.64319376e-06 9.99963814e-01 -1.88321163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.25026203e-01 -9.92152937e-01 9.98890434e-04 1.42639510e+02] [ 9.92120726e-01 -1.25030193e-01 -7.99478613e-03 1.10377017e+02] [ 8.05694200e-03 -8.53785038e-06 9.99967542e-01 -1.88308264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.25311959e-01 -9.92116947e-01 9.36240328e-04 1.42638332e+02] [ 9.92088821e-01 -1.25315456e-01 -7.47043974e-03 1.10382424e+02] [ 7.52887525e-03 -7.30187409e-06 9.99971658e-01 -1.88337585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.24509124e-01 -9.92217991e-01 9.68137433e-04 1.42638233e+02] [ 9.92188107e-01 -1.24512888e-01 -7.70078236e-03 1.10376512e+02] [ 7.76140039e-03 1.75678148e-06 9.99969880e-01 -1.88387454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.38, Z:-1.88 [[-1.24262829e-01 -9.92248846e-01 9.88605803e-04 1.42637833e+02] [ 9.92217879e-01 -1.24266761e-01 -7.83912482e-03 1.10378980e+02] [ 7.90121339e-03 6.80052662e-06 9.99968785e-01 -1.88404038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.64, Y:110.37, Z:-1.89 [[-1.24282397e-01 -9.92246311e-01 1.06960957e-03 1.42638841e+02] [ 9.92210289e-01 -1.24286999e-01 -8.45478791e-03 1.10370598e+02] [ 8.52217067e-03 1.04963133e-05 9.99963686e-01 -1.88569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.37, Z:-1.89 [[-1.23101993e-01 -9.92393316e-01 1.18556605e-03 1.42638149e+02] [ 9.92349345e-01 -1.23107699e-01 -9.34193020e-03 1.10371256e+02] [ 9.41682140e-03 2.64854656e-05 9.99955660e-01 -1.88509164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.37, Z:-1.89 [[-1.22887379e-01 -9.92419826e-01 1.25742052e-03 1.42638601e+02] [ 9.92370671e-01 -1.22893807e-01 -9.87740320e-03 1.10366942e+02] [ 9.95705996e-03 3.40190562e-05 9.99950427e-01 -1.88574356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.36, Z:-1.89 [[-1.22867046e-01 -9.92422142e-01 1.40733085e-03 1.42639146e+02] [ 9.92360951e-01 -1.22875098e-01 -1.10205455e-02 1.10363837e+02] [ 1.11099593e-02 4.25183159e-05 9.99938282e-01 -1.88598290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.36, Z:-1.89 [[-1.23094788e-01 -9.92393547e-01 1.64979891e-03 1.42639476e+02] [ 9.92309975e-01 -1.23105833e-01 -1.28789194e-02 1.10364003e+02] [ 1.29840564e-02 5.17840582e-05 9.99915702e-01 -1.88580504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.36, Z:-1.89 [[-1.23975319e-01 -9.92283843e-01 1.70131532e-03 1.42639608e+02] [ 9.92195503e-01 -1.23986983e-01 -1.32405501e-02 1.10360232e+02] [ 1.33493249e-02 4.65359803e-05 9.99910893e-01 -1.88639355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.36, Z:-1.89 [[-1.24816698e-01 -9.92178323e-01 1.72286160e-03 1.42639960e+02] [ 9.92088269e-01 -1.24828581e-01 -1.33675898e-02 1.10355671e+02] [ 1.34780952e-02 4.07323736e-05 9.99909166e-01 -1.88620788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.64, Y:110.35, Z:-1.89 [[-1.27360834e-01 -9.91854992e-01 1.70093051e-03 1.42640838e+02] [ 9.91767714e-01 -1.27372191e-01 -1.31577247e-02 1.10353237e+02] [ 1.32672062e-02 1.11491742e-05 9.99911987e-01 -1.88673256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.35, Z:-1.88 [[-1.28898782e-01 -9.91656467e-01 1.59851502e-03 1.42641213e+02] [ 9.91579827e-01 -1.28908693e-01 -1.23286599e-02 1.10352139e+02] [ 1.24318578e-02 -4.09398531e-06 9.99922721e-01 -1.88473013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.35, Z:-1.88 [[-1.29279145e-01 -9.91606944e-01 1.60324396e-03 1.42641589e+02] [ 9.91530308e-01 -1.29289086e-01 -1.23280457e-02 1.10349813e+02] [ 1.24318576e-02 -4.09423361e-06 9.99922721e-01 -1.88473499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.34, Z:-1.88 [[-1.31161911e-01 -9.91359905e-01 1.44649307e-03 1.42642483e+02] [ 9.91297872e-01 -1.31169886e-01 -1.10900475e-02 1.10344805e+02] [ 1.11839648e-02 -2.06863264e-05 9.99937457e-01 -1.88422196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:142.64, Y:110.34, Z:-1.89 [[-1.34442429e-01 -9.90920691e-01 1.19013223e-03 1.42642955e+02] [ 9.90878922e-01 -1.34447690e-01 -9.09843724e-03 1.10340086e+02] [ 9.17584025e-03 -4.39390678e-05 9.99957900e-01 -1.88568531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.34, Z:-1.88 [[-1.35930534e-01 -9.90717815e-01 1.04928281e-03 1.42643019e+02] [ 9.90685527e-01 -1.35934576e-01 -7.99858015e-03 1.10335738e+02] [ 8.06696967e-03 -4.77419800e-05 9.99967460e-01 -1.88347349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.33, Z:-1.88 [[-1.37560463e-01 -9.90492942e-01 9.22387629e-04 1.42643280e+02] [ 9.90468129e-01 -1.37563546e-01 -7.01121718e-03 1.10333110e+02] [ 7.07144805e-03 -5.08707319e-05 9.99974996e-01 -1.88335550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.34, Z:-1.88 [[-1.39007165e-01 -9.90290977e-01 8.87789421e-04 1.42642704e+02] [ 9.90268120e-01 -1.39009989e-01 -6.72857479e-03 1.10336340e+02] [ 6.78665850e-03 -5.61705480e-05 9.99976969e-01 -1.88272771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.33, Z:-1.88 [[-1.40583952e-01 -9.90068346e-01 9.06638110e-04 1.42642159e+02] [ 9.90044644e-01 -1.40586860e-01 -6.85112717e-03 1.10327722e+02] [ 6.91054555e-03 -6.55463264e-05 9.99976120e-01 -1.88286176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.32, Z:-1.88 [[-1.41026396e-01 -9.90005283e-01 1.04612550e-03 1.42641371e+02] [ 9.89973916e-01 -1.41030256e-01 -7.88120857e-03 1.10324692e+02] [ 7.94997347e-03 -7.58214802e-05 9.99968396e-01 -1.88355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:142.64, Y:110.32, Z:-1.89 [[-1.41619487e-01 -9.89920074e-01 1.47253684e-03 1.42639881e+02] [ 9.89858304e-01 -1.41627101e-01 -1.10590653e-02 1.10323629e+02] [ 1.11561418e-02 -1.08576337e-04 9.99937762e-01 -1.88604936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:142.64, Y:110.32, Z:-1.89 [[-1.41945738e-01 -9.89873148e-01 1.59942229e-03 1.42639034e+02] [ 9.89800700e-01 -1.41954700e-01 -1.19765595e-02 1.10324909e+02] [ 1.20823202e-02 -1.16912271e-04 9.99926999e-01 -1.88618855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.64, Y:110.32, Z:-1.89 [[-1.42325150e-01 -9.89818439e-01 1.73467543e-03 1.42639318e+02] [ 9.89733715e-01 -1.42335665e-01 -1.29511594e-02 1.10318768e+02] [ 1.30662025e-02 -1.26408946e-04 9.99914626e-01 -1.88629022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73762800000003 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:142.64, Y:110.31, Z:-1.89 [[-1.42603647e-01 -9.89778119e-01 1.86410413e-03 1.42639432e+02] [ 9.89680846e-01 -1.42615767e-01 -1.38768342e-02 1.10314727e+02] [ 1.40008375e-02 -1.34019026e-04 9.99901975e-01 -1.88655754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.32, Z:-1.88 [[-1.42398562e-01 -9.89807580e-01 1.89839453e-03 1.42638349e+02] [ 9.89707280e-01 -1.42411159e-01 -1.40912299e-02 1.10316520e+02] [ 1.42179588e-02 -1.27715995e-04 9.99898912e-01 -1.88487835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.64, Y:110.31, Z:-1.89 [[-1.43166517e-01 -9.89696463e-01 2.06383212e-03 1.42639270e+02] [ 9.89578595e-01 -1.43181319e-01 -1.52746415e-02 1.10312306e+02] [ 1.54127609e-02 -1.44493137e-04 9.99881206e-01 -1.88617671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.64, Y:110.31, Z:-1.89 [[-1.43511939e-01 -9.89646501e-01 2.03149470e-03 1.42639779e+02] [ 9.89532945e-01 -1.43526247e-01 -1.49922628e-02 1.10309446e+02] [ 1.51286132e-02 -1.41337763e-04 9.99885546e-01 -1.88601045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.64, Y:110.31, Z:-1.89 [[-1.44039352e-01 -9.89569999e-01 1.97033421e-03 1.42639974e+02] [ 9.89463778e-01 -1.44052761e-01 -1.44994747e-02 1.10307509e+02] [ 1.46320773e-02 -1.38920615e-04 9.99892936e-01 -1.88597511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.31, Z:-1.88 [[-1.44392517e-01 -9.89519133e-01 1.63921872e-03 1.42640783e+02] [ 9.89446018e-01 -1.44401776e-01 -1.20293297e-02 1.10305710e+02] [ 1.21399580e-02 -1.15026761e-04 9.99926301e-01 -1.88393092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.30, Z:-1.88 [[-1.44902892e-01 -9.89444685e-01 1.53876154e-03 1.42642777e+02] [ 9.89380615e-01 -1.44911021e-01 -1.12603510e-02 1.10300848e+02] [ 1.13644779e-02 -1.09236584e-04 9.99935416e-01 -1.88337195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.947628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:142.64, Y:110.30, Z:-1.88 [[-1.45676224e-01 -9.89331104e-01 1.55095541e-03 1.42644050e+02] [ 9.89266376e-01 -1.45684435e-01 -1.13173442e-02 1.10302011e+02] [ 1.14225507e-02 -1.14359938e-04 9.99934754e-01 -1.88423069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.30, Z:-1.88 [[-1.44825832e-01 -9.89456348e-01 1.27044166e-03 1.42645917e+02] [ 9.89413158e-01 -1.44831381e-01 -9.24518226e-03 1.10297106e+02] [ 9.33170409e-03 -8.19495229e-05 9.99956455e-01 -1.88200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.88 [[-1.44736783e-01 -9.89469449e-01 1.21362442e-03 1.42646701e+02] [ 9.89430256e-01 -1.44741852e-01 -8.80705995e-03 1.10294685e+02] [ 8.88997901e-03 -7.39088007e-05 9.99960481e-01 -1.88198191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.88 [[-1.44533004e-01 -9.89499174e-01 1.26329216e-03 1.42647216e+02] [ 9.89456949e-01 -1.44538507e-01 -9.14148938e-03 1.10293967e+02] [ 9.22809056e-03 -7.12737096e-05 9.99957418e-01 -1.88198771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.30, Z:-1.88 [[-1.44205536e-01 -9.89546795e-01 1.38018032e-03 1.42646557e+02] [ 9.89496684e-01 -1.44212123e-01 -9.95873475e-03 1.10299298e+02] [ 1.00536728e-02 -7.04208298e-05 9.99949458e-01 -1.88247566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.89 [[-1.43301134e-01 -9.89677667e-01 1.70291529e-03 1.42647417e+02] [ 9.89601833e-01 -1.43311234e-01 -1.22516532e-02 1.10293157e+02] [ 1.23692344e-02 -7.04676962e-05 9.99923496e-01 -1.88528562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.89 [[-1.42745079e-01 -9.89757532e-01 1.96719691e-03 1.42648197e+02] [ 9.89656917e-01 -1.42758617e-01 -1.41125756e-02 1.10291265e+02] [ 1.42488623e-02 -6.76506841e-05 9.99898478e-01 -1.88600698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.89 [[-1.42001360e-01 -9.89864168e-01 2.13139926e-03 1.42649012e+02] [ 9.89746730e-01 -1.42017344e-01 -1.52474245e-02 1.10288301e+02] [ 1.53955749e-02 -5.56095750e-05 9.99881480e-01 -1.88581918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.88 [[-1.40589410e-01 -9.90065373e-01 2.27494905e-03 1.42649178e+02] [ 9.89932358e-01 -1.40607811e-01 -1.62286706e-02 1.10286176e+02] [ 1.63873204e-02 -2.95335377e-05 9.99865718e-01 -1.88413179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.29, Z:-1.88 [[-1.39068236e-01 -9.90279541e-01 2.54099940e-03 1.42647675e+02] [ 9.90114560e-01 -1.39091448e-01 -1.80755883e-02 1.10286150e+02] [ 1.82533166e-02 2.14032466e-06 9.99833394e-01 -1.88436616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:110.45, Z:-1.88 [[-1.38746890e-01 -9.90324718e-01 2.50083244e-03 1.42623604e+02] [ 9.90165856e-01 -1.38769425e-01 -1.77376589e-02 1.10452634e+02] [ 1.79130811e-02 1.51938906e-05 9.99839548e-01 -1.88403968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.28, Z:-1.88 [[-1.38934790e-01 -9.90298231e-01 2.55685503e-03 1.42646695e+02] [ 9.90133148e-01 -1.38958314e-01 -1.80813725e-02 1.10281476e+02] [ 1.82612475e-02 1.94952129e-05 9.99833249e-01 -1.88342004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.28, Z:-1.88 [[-1.39222396e-01 -9.90258000e-01 2.49344464e-03 1.42645915e+02] [ 9.90101867e-01 -1.39244721e-01 -1.75841103e-02 1.10278015e+02] [ 1.77600050e-02 2.06622287e-05 9.99842278e-01 -1.88262148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.28, Z:-1.88 [[-1.39588230e-01 -9.90206586e-01 2.45845414e-03 1.42646379e+02] [ 9.90055628e-01 -1.39609876e-01 -1.72897551e-02 1.10275483e+02] [ 1.74636539e-02 2.05600401e-05 9.99847499e-01 -1.88241402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.30, Z:-1.88 [[-1.40245945e-01 -9.90113671e-01 2.44813180e-03 1.42642921e+02] [ 9.89964792e-01 -1.40267310e-01 -1.71695178e-02 1.10301633e+02] [ 1.73431671e-02 1.56090412e-05 9.99849596e-01 -1.88176688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.27, Z:-1.88 [[-1.40785660e-01 -9.90037101e-01 2.43664464e-03 1.42647578e+02] [ 9.89890418e-01 -1.40806744e-01 -1.70417395e-02 1.10271473e+02] [ 1.72150503e-02 1.27786444e-05 9.99851810e-01 -1.88168796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.27, Z:-1.88 [[-1.41808400e-01 -9.89891325e-01 2.35429186e-03 1.42648688e+02] [ 9.89755114e-01 -1.41827942e-01 -1.64209767e-02 1.10267648e+02] [ 1.65888867e-02 1.53998617e-06 9.99862395e-01 -1.88212496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.27, Z:-1.88 [[-1.42152471e-01 -9.89842111e-01 2.29593237e-03 1.42649877e+02] [ 9.89713265e-01 -1.42171011e-01 -1.59704852e-02 1.10267602e+02] [ 1.61346738e-02 2.07080046e-06 9.99869828e-01 -1.88231372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.26, Z:-1.88 [[-1.42505100e-01 -9.89791325e-01 2.33003651e-03 1.42651308e+02] [ 9.89659338e-01 -1.42524147e-01 -1.61636296e-02 1.10264727e+02] [ 1.63307068e-02 2.54273549e-06 9.99866645e-01 -1.88150605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.26, Z:-1.88 [[-1.42677913e-01 -9.89766613e-01 2.25037886e-03 1.42652612e+02] [ 9.89644156e-01 -1.42695659e-01 -1.55689609e-02 1.10261704e+02] [ 1.57307570e-02 5.72743160e-06 9.99876264e-01 -1.88175389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.26, Z:-1.88 [[-1.42359856e-01 -9.89812413e-01 2.24897282e-03 1.42653155e+02] [ 9.89690775e-01 -1.42377619e-01 -1.55172099e-02 1.10261897e+02] [ 1.56793303e-02 1.67598882e-05 9.99877072e-01 -1.88131037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:110.24, Z:-1.90 [[-1.50686553e-01 -9.88437376e-01 1.68853625e-02 1.42644708e+02] [ 9.88571302e-01 -1.50740934e-01 -1.98815843e-03 1.10236960e+02] [ 4.51048542e-03 1.63927961e-02 9.99855455e-01 -1.89599063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.26, Z:-1.87 [[-1.41804811e-01 -9.89799544e-01 -1.37207208e-02 1.42661182e+02] [ 9.89759516e-01 -1.41542822e-01 -1.84859299e-02 1.10260830e+02] [ 1.63552954e-02 -1.62016078e-02 9.99734971e-01 -1.87423446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.26, Z:-1.88 [[-1.40438243e-01 -9.90086165e-01 2.54688540e-03 1.42654988e+02] [ 9.89932061e-01 -1.40461319e-01 -1.74680264e-02 1.10258605e+02] [ 1.76525901e-02 6.80645755e-05 9.99844179e-01 -1.88074672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.26, Z:-1.88 [[-1.39688127e-01 -9.90191746e-01 2.74460149e-03 1.42655426e+02] [ 9.90013775e-01 -1.39715055e-01 -1.87730887e-02 1.10259200e+02] [ 1.89724196e-02 9.48156890e-05 9.99820003e-01 -1.88043122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.26, Z:-1.88 [[-1.38961753e-01 -9.90293786e-01 2.80157193e-03 1.42655372e+02] [ 9.90109367e-01 -1.38989941e-01 -1.91111826e-02 1.10259666e+02] [ 1.93150757e-02 1.18139171e-04 9.99813440e-01 -1.88056316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.25, Z:-1.88 [[-1.37275882e-01 -9.90528573e-01 2.91177719e-03 1.42655140e+02] [ 9.90330481e-01 -1.37306661e-01 -1.98095715e-02 1.10251697e+02] [ 2.00217530e-02 1.64245308e-04 9.99799531e-01 -1.88075639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.25, Z:-1.88 [[-1.36801705e-01 -9.90594235e-01 2.89063284e-03 1.42654301e+02] [ 9.90400065e-01 -1.36832123e-01 -1.96133121e-02 1.10250547e+02] [ 1.98243653e-02 1.79748415e-04 9.99803462e-01 -1.88103359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.787628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.65, Y:110.25, Z:-1.88 [[-1.37083420e-01 -9.90555216e-01 2.91558750e-03 1.42653808e+02] [ 9.90358722e-01 -1.37114300e-01 -1.97299411e-02 1.10248806e+02] [ 1.99433648e-02 1.82829719e-04 9.99801095e-01 -1.88311589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.25, Z:-1.88 [[-1.36535260e-01 -9.90631448e-01 2.73084339e-03 1.42653075e+02] [ 9.90459994e-01 -1.36562437e-01 -1.84309942e-02 1.10247607e+02] [ 1.86312531e-02 1.88310539e-04 9.99826405e-01 -1.88071215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.25, Z:-1.88 [[-1.36645340e-01 -9.90616979e-01 2.45992784e-03 1.42652974e+02] [ 9.90478587e-01 -1.36667370e-01 -1.65589638e-02 1.10248573e+02] [ 1.67397826e-02 1.73800608e-04 9.99859865e-01 -1.87973003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.25, Z:-1.88 [[-1.37236380e-01 -9.90535667e-01 2.29524601e-03 1.42653403e+02] [ 9.90415808e-01 -1.37255481e-01 -1.54097662e-02 1.10248089e+02] [ 1.55789581e-02 1.58467402e-04 9.99878628e-01 -1.87885501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.24, Z:-1.88 [[-1.37912133e-01 -9.90442093e-01 2.16872771e-03 1.42654358e+02] [ 9.90335635e-01 -1.37929108e-01 -1.45221124e-02 1.10243033e+02] [ 1.46824421e-02 1.44992830e-04 9.99892197e-01 -1.87865781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.24, Z:-1.88 [[-1.38682310e-01 -9.90334730e-01 2.08306306e-03 1.42654794e+02] [ 9.90237019e-01 -1.38697889e-01 -1.39119441e-02 1.10238299e+02] [ 1.40663979e-02 1.33385609e-04 9.99901054e-01 -1.87877048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.39651463e-01 -9.90198363e-01 2.16129590e-03 1.42656350e+02] [ 9.90093712e-01 -1.39668127e-01 -1.43963930e-02 1.10232967e+02] [ 1.45571489e-02 1.29408132e-04 9.99894031e-01 -1.87925049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.40715664e-01 -9.90047473e-01 2.25880514e-03 1.42656989e+02] [ 9.89933748e-01 -1.40733738e-01 -1.50063349e-02 1.10233717e+02] [ 1.51748740e-02 1.24441053e-04 9.99884847e-01 -1.87902063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.41305648e-01 -9.89963128e-01 2.39149533e-03 1.42658666e+02] [ 9.89836306e-01 -1.41325826e-01 -1.58460850e-02 1.10231486e+02] [ 1.60250199e-02 1.28047587e-04 9.99871583e-01 -1.87882588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.41236297e-01 -9.89971988e-01 2.78783737e-03 1.42660370e+02] [ 9.89800557e-01 -1.41263721e-01 -1.84233265e-02 1.10228169e+02] [ 1.86323974e-02 1.57360575e-04 9.99826389e-01 -1.87933647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.40347261e-01 -9.90097509e-01 3.09349561e-03 1.42660759e+02] [ 9.89887559e-01 -1.40381207e-01 -2.03896531e-02 1.10225052e+02] [ 2.06220134e-02 2.00580842e-04 9.99787324e-01 -1.87984143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.39310130e-01 -9.90243187e-01 3.33443871e-03 1.42660321e+02] [ 9.90000568e-01 -1.39349811e-01 -2.19204584e-02 1.10224237e+02] [ 2.21712380e-02 2.47354290e-04 9.99754157e-01 -1.88048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.23, Z:-1.88 [[-1.37210740e-01 -9.90535365e-01 3.59218910e-03 1.42658017e+02] [ 9.90255350e-01 -1.37257368e-01 -2.35532590e-02 1.10232879e+02] [ 2.38233905e-02 3.25424380e-04 9.99716130e-01 -1.88143575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.36670023e-01 -9.90609904e-01 3.65019677e-03 1.42659078e+02] [ 9.90322301e-01 -1.36718305e-01 -2.38714436e-02 1.10224941e+02] [ 2.41463372e-02 3.52360525e-04 9.99708373e-01 -1.88130579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.36758769e-01 -9.90597992e-01 3.55766465e-03 1.42659161e+02] [ 9.90326194e-01 -1.36804590e-01 -2.32063400e-02 1.10222784e+02] [ 2.34748587e-02 3.49577997e-04 9.99724366e-01 -1.88107517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.37706817e-01 -9.90466742e-01 3.53072241e-03 1.42659935e+02] [ 9.90200381e-01 -1.37751670e-01 -2.29713558e-02 1.10218038e+02] [ 2.32387268e-02 3.32810389e-04 9.99729889e-01 -1.88199926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.38169547e-01 -9.90384714e-01 6.87710723e-03 1.42658142e+02] [ 9.90172967e-01 -1.38284801e-01 -2.08520980e-02 1.10220105e+02] [ 2.16025985e-02 3.92840072e-03 9.99758919e-01 -1.88092054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.38622034e-01 -9.90339875e-01 3.29612885e-03 1.42660224e+02] [ 9.90108788e-01 -1.38660897e-01 -2.13949275e-02 1.10218034e+02] [ 2.16452940e-02 2.97717760e-04 9.99765669e-01 -1.87942574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.22, Z:-1.88 [[-1.41135497e-01 -9.89990048e-01 -6.89951573e-04 1.42662476e+02] [ 9.89809800e-01 -1.41096424e-01 -1.91926959e-02 1.10223108e+02] [ 1.89032282e-02 -3.39169149e-03 9.99815565e-01 -1.87635381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:110.21, Z:-1.88 [[-1.42991724e-01 -9.89720536e-01 2.57448823e-03 1.42663875e+02] [ 9.89581136e-01 -1.43014794e-01 -1.66115649e-02 1.10208447e+02] [ 1.68089968e-02 1.72348683e-04 9.99858704e-01 -1.87734740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.20, Z:-1.88 [[-1.47327542e-01 -9.89085684e-01 2.02617760e-03 1.42666424e+02] [ 9.88999705e-01 -1.47341451e-01 -1.30414745e-02 1.10202232e+02] [ 1.31976756e-02 8.25206733e-05 9.99912903e-01 -1.87559268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.20, Z:-1.88 [[-1.49934212e-01 -9.88694354e-01 1.79039851e-03 1.42667805e+02] [ 9.88627526e-01 -1.49944894e-01 -1.14953313e-02 1.10196318e+02] [ 1.16338303e-02 4.64938021e-05 9.99932324e-01 -1.87568526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.19, Z:-1.88 [[-1.52177497e-01 -9.88351719e-01 1.69949056e-03 1.42668708e+02] [ 9.88291784e-01 -1.52186985e-01 -1.08844419e-02 1.10193830e+02] [ 1.10162972e-02 2.32254240e-05 9.99939318e-01 -1.87586241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.19, Z:-1.88 [[-1.55012912e-01 -9.87911085e-01 1.63887978e-03 1.42669459e+02] [ 9.87855601e-01 -1.55021575e-01 -1.04700892e-02 1.10191893e+02] [ 1.05975789e-02 -4.02244300e-06 9.99943844e-01 -1.87631280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.19, Z:-1.88 [[-1.59943589e-01 -9.87124448e-01 1.83665929e-03 1.42671747e+02] [ 9.87055065e-01 -1.59954123e-01 -1.17037018e-02 1.10185362e+02] [ 1.18467914e-02 -5.90482180e-05 9.99929823e-01 -1.87672204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.19, Z:-1.88 [[-1.61776920e-01 -9.86825515e-01 1.90537160e-03 1.42671422e+02] [ 9.86751197e-01 -1.61788121e-01 -1.21110991e-02 1.10187464e+02] [ 1.22598081e-02 -7.91685993e-05 9.99924843e-01 -1.87703188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.89 [[-1.72256925e-01 -9.84985759e-01 1.14283088e-02 1.42665919e+02] [ 9.85043304e-01 -1.72292706e-01 -2.21654575e-03 1.10154015e+02] [ 4.15228024e-03 1.08755637e-02 9.99932238e-01 -1.88822958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.73129782e-01 -9.84896518e-01 2.21962651e-03 1.42670324e+02] [ 9.84892065e-01 -1.73136589e-01 -3.36772551e-03 1.10148471e+02] [ 3.70115969e-03 1.60303895e-03 9.99991866e-01 -1.88492980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.18, Z:-1.87 [[-1.64001897e-01 -9.86411281e-01 -9.80625651e-03 1.42676326e+02] [ 9.86344444e-01 -1.63822409e-01 -1.69368326e-02 1.10176217e+02] [ 1.51001982e-02 -1.24500193e-02 9.99808472e-01 -1.87184092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.17, Z:-1.88 [[-1.64766567e-01 -9.86329595e-01 2.43094131e-03 1.42670563e+02] [ 9.86210228e-01 -1.64784447e-01 -1.53451361e-02 1.10171494e+02] [ 1.55359432e-02 -1.30946203e-04 9.99879301e-01 -1.87755932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.17, Z:-1.88 [[-1.65769251e-01 -9.86161395e-01 2.50186960e-03 1.42669415e+02] [ 9.86035565e-01 -1.65788067e-01 -1.57537743e-02 1.10174936e+02] [ 1.59505441e-02 -1.44558961e-04 9.99872772e-01 -1.87742623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.67, Y:110.17, Z:-1.88 [[-1.68203198e-01 -9.85749003e-01 2.56660075e-03 1.42669610e+02] [ 9.85617182e-01 -1.68222680e-01 -1.61214441e-02 1.10168182e+02] [ 1.63234579e-02 -1.81992651e-04 9.99866747e-01 -1.87947250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.17, Z:-1.88 [[-1.68753144e-01 -9.85655524e-01 2.35900675e-03 1.42669770e+02] [ 9.85544696e-01 -1.68769546e-01 -1.47815041e-02 1.10165383e+02] [ 1.49675997e-02 -1.69518699e-04 9.99887965e-01 -1.87817681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.16, Z:-1.88 [[-1.69803534e-01 -9.85475368e-01 2.24912554e-03 1.42669785e+02] [ 9.85375098e-01 -1.69818343e-01 -1.40587071e-02 1.10163832e+02] [ 1.42364523e-02 -1.70985854e-04 9.99898642e-01 -1.87789081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.16, Z:-1.88 [[-1.70686683e-01 -9.85323047e-01 2.13286245e-03 1.42670906e+02] [ 9.85233299e-01 -1.70699925e-01 -1.32996962e-02 1.10156355e+02] [ 1.34685766e-02 -1.68713920e-04 9.99909280e-01 -1.87745206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.16, Z:-1.88 [[-1.70842280e-01 -9.85296566e-01 1.89516983e-03 1.42670992e+02] [ 9.85226044e-01 -1.70852729e-01 -1.17893288e-02 1.10155599e+02] [ 1.19397801e-02 -1.46945140e-04 9.99928707e-01 -1.87618710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.70455332e-01 -9.85363798e-01 1.77930917e-03 1.42670918e+02] [ 9.85301935e-01 -1.70464569e-01 -1.10420345e-02 1.10152309e+02] [ 1.11837302e-02 -1.29016887e-04 9.99937452e-01 -1.87586955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.69495636e-01 -9.85529525e-01 1.66851804e-03 1.42670713e+02] [ 9.85475395e-01 -1.69503815e-01 -1.03297219e-02 1.10150521e+02] [ 1.04630661e-02 -1.06559306e-04 9.99945255e-01 -1.87605652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.67552566e-01 -9.85828265e-01 8.29275496e-03 1.42666407e+02] [ 9.85807434e-01 -1.67626593e-01 -9.22107767e-03 1.10153521e+02] [ 1.04804853e-02 6.63004426e-03 9.99923098e-01 -1.87809269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.16, Z:-1.88 [[-1.63181234e-01 -9.86595013e-01 1.47133348e-03 1.42667015e+02] [ 9.86548230e-01 -1.63187825e-01 -9.60850389e-03 1.10162430e+02] [ 9.71980574e-03 -1.16386083e-04 9.99952755e-01 -1.87579442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.16, Z:-1.87 [[-1.60676803e-01 -9.86995619e-01 -4.75542742e-03 1.42669645e+02] [ 9.86951630e-01 -1.60614844e-01 -1.13732948e-02 1.10161495e+02] [ 1.04615999e-02 -6.52080149e-03 9.99924014e-01 -1.87323647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.58644516e-01 -9.87334305e-01 1.69917009e-03 1.42668381e+02] [ 9.87279114e-01 -1.58653613e-01 -1.04394282e-02 1.10150318e+02] [ 1.05767850e-02 2.13971161e-05 9.99944064e-01 -1.87632821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.54962363e-01 -9.87918776e-01 1.77707734e-03 1.42667426e+02] [ 9.87858739e-01 -1.54972538e-01 -1.08915099e-02 1.10151893e+02] [ 1.10353253e-02 6.77272594e-05 9.99939107e-01 -1.87652730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.53878479e-01 -9.88088160e-01 1.78915836e-03 1.42667248e+02] [ 9.88027609e-01 -1.53888856e-01 -1.09390538e-02 1.10152852e+02] [ 1.10840810e-02 8.44529091e-05 9.99938566e-01 -1.87707977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.53422453e-01 -9.88158885e-01 1.88937102e-03 1.42668326e+02] [ 9.88091694e-01 -1.53434055e-01 -1.15236713e-02 1.10147201e+02] [ 1.16771120e-02 9.88818901e-05 9.99931815e-01 -1.87725934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.15, Z:-1.88 [[-1.53743943e-01 -9.88108737e-01 1.98082629e-03 1.42668924e+02] [ 9.88035238e-01 -1.53756667e-01 -1.20522110e-02 1.10148862e+02] [ 1.22134603e-02 1.04171732e-04 9.99925407e-01 -1.87834358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.14, Z:-1.88 [[-1.54986042e-01 -9.87914533e-01 2.04984455e-03 1.42671151e+02] [ 9.87836185e-01 -1.54999567e-01 -1.24420658e-02 1.10143206e+02] [ 1.26094226e-02 9.65640866e-05 9.99920493e-01 -1.87870906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.14, Z:-1.88 [[-1.56684903e-01 -9.87646348e-01 2.12914938e-03 1.42672764e+02] [ 9.87562202e-01 -1.56699347e-01 -1.28923400e-02 1.10142537e+02] [ 1.30667088e-02 8.26324028e-05 9.99914624e-01 -1.87852108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.14, Z:-1.88 [[-1.58495336e-01 -9.87357712e-01 1.99429283e-03 1.42674618e+02] [ 9.87284214e-01 -1.58507871e-01 -1.20471823e-02 1.10144104e+02] [ 1.22109894e-02 5.95116273e-05 9.99925441e-01 -1.87872162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.13, Z:-1.88 [[-1.62517284e-01 -9.86703853e-01 1.90763036e-03 1.42680012e+02] [ 9.86636877e-01 -1.62528479e-01 -1.14964139e-02 1.10133962e+02] [ 1.16536001e-02 1.37725091e-05 9.99932094e-01 -1.87751177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.13, Z:-1.88 [[-1.64749149e-01 -9.86333892e-01 1.78074257e-03 1.42682237e+02] [ 9.86275781e-01 -1.64758773e-01 -1.07065888e-02 1.10131624e+02] [ 1.08536643e-02 -7.59812572e-06 9.99941097e-01 -1.87724100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.13, Z:-1.88 [[-1.66982330e-01 -9.85958482e-01 1.66500148e-03 1.42684944e+02] [ 9.85907898e-01 -1.66990629e-01 -9.98736238e-03 1.10127364e+02] [ 1.01251643e-02 -2.61749413e-05 9.99948739e-01 -1.87669766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.12, Z:-1.88 [[-1.68764283e-01 -9.85655225e-01 1.54708282e-03 1.42687014e+02] [ 9.85611741e-01 -1.68771369e-01 -9.25851762e-03 1.10124755e+02] [ 9.38680956e-03 -3.76840932e-05 9.99955942e-01 -1.87608802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.13, Z:-1.88 [[-1.69505528e-01 -9.85528279e-01 1.37368459e-03 1.42686333e+02] [ 9.85494149e-01 -1.69511090e-01 -8.20199572e-03 1.10126404e+02] [ 8.31615350e-03 -3.65254914e-05 9.99965420e-01 -1.87567542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.12, Z:-1.88 [[-1.70234383e-01 -9.85402637e-01 1.37738765e-03 1.42686796e+02] [ 9.85368480e-01 -1.70239951e-01 -8.20479285e-03 1.10122144e+02] [ 8.31951092e-03 -3.95034750e-05 9.99965392e-01 -1.87549390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.69, Y:110.12, Z:-1.88 [[-1.71644122e-01 -9.85157815e-01 1.54101346e-03 1.42687547e+02] [ 9.85115254e-01 -1.71651031e-01 -9.15746809e-03 1.10118497e+02] [ 9.28606780e-03 -5.37497063e-05 9.99956882e-01 -1.87724029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.11, Z:-1.88 [[-1.71919665e-01 -9.85109795e-01 1.52316651e-03 1.42687460e+02] [ 9.85068406e-01 -1.71926405e-01 -9.03036658e-03 1.10112250e+02] [ 9.15777512e-03 -5.20743970e-05 9.99958065e-01 -1.87531059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.11, Z:-1.88 [[-1.72985910e-01 -9.84923076e-01 1.55198354e-03 1.42686495e+02] [ 9.84880299e-01 -1.72992861e-01 -9.17973055e-03 1.10114964e+02] [ 9.30981052e-03 -5.94460233e-05 9.99956661e-01 -1.87548155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.11, Z:-1.88 [[-1.74304198e-01 -9.84690417e-01 1.68190979e-03 1.42686737e+02] [ 9.84640403e-01 -1.74312296e-01 -9.92475343e-03 1.10109676e+02] [ 1.00659872e-02 -7.38498477e-05 9.99949334e-01 -1.87543105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.10, Z:-1.88 [[-1.76989172e-01 -9.84210960e-01 1.90262729e-03 1.42686254e+02] [ 9.84147230e-01 -1.76999364e-01 -1.12006409e-02 1.10102550e+02] [ 1.13605574e-02 -1.09926782e-04 9.99935461e-01 -1.87590275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.10, Z:-1.88 [[-1.78402614e-01 -9.83955490e-01 2.02508158e-03 1.42685489e+02] [ 9.83883612e-01 -1.78414060e-01 -1.18937762e-02 1.10101175e+02] [ 1.20642494e-02 -1.29436187e-04 9.99927216e-01 -1.87606543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.10, Z:-1.88 [[-1.80187853e-01 -9.83629907e-01 2.13174399e-03 1.42684869e+02] [ 9.83550602e-01 -1.80200397e-01 -1.24912103e-02 1.10099024e+02] [ 1.26708691e-02 -1.54086284e-04 9.99919709e-01 -1.87640029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.69, Y:110.09, Z:-1.88 [[-1.82930518e-01 -9.83123154e-01 2.30010291e-03 1.42685413e+02] [ 9.83031213e-01 -1.82944869e-01 -1.34464979e-02 1.10092475e+02] [ 1.36403555e-02 -1.98701874e-04 9.99906946e-01 -1.87839159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67762800000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.69, Y:110.09, Z:-1.88 [[-1.84926002e-01 -9.82749973e-01 2.20540355e-03 1.42685540e+02] [ 9.82665804e-01 -1.84939031e-01 -1.28636364e-02 1.10088617e+02] [ 1.30496036e-02 -2.11646212e-04 9.99914828e-01 -1.87714765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.08, Z:-1.88 [[-1.88952533e-01 -9.81984248e-01 1.96882701e-03 1.42685618e+02] [ 9.81917425e-01 -1.88962648e-01 -1.14580791e-02 1.10084057e+02] [ 1.16236879e-02 -2.31807517e-04 9.99932416e-01 -1.87539830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.08, Z:-1.87 [[-1.91110490e-01 -9.81566782e-01 1.85263314e-03 1.42685533e+02] [ 9.81507859e-01 -1.91119322e-01 -1.07576553e-02 1.10082785e+02] [ 1.09134311e-02 -2.37526786e-04 9.99940419e-01 -1.87465284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.08, Z:-1.87 [[-1.92799916e-01 -9.81236525e-01 1.75325261e-03 1.42685860e+02] [ 9.81183976e-01 -1.92807741e-01 -1.01577708e-02 1.10079942e+02] [ 1.03052164e-02 -2.38153988e-04 9.99946872e-01 -1.87404656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.69, Y:110.07, Z:-1.87 [[-1.95184903e-01 -9.80765305e-01 1.50692875e-03 1.42685957e+02] [ 9.80726639e-01 -1.95190593e-01 -8.71155393e-03 1.10073983e+02] [ 8.83812816e-03 -2.22478646e-04 9.99960918e-01 -1.87427557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:142.69, Y:110.05, Z:-1.87 [[-2.01436024e-01 -9.79500497e-01 -1.51819853e-03 1.42687773e+02] [ 9.79447873e-01 -2.01408472e-01 -1.07931464e-02 1.10050785e+02] [ 1.02661142e-02 -3.66112482e-03 9.99940600e-01 -1.87241755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.07, Z:-1.87 [[-1.95663664e-01 -9.80660682e-01 4.51193888e-03 1.42683400e+02] [ 9.80646649e-01 -1.95689186e-01 -6.15568932e-03 1.10068541e+02] [ 6.91958014e-03 3.22017302e-03 9.99970875e-01 -1.87359353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.07, Z:-1.87 [[-1.95418323e-01 -9.80719498e-01 9.72375138e-04 1.42683254e+02] [ 9.80703553e-01 -1.95420692e-01 -5.59406646e-03 1.10068232e+02] [ 5.67623227e-03 -1.39571334e-04 9.99983880e-01 -1.87135011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.95129282e-01 -9.80777216e-01 7.84454096e-04 1.42682977e+02] [ 9.80766882e-01 -1.95130828e-01 -4.50368026e-03 1.10064974e+02] [ 4.57017816e-03 -1.09433298e-04 9.99989551e-01 -1.87130001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.94271916e-01 -9.80947405e-01 7.81617963e-04 1.42682329e+02] [ 9.80937192e-01 -1.94273461e-01 -4.47738832e-03 1.10064323e+02] [ 4.54393008e-03 -1.03112677e-04 9.99989671e-01 -1.87091239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.93006866e-01 -9.81197041e-01 8.46677874e-04 1.42682084e+02] [ 9.81185114e-01 -1.93008696e-01 -4.83890333e-03 1.10062054e+02] [ 4.91133382e-03 -1.03193842e-04 9.99987934e-01 -1.87081673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.91547906e-01 -9.81482901e-01 8.45271451e-04 1.42680991e+02] [ 9.81471070e-01 -1.91549748e-01 -4.82010584e-03 1.10063559e+02] [ 4.89276300e-03 -9.36717063e-05 9.99988026e-01 -1.87080569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.87200334e-01 -9.82321357e-01 8.86679675e-04 1.42679756e+02] [ 9.82308406e-01 -1.87202419e-01 -5.04476766e-03 1.10059756e+02] [ 5.12157159e-03 -7.33892904e-05 9.99986882e-01 -1.87090957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.84641338e-01 -9.82805570e-01 8.87093270e-04 1.42678292e+02] [ 9.82792670e-01 -1.84643460e-01 -5.03589157e-03 1.10060729e+02] [ 5.11309826e-03 -5.80049959e-05 9.99986926e-01 -1.87149880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.78607618e-01 -9.83919981e-01 8.88962165e-04 1.42676200e+02] [ 9.83907097e-01 -1.78609829e-01 -5.03526746e-03 1.10061683e+02] [ 5.11307764e-03 -2.46809443e-05 9.99986928e-01 -1.87161904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.75846245e-01 -9.84417271e-01 8.57031505e-04 1.42675534e+02] [ 9.84405354e-01 -1.75848333e-01 -4.84375484e-03 1.10062135e+02] [ 4.91898349e-03 -8.08969764e-06 9.99987902e-01 -1.87166081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:110.04, Z:-1.88 [[-1.79905064e-01 -9.83676586e-01 3.81345264e-03 1.42673203e+02] [ 9.83682725e-01 -1.79909670e-01 -8.98367896e-04 1.10042419e+02] [ 1.56978047e-03 3.58960655e-03 9.99992325e-01 -1.87578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.71007851e-01 -9.85265882e-01 -2.73058311e-03 1.42676522e+02] [ 9.85259936e-01 -1.70993189e-01 -4.91811781e-03 1.10060150e+02] [ 4.37874257e-03 -3.53137090e-03 9.99984178e-01 -1.87062129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.71377003e-01 -9.85205227e-01 7.64142247e-04 1.42675437e+02] [ 9.85195854e-01 -1.71378706e-01 -4.29750153e-03 1.10057560e+02] [ 4.36487868e-03 1.63368401e-05 9.99990474e-01 -1.87204375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.69049810e-01 -9.85607178e-01 8.07382187e-04 1.42676076e+02] [ 9.85596767e-01 -1.69051735e-01 -4.53037136e-03 1.10057234e+02] [ 4.60165589e-03 2.98948580e-05 9.99989412e-01 -1.87219232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.68918866e-01 -9.85629577e-01 8.67882297e-04 1.42676716e+02] [ 9.85617602e-01 -1.68921092e-01 -4.85873192e-03 1.10060707e+02] [ 4.93551351e-03 3.46685837e-05 9.99987820e-01 -1.87188388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.06, Z:-1.87 [[-1.69312043e-01 -9.85562001e-01 9.86745274e-04 1.42678969e+02] [ 9.85546592e-01 -1.69314913e-01 -5.51134809e-03 1.10055735e+02] [ 5.59884594e-03 3.93458394e-05 9.99984326e-01 -1.87126352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.05, Z:-1.87 [[-1.70052849e-01 -9.85434424e-01 1.01176277e-03 1.42681064e+02] [ 9.85418294e-01 -1.70055854e-01 -5.63848330e-03 1.10051177e+02] [ 5.72841172e-03 3.81693951e-05 9.99983592e-01 -1.87149270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.05, Z:-1.87 [[-1.71706872e-01 -9.85147427e-01 1.13902359e-03 1.42683185e+02] [ 9.85127070e-01 -1.71710647e-01 -6.33316870e-03 1.10054220e+02] [ 6.43468733e-03 3.46343810e-05 9.99979297e-01 -1.87140167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.05, Z:-1.87 [[-1.72825874e-01 -9.84951692e-01 1.17536147e-03 1.42685977e+02] [ 9.84930108e-01 -1.72829868e-01 -6.52069072e-03 1.10047209e+02] [ 6.62570293e-03 3.07048285e-05 9.99978049e-01 -1.87160726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:110.01, Z:-1.88 [[-1.84476731e-01 -9.82741176e-01 1.37155765e-02 1.42680976e+02] [ 9.82832097e-01 -1.84414325e-01 5.69435083e-03 1.10014060e+02] [-3.06672424e-03 1.45305841e-02 9.99889723e-01 -1.88432409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.05, Z:-1.87 [[-1.75093371e-01 -9.84469870e-01 -1.27037685e-02 1.42696858e+02] [ 9.84516666e-01 -1.74963485e-01 -1.07103966e-02 1.10048454e+02] [ 8.32136717e-03 -1.43823912e-02 9.99861941e-01 -1.86569613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.04, Z:-1.87 [[-1.75527459e-01 -9.84473182e-01 1.63237790e-03 1.42692520e+02] [ 9.84431958e-01 -1.75535048e-01 -9.00926970e-03 1.10044628e+02] [ 9.15592394e-03 2.55907520e-05 9.99958083e-01 -1.87155190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.04, Z:-1.87 [[-1.75827220e-01 -9.84419423e-01 1.78558426e-03 1.42695114e+02] [ 9.84370314e-01 -1.75836284e-01 -9.83291293e-03 1.10037984e+02] [ 9.99368097e-03 2.87823926e-05 9.99950062e-01 -1.87181567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:110.01, Z:-1.89 [[-1.87897639e-01 -9.82021326e-01 1.81271105e-02 1.42686859e+02] [ 9.82186171e-01 -1.87823990e-01 5.69860865e-03 1.10006091e+02] [-2.19144900e-03 1.88749524e-02 9.99819451e-01 -1.88883576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.04, Z:-1.87 [[-1.76238937e-01 -9.84217009e-01 -1.60223644e-02 1.42707190e+02] [ 9.84255582e-01 -1.75976811e-01 -1.65260898e-02 1.10037268e+02] [ 1.34456941e-02 -1.86826421e-02 9.99735051e-01 -1.86554832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.03, Z:-1.87 [[-1.76501966e-01 -9.84296753e-01 2.63775687e-03 1.42701192e+02] [ 9.84190636e-01 -1.76521670e-01 -1.44530935e-02 1.10034624e+02] [ 1.46917542e-02 4.50561934e-05 9.99892069e-01 -1.87364865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.04, Z:-1.87 [[-1.77109069e-01 -9.84187127e-01 2.84189233e-03 1.42702705e+02] [ 9.84064474e-01 -1.77131863e-01 -1.55374995e-02 1.10036535e+02] [ 1.57951967e-02 4.47731957e-05 9.99875247e-01 -1.87369027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.667628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.70, Y:110.03, Z:-1.87 [[-1.77112608e-01 -9.84186463e-01 2.85133216e-03 1.42704050e+02] [ 9.84063529e-01 -1.77135551e-01 -1.55553155e-02 1.10031827e+02] [ 1.58144032e-02 5.08494920e-05 9.99874943e-01 -1.87391333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.03, Z:-1.87 [[-1.76630342e-01 -9.84273399e-01 2.75654589e-03 1.42703388e+02] [ 9.84159008e-01 -1.76651839e-01 -1.50058056e-02 1.10033950e+02] [ 1.52567642e-02 6.23989041e-05 9.99883607e-01 -1.87354227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:110.03, Z:-1.87 [[-1.77077192e-01 -9.84193300e-01 2.68622649e-03 1.42703433e+02] [ 9.84085131e-01 -1.77097556e-01 -1.45914583e-02 1.10034395e+02] [ 1.48365397e-02 5.96610820e-05 9.99889931e-01 -1.87279714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.02, Z:-1.87 [[-1.78342655e-01 -9.83965455e-01 2.42483827e-03 1.42705582e+02] [ 9.83877668e-01 -1.78359134e-01 -1.31435927e-02 1.10023736e+02] [ 1.33653333e-02 4.16809972e-05 9.99910679e-01 -1.87154033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.02, Z:-1.87 [[-1.79427378e-01 -9.83768407e-01 2.35303717e-03 1.42705457e+02] [ 9.83686078e-01 -1.79442803e-01 -1.27271172e-02 1.10024630e+02] [ 1.29427714e-02 3.10566416e-05 9.99916238e-01 -1.87118112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.02, Z:-1.87 [[-1.80856767e-01 -9.83506930e-01 2.22448582e-03 1.42706071e+02] [ 9.83433644e-01 -1.80870446e-01 -1.20062136e-02 1.10021562e+02] [ 1.22105380e-02 1.62292325e-05 9.99925448e-01 -1.87091512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.01, Z:-1.87 [[-1.82303875e-01 -9.83239966e-01 2.11352944e-03 1.42707752e+02] [ 9.83174071e-01 -1.82316126e-01 -1.13831661e-02 1.10014231e+02] [ 1.15777144e-02 2.77204284e-06 9.99932976e-01 -1.87095747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.01, Z:-1.87 [[-1.85140919e-01 -9.82709715e-01 2.11075592e-03 1.42708281e+02] [ 9.82644238e-01 -1.85152949e-01 -1.13440375e-02 1.10010268e+02] [ 1.15387086e-02 -2.61233882e-05 9.99933427e-01 -1.87217678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.71, Y:110.01, Z:-1.87 [[-1.87823902e-01 -9.82200012e-01 2.30619723e-03 1.42708431e+02] [ 9.82122144e-01 -1.87838051e-01 -1.23677145e-02 1.10010201e+02] [ 1.25807609e-02 -5.79850368e-05 9.99920857e-01 -1.87423752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.00, Z:-1.87 [[-1.89305703e-01 -9.81915721e-01 2.20632715e-03 1.42710203e+02] [ 9.81844732e-01 -1.89318547e-01 -1.18072380e-02 1.10003748e+02] [ 1.20114113e-02 -6.89068021e-05 9.99927858e-01 -1.87255625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.00, Z:-1.87 [[-1.92527562e-01 -9.81289028e-01 2.23174869e-03 1.42710887e+02] [ 9.81216657e-01 -1.92540468e-01 -1.19180305e-02 1.10000384e+02] [ 1.21247345e-02 -1.04720371e-04 9.99926487e-01 -1.87270306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:110.00, Z:-1.87 [[-1.94173455e-01 -9.80964858e-01 2.14871504e-03 1.42710891e+02] [ 9.80898032e-01 -1.94185309e-01 -1.14506126e-02 1.09997279e+02] [ 1.16498975e-02 -1.15734663e-04 9.99932131e-01 -1.87311977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.99, Z:-1.87 [[-1.95159566e-01 -9.80769175e-01 2.13767984e-03 1.42711410e+02] [ 9.80703298e-01 -1.95171235e-01 -1.13679190e-02 1.09993129e+02] [ 1.15665182e-02 -1.22128475e-04 9.99933098e-01 -1.87294946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.71, Y:109.99, Z:-1.87 [[-1.96672522e-01 -9.80466938e-01 2.12188846e-03 1.42712177e+02] [ 9.80402285e-01 -1.96683922e-01 -1.12603480e-02 1.09991560e+02] [ 1.14577402e-02 -1.34296731e-04 9.99934349e-01 -1.87396180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.99, Z:-1.87 [[-1.97455293e-01 -9.80310401e-01 1.71009056e-03 1.42712503e+02] [ 9.80268570e-01 -1.97462667e-01 -9.05684808e-03 1.09990102e+02] [ 9.21620142e-03 -1.11974563e-04 9.99957524e-01 -1.87078212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.71, Y:109.99, Z:-1.87 [[-1.97942967e-01 -9.80212353e-01 1.52493306e-03 1.42712574e+02] [ 9.80179221e-01 -1.97948815e-01 -8.05981747e-03 1.09986282e+02] [ 8.20219134e-03 -1.00676484e-04 9.99966356e-01 -1.87202318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.97577807e-01 -9.80286224e-01 1.38910719e-03 1.42711984e+02] [ 9.80258845e-01 -1.97582671e-01 -7.32699912e-03 1.09984848e+02] [ 7.45701981e-03 -8.59678026e-05 9.99972192e-01 -1.87104753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.97514971e-01 -9.80298717e-01 1.50397745e-03 1.42711826e+02] [ 9.80266759e-01 -1.97520677e-01 -7.91607680e-03 1.09983223e+02] [ 8.05718657e-03 -8.92445765e-05 9.99967536e-01 -1.87288824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.94946384e-01 -9.80812661e-01 1.55941351e-03 1.42709670e+02] [ 9.80778463e-01 -1.94952610e-01 -8.19067029e-03 1.09981935e+02] [ 8.33752485e-03 -6.73023731e-05 9.99965240e-01 -1.87181937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.93746437e-01 -9.81050202e-01 1.67892084e-03 1.42709018e+02] [ 9.81010737e-01 -1.93753703e-01 -8.79978071e-03 1.09978860e+02] [ 8.95832378e-03 -5.78867880e-05 9.99959872e-01 -1.87247404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.92334566e-01 -9.81327971e-01 1.68169019e-03 1.42707817e+02] [ 9.81288550e-01 -1.92341913e-01 -8.79601517e-03 1.09983060e+02] [ 8.95523523e-03 -4.15544295e-05 9.99959900e-01 -1.87275593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.89427707e-01 -9.81893348e-01 1.61178328e-03 1.42709379e+02] [ 9.81857305e-01 -1.89434563e-01 -8.41307316e-03 1.09976552e+02] [ 8.56606803e-03 -1.11279712e-05 9.99963311e-01 -1.87196257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.88534658e-01 -9.82065214e-01 1.61178866e-03 1.42709216e+02] [ 9.82029326e-01 -1.88541548e-01 -8.39571066e-03 1.09977197e+02] [ 8.54902451e-03 -5.87043378e-08 9.99963456e-01 -1.87146013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.98, Z:-1.87 [[-1.87799552e-01 -9.82206078e-01 1.59622819e-03 1.42708600e+02] [ 9.82171030e-01 -1.87806335e-01 -8.29749852e-03 1.09980914e+02] [ 8.44963525e-03 9.50257725e-06 9.99964301e-01 -1.87134431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.97, Z:-1.87 [[-1.87073082e-01 -9.82344826e-01 1.51833719e-03 1.42710511e+02] [ 9.82313248e-01 -1.87079243e-01 -7.87649462e-03 1.09972844e+02] [ 8.02148311e-03 1.80026127e-05 9.99967827e-01 -1.87177025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.97, Z:-1.87 [[-1.87233717e-01 -9.82314185e-01 1.54177731e-03 1.42711446e+02] [ 9.82281759e-01 -1.87240063e-01 -7.98156268e-03 1.09971672e+02] [ 8.12908472e-03 2.00420865e-05 9.99966958e-01 -1.87142956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.97, Z:-1.87 [[-1.87816746e-01 -9.82202805e-01 1.58738828e-03 1.42712916e+02] [ 9.82168570e-01 -1.87823453e-01 -8.20068681e-03 1.09968068e+02] [ 8.35288634e-03 1.88565671e-05 9.99965114e-01 -1.87178756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:109.97, Z:-1.87 [[-1.88502492e-01 -9.82071380e-01 1.61712958e-03 1.42713634e+02] [ 9.82035991e-01 -1.88509428e-01 -8.33713224e-03 1.09967899e+02] [ 8.49250313e-03 1.65092429e-05 9.99963938e-01 -1.87222537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.87 [[-1.90279575e-01 -9.81728379e-01 1.75310687e-03 1.42717436e+02] [ 9.81686947e-01 -1.90287651e-01 -9.01933428e-03 1.09964950e+02] [ 9.18813101e-03 4.80704007e-06 9.99957788e-01 -1.87212302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.87 [[-1.91532718e-01 -9.81484552e-01 1.81460956e-03 1.42719635e+02] [ 9.81440333e-01 -1.91541314e-01 -9.31654420e-03 1.09962906e+02] [ 9.49161691e-03 -3.49201639e-06 9.99954954e-01 -1.87175268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.87 [[-1.92546968e-01 -9.81285977e-01 1.86966484e-03 1.42721150e+02] [ 9.81239218e-01 -1.92556045e-01 -9.57950945e-03 1.09963301e+02] [ 9.76025356e-03 -9.91704196e-06 9.99952368e-01 -1.87166155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.87 [[-1.92284123e-01 -9.81337771e-01 1.73060430e-03 1.42723261e+02] [ 9.81297871e-01 -1.92291910e-01 -8.84925188e-03 1.09957318e+02] [ 9.01688632e-03 -3.33232169e-06 9.99959347e-01 -1.87172135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.87 [[-1.91199266e-01 -9.81549824e-01 1.66834091e-03 1.42722580e+02] [ 9.81512901e-01 -1.91206544e-01 -8.51368755e-03 1.09958348e+02] [ 8.67560622e-03 9.68731576e-06 9.99962366e-01 -1.87187029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.94, Z:-1.87 [[-1.92797423e-01 -9.81220131e-01 -6.01726747e-03 1.42727206e+02] [ 9.81119153e-01 -1.92674658e-01 -1.67834227e-02 1.09942898e+02] [ 1.53088573e-02 -9.13945701e-03 9.99841042e-01 -1.86691637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.72, Y:109.96, Z:-1.88 [[-1.89249802e-01 -9.81825127e-01 1.42804788e-02 1.42716579e+02] [ 9.81857214e-01 -1.89391780e-01 -9.33623958e-03 1.09955724e+02] [ 1.18711599e-02 1.22545096e-02 9.99854441e-01 -1.87922937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.95, Z:-1.86 [[-1.91481696e-01 -9.81413942e-01 -1.27057312e-02 1.42729455e+02] [ 9.81291591e-01 -1.91161435e-01 -2.28936525e-02 1.09952629e+02] [ 2.00393039e-02 -1.68517426e-02 9.99657164e-01 -1.86264083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.95, Z:-1.88 [[-1.88303338e-01 -9.81978609e-01 1.61203097e-02 1.42717098e+02] [ 9.82025287e-01 -1.88478300e-01 -1.01126361e-02 1.09950165e+02] [ 1.29687209e-02 1.39263087e-02 9.99818919e-01 -1.87855686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.95, Z:-1.87 [[-1.89466715e-01 -9.81884130e-01 2.43282916e-03 1.42723395e+02] [ 9.81806757e-01 -1.89482326e-01 -1.23263588e-02 1.09948892e+02] [ 1.25640342e-02 5.31334061e-05 9.99921068e-01 -1.87231605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.95, Z:-1.87 [[-1.90557049e-01 -9.81673154e-01 2.41437929e-03 1.42723004e+02] [ 9.81597241e-01 -1.90572339e-01 -1.22082202e-02 1.09948909e+02] [ 1.24445960e-02 4.35856207e-05 9.99922562e-01 -1.87196059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:109.94, Z:-1.87 [[-1.92413562e-01 -9.81311295e-01 2.27242737e-03 1.42723472e+02] [ 9.81244289e-01 -1.92426979e-01 -1.14675209e-02 1.09944617e+02] [ 1.16904841e-02 2.32998482e-05 9.99931664e-01 -1.87183245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.94, Z:-1.87 [[-1.96757161e-01 -9.80450389e-01 1.91163302e-03 1.42725083e+02] [ 9.80403114e-01 -1.96766446e-01 -9.62807415e-03 1.09937888e+02] [ 9.81599428e-03 -2.02215738e-05 9.99951822e-01 -1.87110844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.93, Z:-1.87 [[-1.99705918e-01 -9.79854269e-01 1.77682882e-03 1.42726376e+02] [ 9.79813563e-01 -1.99713818e-01 -8.93151014e-03 1.09933116e+02] [ 9.10643561e-03 -4.27144509e-05 9.99958535e-01 -1.87072189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.93, Z:-1.87 [[-2.03247703e-01 -9.79125896e-01 1.68861390e-03 1.42727460e+02] [ 9.79089250e-01 -2.03254706e-01 -8.47137401e-03 1.09928227e+02] [ 8.63776039e-03 -6.84835944e-05 9.99962692e-01 -1.87054370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:142.73, Y:109.93, Z:-1.87 [[-2.07454760e-01 -9.78242955e-01 1.80091839e-03 1.42727202e+02] [ 9.78201407e-01 -2.07462548e-01 -9.01656465e-03 1.09929215e+02] [ 9.19401397e-03 -1.08868349e-04 9.99957728e-01 -1.87310531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.92, Z:-1.87 [[-2.12871176e-01 -9.77078825e-01 1.68281190e-03 1.42730453e+02] [ 9.77042652e-01 -2.12877778e-01 -8.40881346e-03 1.09917993e+02] [ 8.57430684e-03 -1.45815009e-04 9.99963229e-01 -1.87147098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.92, Z:-1.87 [[-2.15830262e-01 -9.76429363e-01 1.73146080e-03 1.42731404e+02] [ 9.76391198e-01 -2.15837138e-01 -8.63474577e-03 1.09915582e+02] [ 8.80493286e-03 -1.73056359e-04 9.99961221e-01 -1.87120687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.73, Y:109.91, Z:-1.87 [[-2.18590199e-01 -9.75814999e-01 1.84724626e-03 1.42732236e+02] [ 9.75771710e-01 -2.18597906e-01 -9.19381437e-03 1.09910815e+02] [ 9.37526613e-03 -2.07187071e-04 9.99956030e-01 -1.87341336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.73, Y:109.91, Z:-1.87 [[-2.20425083e-01 -9.75401910e-01 1.97421219e-03 1.42731759e+02] [ 9.75352644e-01 -2.20433797e-01 -9.80619993e-03 1.09911763e+02] [ 1.00001692e-02 -2.35979357e-04 9.99949969e-01 -1.87379535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.73, Y:109.91, Z:-1.87 [[-2.20795697e-01 -9.75318075e-01 1.97793748e-03 1.42732297e+02] [ 9.75268813e-01 -2.20804430e-01 -9.80544906e-03 1.09909468e+02] [ 1.00001691e-02 -2.35980223e-04 9.99949969e-01 -1.87380036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.22253485e-01 -9.74986195e-01 2.30392871e-03 1.42732236e+02] [ 9.74919604e-01 -2.22265241e-01 -1.13985847e-02 1.09901943e+02] [ 1.16255460e-02 -2.87229915e-04 9.99932380e-01 -1.87408416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.21804257e-01 -9.75088294e-01 2.38560551e-03 1.42731568e+02] [ 9.75017182e-01 -2.21816901e-01 -1.17795516e-02 1.09902924e+02] [ 1.20152705e-02 -2.86748323e-04 9.99927773e-01 -1.87161193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.197628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.22044465e-01 -9.75033163e-01 2.56657740e-03 1.42731537e+02] [ 9.74951171e-01 -2.22059086e-01 -1.26481927e-02 1.09900675e+02] [ 1.29023392e-02 -3.06173549e-04 9.99916714e-01 -1.87269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.19934044e-01 -9.75512024e-01 2.30389909e-03 1.42729989e+02] [ 9.75446233e-01 -2.19945975e-01 -1.13320196e-02 1.09898820e+02] [ 1.15612547e-02 -2.44967206e-04 9.99933136e-01 -1.87020819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.18875513e-01 -9.75750545e-01 2.09363775e-03 1.42729582e+02] [ 9.75696432e-01 -2.18885428e-01 -1.02781825e-02 1.09895056e+02] [ 1.04872090e-02 -2.06887599e-04 9.99944986e-01 -1.86992376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.17358657e-01 -9.76089916e-01 1.92111060e-03 1.42728721e+02] [ 9.76044540e-01 -2.17367079e-01 -9.41324479e-03 1.09894179e+02] [ 9.60575951e-03 -1.70960737e-04 9.99953849e-01 -1.86969887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.12905483e-01 -9.77071345e-01 1.68566203e-03 1.42726085e+02] [ 9.77036571e-01 -2.12912128e-01 -8.24403861e-03 1.09894662e+02] [ 8.41391178e-03 -1.08247565e-04 9.99964597e-01 -1.86978209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.10611703e-01 -9.77568551e-01 1.56189603e-03 1.42725196e+02] [ 9.77538822e-01 -2.10617479e-01 -7.62422278e-03 1.09893669e+02] [ 7.78216301e-03 -7.89365365e-05 9.99969715e-01 -1.87045831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.08540283e-01 -9.78012578e-01 1.53197255e-03 1.42725158e+02] [ 9.77984100e-01 -2.08545902e-01 -7.46375722e-03 1.09891327e+02] [ 7.61913504e-03 -5.82492477e-05 9.99970972e-01 -1.87025467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.06710766e-01 -9.78400943e-01 1.50156219e-03 1.42725288e+02] [ 9.78373698e-01 -2.06716216e-01 -7.30152860e-03 1.09892075e+02] [ 7.45421972e-03 -4.02156130e-05 9.99972216e-01 -1.86998601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.05018488e-01 -9.78756897e-01 1.53500505e-03 1.42725384e+02] [ 9.78728546e-01 -2.05024233e-01 -7.44961530e-03 1.09896778e+02] [ 7.60607558e-03 -2.49556074e-05 9.99971073e-01 -1.86972529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.90, Z:-1.87 [[-2.02356312e-01 -9.79310525e-01 1.67874249e-03 1.42727328e+02] [ 9.79276769e-01 -2.02363275e-01 -8.13103121e-03 1.09899732e+02] [ 8.30252027e-03 -1.41197173e-06 9.99965533e-01 -1.86916037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-2.01483118e-01 -9.79490418e-01 1.75326638e-03 1.42730136e+02] [ 9.79453749e-01 -2.01490746e-01 -8.47536886e-03 1.09890725e+02] [ 8.65480954e-03 9.59958044e-06 9.99962546e-01 -1.86904288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-1.99398488e-01 -9.79916495e-01 1.97646844e-03 1.42731137e+02] [ 9.79870100e-01 -1.99408281e-01 -9.53541613e-03 1.09889507e+02] [ 9.73803572e-03 3.53347656e-05 9.99952584e-01 -1.87065240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-1.98707231e-01 -9.80056351e-01 2.23271665e-03 1.42731332e+02] [ 9.79997389e-01 -1.98719767e-01 -1.07504010e-02 1.09893532e+02] [ 1.09796837e-02 5.18740762e-05 9.99939720e-01 -1.87091547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.89, Z:-1.87 [[-1.98028449e-01 -9.80193252e-01 2.43348930e-03 1.42733712e+02] [ 9.80123494e-01 -1.98043388e-01 -1.16941446e-02 1.09891145e+02] [ 1.19444581e-02 6.93467203e-05 9.99928660e-01 -1.87149810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.89, Z:-1.87 [[-1.97788388e-01 -9.80241114e-01 2.66701125e-03 1.42736864e+02] [ 9.80157656e-01 -1.97806351e-01 -1.27912841e-02 1.09886472e+02] [ 1.30660943e-02 8.41240391e-05 9.99914631e-01 -1.87181657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:142.74, Y:109.89, Z:-1.87 [[-1.97490839e-01 -9.80300041e-01 3.03285195e-03 1.42740825e+02] [ 9.80192545e-01 -1.97514097e-01 -1.45174307e-02 1.09885994e+02] [ 1.48304689e-02 1.05719300e-04 9.99890017e-01 -1.87447875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.95335369e-01 -9.80732658e-01 2.74703943e-03 1.42741221e+02] [ 9.80644846e-01 -1.95354641e-01 -1.31244482e-02 1.09883827e+02] [ 1.34082219e-02 1.30201116e-04 9.99910097e-01 -1.87140591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.89, Z:-1.87 [[-1.93910855e-01 -9.81015640e-01 2.62569243e-03 1.42740551e+02] [ 9.80935746e-01 -1.93928575e-01 -1.25207923e-02 1.09886098e+02] [ 1.27922899e-02 1.47718011e-04 9.99918164e-01 -1.87118483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.91792830e-01 -9.81432627e-01 2.34702169e-03 1.42741015e+02] [ 9.81369064e-01 -1.91807122e-01 -1.11708781e-02 1.09881149e+02] [ 1.14136398e-02 1.60800152e-04 9.99934849e-01 -1.87051886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.91433439e-01 -9.81503059e-01 2.23242479e-03 1.42740214e+02] [ 9.81445774e-01 -1.91446388e-01 -1.06052939e-02 1.09881005e+02] [ 1.08365181e-02 1.60795982e-04 9.99941270e-01 -1.87005256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.91348681e-01 -9.81519939e-01 2.07147577e-03 1.42739252e+02] [ 9.81470805e-01 -1.91359831e-01 -9.82213060e-03 1.09882089e+02] [ 1.00370143e-02 1.53641256e-04 9.99949616e-01 -1.86956630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.92346003e-01 -9.81325528e-01 1.79542801e-03 1.42738492e+02] [ 9.81288745e-01 -1.92354340e-01 -8.49741393e-03 1.09882536e+02] [ 8.68408758e-03 1.27389700e-04 9.99962284e-01 -1.86963994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.88, Z:-1.87 [[-1.93639698e-01 -9.81071007e-01 1.82933810e-03 1.42739862e+02] [ 9.81032958e-01 -1.93648300e-01 -8.64128229e-03 1.09876072e+02] [ 8.83195973e-03 1.21345681e-04 9.99960990e-01 -1.86989498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.87, Z:-1.87 [[-1.95462139e-01 -9.80709249e-01 1.98025955e-03 1.42741655e+02] [ 9.80664816e-01 -1.95472135e-01 -9.33608520e-03 1.09868528e+02] [ 9.54307067e-03 1.17119686e-04 9.99954457e-01 -1.87073492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.87, Z:-1.87 [[-1.99228722e-01 -9.79949970e-01 2.44387943e-03 1.42743201e+02] [ 9.79882505e-01 -1.99243684e-01 -1.14991449e-02 1.09868250e+02] [ 1.17555143e-02 1.03754745e-04 9.99930896e-01 -1.87256238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.86, Z:-1.87 [[-2.01417807e-01 -9.79501673e-01 2.70917903e-03 1.42745017e+02] [ 9.79419043e-01 -2.01436005e-01 -1.27229399e-02 1.09863733e+02] [ 1.30078671e-02 9.07948934e-05 9.99915390e-01 -1.87272001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.86, Z:-1.87 [[-2.04406546e-01 -9.78881327e-01 3.05166805e-03 1.42744951e+02] [ 9.78776816e-01 -2.04429314e-01 -1.43038557e-02 1.09859786e+02] [ 1.46256277e-02 6.31001955e-05 9.99893038e-01 -1.87366891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.85, Z:-1.87 [[-2.05741659e-01 -9.78601288e-01 3.14454042e-03 1.42745270e+02] [ 9.78490705e-01 -2.05765682e-01 -1.47113504e-02 1.09854455e+02] [ 1.50435850e-02 5.01659322e-05 9.99886838e-01 -1.87374379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.037628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:142.75, Y:109.85, Z:-1.88 [[-2.08280240e-01 -9.78063597e-01 3.30778711e-03 1.42746172e+02] [ 9.77941626e-01 -2.08306504e-01 -1.54459101e-02 1.09849176e+02] [ 1.57961159e-02 1.77448403e-05 9.99875233e-01 -1.87564494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.85, Z:-1.87 [[-2.10394880e-01 -9.77611334e-01 3.17381924e-03 1.42746879e+02] [ 9.77499409e-01 -2.10418818e-01 -1.47928230e-02 1.09845991e+02] [ 1.51294627e-02 -9.92780012e-06 9.99885543e-01 -1.87342434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.84, Z:-1.87 [[-2.13478777e-01 -9.76942742e-01 3.11283248e-03 1.42747688e+02] [ 9.76835404e-01 -2.13501465e-01 -1.44816255e-02 1.09842799e+02] [ 1.48123132e-02 -5.07947345e-05 9.99890290e-01 -1.87291902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.84, Z:-1.87 [[-2.19865425e-01 -9.75526081e-01 2.83900681e-03 1.42750131e+02] [ 9.75437003e-01 -2.19883715e-01 -1.31835323e-02 1.09836387e+02] [ 1.34851310e-02 -1.29330642e-04 9.99909063e-01 -1.87146367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.81, Z:-1.87 [[-2.30058420e-01 -9.73173558e-01 2.51975891e-03 1.42751005e+02] [ 9.73110714e-01 -2.30072200e-01 -1.10598578e-02 1.09813609e+02] [ 1.13428876e-02 -9.24090093e-05 9.99935663e-01 -1.87292743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.87 [[-2.33776632e-01 -9.72288638e-01 1.81383024e-03 1.42753608e+02] [ 9.72236881e-01 -2.33782935e-01 -1.00492505e-02 1.09799820e+02] [ 1.01948146e-02 -5.85807277e-04 9.99947860e-01 -1.87286990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.75, Y:109.82, Z:-1.87 [[-2.31932269e-01 -9.72728312e-01 2.65574977e-03 1.42749998e+02] [ 9.72674928e-01 -2.31947370e-01 -1.01932732e-02 1.09823053e+02] [ 1.05312797e-02 2.19032221e-04 9.99944521e-01 -1.87366361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.79, Z:-1.88 [[-2.43120193e-01 -9.69992583e-01 2.63820921e-03 1.42751241e+02] [ 9.69979322e-01 -2.43131102e-01 -5.23275719e-03 1.09786721e+02] [ 5.71716638e-03 1.28681944e-03 9.99982829e-01 -1.87615161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.82, Z:-1.87 [[-2.35909054e-01 -9.71775114e-01 2.12293016e-04 1.42749629e+02] [ 9.71747626e-01 -2.35904014e-01 -7.47310569e-03 1.09821366e+02] [ 7.31225892e-03 -1.55667806e-03 9.99972053e-01 -1.87191450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.81, Z:-1.87 [[-2.39416739e-01 -9.70916035e-01 1.29509055e-03 1.42751008e+02] [ 9.70897720e-01 -2.39420181e-01 -5.96609350e-03 1.09813311e+02] [ 6.10264667e-03 -1.70982187e-04 9.99981364e-01 -1.87165500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33762800000002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.75, Y:109.81, Z:-1.87 [[-2.41048746e-01 -9.70511729e-01 1.57664051e-03 1.42752431e+02] [ 9.70484680e-01 -2.41053804e-01 -7.24911864e-03 1.09809623e+02] [ 7.41540986e-03 -2.17285500e-04 9.99972482e-01 -1.87249481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.79, Z:-1.86 [[-2.46924518e-01 -9.68987678e-01 -9.54788850e-03 1.42759484e+02] [ 9.68978772e-01 -2.46792403e-01 -1.31776151e-02 1.09787651e+02] [ 1.04126003e-02 -1.25055775e-02 9.99867585e-01 -1.86331064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.81, Z:-1.88 [[-2.40801687e-01 -9.70487295e-01 1.29983505e-02 1.42746452e+02] [ 9.70557303e-01 -2.40855215e-01 -2.69959341e-03 1.09805728e+02] [ 5.75064160e-03 1.19655773e-02 9.99911874e-01 -1.87551202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.87 [[-2.37369053e-01 -9.71418399e-01 1.49255508e-03 1.42748637e+02] [ 9.71394374e-01 -2.37373683e-01 -6.83407142e-03 1.09804688e+02] [ 6.99303601e-03 -1.72337447e-04 9.99975534e-01 -1.87252982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45762800000003 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.88 [[-2.35813740e-01 -9.71795947e-01 2.12563130e-03 1.42746695e+02] [ 9.71747425e-01 -2.35823213e-01 -9.71365080e-03 1.09804467e+02] [ 9.94095968e-03 -2.25035586e-04 9.99950562e-01 -1.87604842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.80, Z:-1.88 [[-2.31413497e-01 -9.72852849e-01 2.26425511e-03 1.42744274e+02] [ 9.72798042e-01 -2.31424498e-01 -1.03281511e-02 1.09804050e+02] [ 1.05717754e-02 -1.87410632e-04 9.99944100e-01 -1.87563564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:109.80, Z:-1.88 [[-2.30367959e-01 -9.73100671e-01 2.38479190e-03 1.42744629e+02] [ 9.73040108e-01 -2.30380232e-01 -1.08580644e-02 1.09803459e+02] [ 1.11153987e-02 -1.80851972e-04 9.99938206e-01 -1.87553954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.74, Y:109.81, Z:-1.88 [[-2.29813934e-01 -9.73230873e-01 2.68762826e-03 1.42744895e+02] [ 9.73154243e-01 -2.29829569e-01 -1.22142559e-02 1.09806111e+02] [ 1.25049874e-02 -1.91529347e-04 9.99921791e-01 -1.87597367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.87 [[-2.29261641e-01 -9.73361349e-01 2.60474301e-03 1.42746374e+02] [ 9.73289639e-01 -2.29276371e-01 -1.18162411e-02 1.09799945e+02] [ 1.20986784e-02 -1.73841440e-04 9.99926793e-01 -1.87451614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.88 [[-2.28482510e-01 -9.73545260e-01 2.31705354e-03 1.42746390e+02] [ 9.73488726e-01 -2.28494214e-01 -1.04925587e-02 1.09797361e+02] [ 1.07444141e-02 -1.41740636e-04 9.99942267e-01 -1.87663335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.88 [[-2.27962406e-01 -9.73668135e-01 1.87223235e-03 1.42745354e+02] [ 9.73631355e-01 -2.27970069e-01 -8.46359482e-03 1.09799745e+02] [ 8.66754552e-03 -1.06517314e-04 9.99962430e-01 -1.87556184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.667628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.75, Y:109.79, Z:-1.88 [[-2.27558359e-01 -9.73762669e-01 1.85944064e-03 1.42746979e+02] [ 9.73726524e-01 -2.27565934e-01 -8.39062994e-03 1.09794315e+02] [ 8.59362755e-03 -9.87713066e-05 9.99963069e-01 -1.87711768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.79, Z:-1.88 [[-2.25451461e-01 -9.74253159e-01 1.55562303e-03 1.42748579e+02] [ 9.74227959e-01 -2.25456819e-01 -7.00760290e-03 1.09794066e+02] [ 7.17790509e-03 -6.43428641e-05 9.99974236e-01 -1.87590619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.727628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.75, Y:109.79, Z:-1.88 [[-2.25331021e-01 -9.74280884e-01 1.63995651e-03 1.42750171e+02] [ 9.74252980e-01 -2.25336980e-01 -7.37402356e-03 1.09792439e+02] [ 7.55391304e-03 -6.38637421e-05 9.99971467e-01 -1.87732983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.79, Z:-1.88 [[-2.24423316e-01 -9.74490645e-01 1.46926513e-03 1.42751572e+02] [ 9.74468329e-01 -2.24428120e-01 -6.59500501e-03 1.09792812e+02] [ 6.75651510e-03 -4.83205553e-05 9.99977173e-01 -1.87554867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.80, Z:-1.88 [[-2.24090415e-01 -9.74567389e-01 1.37520926e-03 1.42752022e+02] [ 9.74547909e-01 -2.24094631e-01 -6.16194476e-03 1.09796951e+02] [ 6.31340743e-03 -4.06254454e-05 9.99980069e-01 -1.87534637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.79, Z:-1.88 [[-2.23117298e-01 -9.74790568e-01 1.42123805e-03 1.42755230e+02] [ 9.74769842e-01 -2.23121822e-01 -6.35662604e-03 1.09788527e+02] [ 6.51348833e-03 -3.28932346e-05 9.99978786e-01 -1.87540698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.79, Z:-1.88 [[-2.22794496e-01 -9.74864219e-01 1.53874983e-03 1.42755626e+02] [ 9.74840015e-01 -2.22799808e-01 -6.86958506e-03 1.09788176e+02] [ 7.03974584e-03 -3.04708396e-05 9.99975220e-01 -1.87621655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.79, Z:-1.88 [[-2.21661362e-01 -9.75121877e-01 1.88843151e-03 1.42757633e+02] [ 9.75085568e-01 -2.21669404e-01 -8.41483024e-03 1.09785182e+02] [ 8.62409254e-03 -2.38604135e-05 9.99962812e-01 -1.87745881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.76, Y:109.78, Z:-1.88 [[-2.22303494e-01 -9.74974798e-01 2.30201260e-03 1.42759120e+02] [ 9.74921037e-01 -2.22315410e-01 -1.02386632e-02 1.09783593e+02] [ 1.04942115e-02 -3.18100993e-05 9.99944934e-01 -1.87880882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.78, Z:-1.88 [[-2.22490613e-01 -9.74931613e-01 2.50552804e-03 1.42760841e+02] [ 9.74868152e-01 -2.22504718e-01 -1.11236506e-02 1.09783641e+02] [ 1.14022904e-02 -3.23483456e-05 9.99934991e-01 -1.87769401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.78, Z:-1.88 [[-2.23322318e-01 -9.74740572e-01 2.82117520e-03 1.42763363e+02] [ 9.74660391e-01 -2.23340132e-01 -1.25022613e-02 1.09779601e+02] [ 1.28165430e-02 -4.23462452e-05 9.99917864e-01 -1.87794949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.78, Z:-1.88 [[-2.25424790e-01 -9.74255163e-01 3.24679362e-03 1.42765584e+02] [ 9.74149297e-01 -2.25448158e-01 -1.43622869e-02 1.09783004e+02] [ 1.47245158e-02 -7.47537790e-05 9.99891586e-01 -1.87847288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.78, Z:-1.88 [[-2.25798769e-01 -9.74168537e-01 3.25230559e-03 1.42766176e+02] [ 9.74062680e-01 -2.25822178e-01 -1.43610396e-02 1.09780725e+02] [ 1.47245156e-02 -7.47555566e-05 9.99891586e-01 -1.87847791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.26338344e-01 -9.74042986e-01 3.34899411e-03 1.42767820e+02] [ 9.73931127e-01 -2.26363106e-01 -1.47616086e-02 1.09774754e+02] [ 1.51365300e-02 -7.94284491e-05 9.99885433e-01 -1.87893892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.25717179e-01 -9.74186866e-01 3.42118746e-03 1.42767746e+02] [ 9.74070563e-01 -2.25743096e-01 -1.50530322e-02 1.09773920e+02] [ 1.54367758e-02 -6.52499864e-05 9.99880844e-01 -1.87889816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.24018082e-01 -9.74579741e-01 3.19816969e-03 1.42767512e+02] [ 9.74478502e-01 -2.24040908e-01 -1.40470818e-02 1.09772685e+02] [ 1.44065222e-02 -3.02527082e-05 9.99896220e-01 -1.87868069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.23256643e-01 -9.74754867e-01 3.06941432e-03 1.42767714e+02] [ 9.74661960e-01 -2.23277741e-01 -1.34578606e-02 1.09769687e+02] [ 1.38034470e-02 -1.29153962e-05 9.99904728e-01 -1.87805257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.22092494e-01 -9.75022243e-01 2.55924627e-03 1.42766857e+02] [ 9.74957894e-01 -2.22107239e-01 -1.12017939e-02 1.09766939e+02] [ 1.14904253e-02 7.32301425e-06 9.99933983e-01 -1.87771944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.77, Z:-1.88 [[-2.21993286e-01 -9.75045342e-01 2.35819529e-03 1.42765791e+02] [ 9.74990898e-01 -2.22005811e-01 -1.03038513e-02 1.09769490e+02] [ 1.05702553e-02 1.18331284e-05 9.99944133e-01 -1.87800662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.76, Z:-1.88 [[-2.22331627e-01 -9.74968236e-01 2.36337543e-03 1.42767149e+02] [ 9.74913741e-01 -2.22344188e-01 -1.03082731e-02 1.09762985e+02] [ 1.05757216e-02 1.22320582e-05 9.99944075e-01 -1.87820757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.76, Z:-1.88 [[-2.23324589e-01 -9.74741437e-01 2.29317392e-03 1.42766780e+02] [ 9.74690298e-01 -2.23336363e-01 -9.98457279e-03 1.09764948e+02] [ 1.02445259e-02 5.33375402e-06 9.99947523e-01 -1.87826658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.77, Y:109.76, Z:-1.88 [[-2.26811018e-01 -9.73935940e-01 2.35531633e-03 1.42770165e+02] [ 9.73882138e-01 -2.26823245e-01 -1.02370447e-02 1.09755586e+02] [ 1.05044662e-02 -2.80740143e-05 9.99944826e-01 -1.87888764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.75, Z:-1.88 [[-2.27880238e-01 -9.73687071e-01 2.02090814e-03 1.42772528e+02] [ 9.73647587e-01 -2.27889197e-01 -8.76872108e-03 1.09751894e+02] [ 8.99853348e-03 -3.05659120e-05 9.99959512e-01 -1.87611204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.75, Z:-1.88 [[-2.29769410e-01 -9.73243387e-01 1.82438922e-03 1.42773021e+02] [ 9.73211303e-01 -2.29776650e-01 -7.90255377e-03 1.09751077e+02] [ 8.11031023e-03 -4.02489134e-05 9.99967110e-01 -1.87557765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.75, Z:-1.88 [[-2.33731684e-01 -9.72299744e-01 1.64541790e-03 1.42771805e+02] [ 9.72273711e-01 -2.33737467e-01 -7.11522015e-03 1.09753976e+02] [ 7.30272255e-03 -6.32558216e-05 9.99973333e-01 -1.87506597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.74, Z:-1.87 [[-2.36470644e-01 -9.71637306e-01 1.60600993e-03 1.42774253e+02] [ 9.71612576e-01 -2.36476085e-01 -6.93279857e-03 1.09743085e+02] [ 7.11594866e-03 -7.89839032e-05 9.99974678e-01 -1.87470802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.74, Z:-1.87 [[-2.39893710e-01 -9.70798045e-01 1.47070551e-03 1.42775901e+02] [ 9.70777360e-01 -2.39898201e-01 -6.33800905e-03 1.09736466e+02] [ 6.50574640e-03 -9.27208964e-05 9.99978833e-01 -1.87456580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.73, Z:-1.87 [[-2.43579272e-01 -9.69879968e-01 1.40886754e-03 1.42776881e+02] [ 9.69861035e-01 -2.43583322e-01 -6.06119310e-03 1.09732173e+02] [ 6.22180641e-03 -1.09975276e-04 9.99980638e-01 -1.87437736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.507628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.78, Y:109.73, Z:-1.88 [[-2.51529848e-01 -9.67848537e-01 1.39451540e-03 1.42777285e+02] [ 9.67830019e-01 -2.51533665e-01 -5.98917311e-03 1.09728060e+02] [ 6.14738001e-03 -1.56801937e-04 9.99981092e-01 -1.87613239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.72, Z:-1.87 [[-2.54543757e-01 -9.67060376e-01 1.30571020e-03 1.42779045e+02] [ 9.67044185e-01 -2.54547054e-01 -5.59838578e-03 1.09719869e+02] [ 5.74634174e-03 -1.62354692e-04 9.99983476e-01 -1.87469114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.71, Z:-1.88 [[-2.62774988e-01 -9.64850995e-01 3.44422913e-03 1.42778038e+02] [ 9.64851165e-01 -2.62784251e-01 -2.58212838e-03 1.09705087e+02] [ 3.39645831e-03 2.64464973e-03 9.99990735e-01 -1.87799891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.71, Z:-1.87 [[-2.61719913e-01 -9.65142686e-01 -1.51083748e-03 1.42780797e+02] [ 9.65131402e-01 -2.61708256e-01 -5.49232596e-03 1.09712650e+02] [ 4.90547959e-03 -2.89560777e-03 9.99983776e-01 -1.87349941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.71, Z:-1.87 [[-2.63185430e-01 -9.64744743e-01 1.00468343e-03 1.42779461e+02] [ 9.64735212e-01 -2.63187299e-01 -4.29149649e-03 1.09708557e+02] [ 4.40461860e-03 -1.60205869e-04 9.99990287e-01 -1.87477517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.71, Z:-1.88 [[-2.64562970e-01 -9.64367858e-01 1.03437415e-03 1.42776996e+02] [ 9.64357786e-01 -2.64564938e-01 -4.41074672e-03 1.09705287e+02] [ 4.52724150e-03 -1.69413486e-04 9.99989738e-01 -1.87574866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.70, Z:-1.88 [[-2.64847610e-01 -9.64289686e-01 1.07008501e-03 1.42775991e+02] [ 9.64278943e-01 -2.64849714e-01 -4.55520051e-03 1.09704382e+02] [ 4.67594458e-03 -1.74573527e-04 9.99989052e-01 -1.87640365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.70, Z:-1.88 [[-2.64457801e-01 -9.64396587e-01 1.13797915e-03 1.42775517e+02] [ 9.64384480e-01 -2.64460187e-01 -4.83582773e-03 1.09703175e+02] [ 4.96460594e-03 -1.81422931e-04 9.99987660e-01 -1.87600563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:142.78, Y:109.70, Z:-1.88 [[-2.63784530e-01 -9.64580673e-01 1.35889691e-03 1.42775759e+02] [ 9.64563473e-01 -2.63787947e-01 -5.76423797e-03 1.09699166e+02] [ 5.91853317e-03 -2.09774487e-04 9.99982463e-01 -1.87706800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.71, Z:-1.87 [[-2.58464984e-01 -9.66019400e-01 1.53982104e-03 1.42771911e+02] [ 9.65997416e-01 -2.58469495e-01 -6.52023220e-03 1.09705834e+02] [ 6.69666756e-03 -1.97788565e-04 9.99977558e-01 -1.87497250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.55688868e-01 -9.66757774e-01 1.61533063e-03 1.42771608e+02] [ 9.66733677e-01 -2.55693904e-01 -6.82825202e-03 1.09700766e+02] [ 7.01429592e-03 -1.84313513e-04 9.99975383e-01 -1.87525401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.50014338e-01 -9.68240137e-01 1.96649044e-03 1.42768759e+02] [ 9.68204595e-01 -2.50022013e-01 -8.29790760e-03 1.09700812e+02] [ 8.52603310e-03 -1.70630791e-04 9.99963638e-01 -1.87552618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.48074428e-01 -9.68738957e-01 1.97769787e-03 1.42768031e+02] [ 9.68703145e-01 -2.48082265e-01 -8.33109513e-03 1.09698805e+02] [ 8.56128817e-03 -1.50929509e-04 9.99963340e-01 -1.87569477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.46545738e-01 -9.69129315e-01 1.88936183e-03 1.42767216e+02] [ 9.69096751e-01 -2.46552944e-01 -7.94569559e-03 1.09698202e+02] [ 8.16623425e-03 -1.28002969e-04 9.99966648e-01 -1.87569101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.45468243e-01 -9.69402930e-01 1.81663359e-03 1.42766674e+02] [ 9.69372932e-01 -2.45474940e-01 -7.62707851e-03 1.09696681e+02] [ 7.83965027e-03 -1.11210136e-04 9.99969263e-01 -1.87548380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.70, Z:-1.88 [[-2.43309849e-01 -9.69947614e-01 1.39407792e-03 1.42765072e+02] [ 9.69930012e-01 -2.43313833e-01 -5.84388749e-03 1.09695714e+02] [ 6.00746317e-03 -6.97173727e-05 9.99981953e-01 -1.87519983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.69, Z:-1.87 [[-2.43068954e-01 -9.70008251e-01 1.21484338e-03 1.42764932e+02] [ 9.69994928e-01 -2.43071983e-01 -5.08439219e-03 1.09693364e+02] [ 5.22719677e-03 -5.74659746e-05 9.99986336e-01 -1.87448348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.69, Z:-1.87 [[-2.42962692e-01 -9.70034981e-01 1.12541513e-03 1.42764586e+02] [ 9.70023584e-01 -2.42965293e-01 -4.70243017e-03 1.09692090e+02] [ 4.83495857e-03 -5.08358761e-05 9.99988310e-01 -1.87398398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.69, Z:-1.87 [[-2.42422162e-01 -9.70170511e-01 8.21232550e-04 1.42762906e+02] [ 9.70164461e-01 -2.42423551e-01 -3.42654363e-03 1.09693280e+02] [ 3.52341770e-03 -3.39394811e-05 9.99993792e-01 -1.87383206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.69, Z:-1.87 [[-2.42637609e-01 -9.70116657e-01 8.13639871e-04 1.42763250e+02] [ 9.70110737e-01 -2.42638971e-01 -3.38918696e-03 1.09687311e+02] [ 3.48532747e-03 -3.30234470e-05 9.99993926e-01 -1.87419043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.68, Z:-1.87 [[-2.42460339e-01 -9.70161020e-01 7.60992482e-04 1.42763427e+02] [ 9.70155859e-01 -2.42461531e-01 -3.16477968e-03 1.09683559e+02] [ 3.25485728e-03 -2.90522383e-05 9.99994703e-01 -1.87473049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.68, Z:-1.88 [[-2.41431650e-01 -9.70417555e-01 7.25791669e-04 1.42761887e+02] [ 9.70412877e-01 -2.41432740e-01 -3.01348788e-03 1.09682848e+02] [ 3.09957142e-03 -2.32337705e-05 9.99995196e-01 -1.87570537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.68, Z:-1.88 [[-2.40763249e-01 -9.70583636e-01 6.80402947e-04 1.42761383e+02] [ 9.70579538e-01 -2.40764210e-01 -2.82051459e-03 1.09680649e+02] [ 2.90136198e-03 -1.86910783e-05 9.99995791e-01 -1.87632964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.68, Z:-1.88 [[-2.40046823e-01 -9.70760881e-01 9.13187094e-04 1.42761090e+02] [ 9.70753530e-01 -2.40048559e-01 -3.77806068e-03 1.09678469e+02] [ 3.88680276e-03 -2.04318665e-05 9.99992446e-01 -1.87701813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:109.78, Z:-1.89 [[-2.45530759e-01 -9.69297830e-01 1.32801801e-02 1.42726702e+02] [ 9.69383508e-01 -2.45461108e-01 6.66779091e-03 1.09781576e+02] [-3.20330753e-03 1.45107353e-02 9.99889583e-01 -1.89097050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.68, Z:-1.87 [[-2.39921076e-01 -9.70719679e-01 -1.18819950e-02 1.42769761e+02] [ 9.70752441e-01 -2.39782185e-01 -1.20084209e-02 1.09678809e+02] [ 8.80771978e-03 -1.44155489e-02 9.99857298e-01 -1.87216766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.287628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.77, Y:109.67, Z:-1.88 [[-2.41722699e-01 -9.70341504e-01 2.73891816e-03 1.42765392e+02] [ 9.70275936e-01 -2.41738206e-01 -1.12803996e-02 1.09673507e+02] [ 1.16079411e-02 -6.92222638e-05 9.99932623e-01 -1.87989174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.67, Z:-1.88 [[-2.45665925e-01 -9.69349739e-01 3.05566589e-03 1.42768219e+02] [ 9.69268325e-01 -2.45684896e-01 -1.25636501e-02 1.09670740e+02] [ 1.29293019e-02 -1.24700557e-04 9.99916405e-01 -1.87900444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.67, Z:-1.88 [[-2.48461837e-01 -9.68636626e-01 3.13084957e-03 1.42769504e+02] [ 9.68551384e-01 -2.48481510e-01 -1.28513180e-02 1.09671512e+02] [ 1.32262155e-02 -1.60673392e-04 9.99912517e-01 -1.87894278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37762800000002 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:142.77, Y:109.67, Z:-1.88 [[-2.51923076e-01 -9.67741548e-01 3.32571593e-03 1.42772983e+02] [ 9.67645605e-01 -2.51944935e-01 -1.36283674e-02 1.09665136e+02] [ 1.40266346e-02 -2.15185834e-04 9.99901599e-01 -1.88067123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.66, Z:-1.88 [[-2.57540363e-01 -9.66262420e-01 3.14594931e-03 1.42777699e+02] [ 9.66176738e-01 -2.57559430e-01 -1.28705722e-02 1.09663804e+02] [ 1.32466191e-02 -2.75148785e-04 9.99912222e-01 -1.87749309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.78, Y:109.65, Z:-1.88 [[-2.60711780e-01 -9.65411603e-01 3.13130995e-03 1.42781987e+02] [ 9.65326932e-01 -2.60730397e-01 -1.27896166e-02 1.09653047e+02] [ 1.31636719e-02 -3.11665879e-04 9.99913307e-01 -1.87762544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:109.65, Z:-1.88 [[-2.62841520e-01 -9.64834380e-01 2.99240191e-03 1.42783930e+02] [ 9.64757267e-01 -2.62858358e-01 -1.22023929e-02 1.09649685e+02] [ 1.25598660e-02 -3.20353997e-04 9.99921070e-01 -1.87607897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.65, Z:-1.88 [[-2.65847320e-01 -9.64011668e-01 2.58959005e-03 1.42785860e+02] [ 9.63954063e-01 -2.65859755e-01 -1.05429920e-02 1.09647713e+02] [ 1.08520351e-02 -3.06580327e-04 9.99941068e-01 -1.87562906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.87 [[-2.67025025e-01 -9.63686574e-01 2.41332169e-03 1.42787165e+02] [ 9.63636690e-01 -2.67035768e-01 -9.80955234e-03 1.09644683e+02] [ 1.00977771e-02 -2.93830633e-04 9.99948973e-01 -1.87481315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.87 [[-2.67970450e-01 -9.63425040e-01 2.00752961e-03 1.42787826e+02] [ 9.63390622e-01 -2.67977854e-01 -8.14736202e-03 1.09642161e+02] [ 8.38734605e-03 -2.49217064e-04 9.99964795e-01 -1.87473663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.87 [[-2.67882025e-01 -9.63449883e-01 1.88251982e-03 1.42789427e+02] [ 9.63419714e-01 -2.67888541e-01 -7.62781320e-03 1.09638167e+02] [ 7.85332122e-03 -2.29697341e-04 9.99969136e-01 -1.87449914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.87 [[-2.67247245e-01 -9.63626161e-01 1.87919798e-03 1.42790416e+02] [ 9.63596200e-01 -2.67253761e-01 -7.60202351e-03 1.09636695e+02] [ 7.82773146e-03 -2.20831806e-04 9.99969338e-01 -1.87385329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.88 [[-2.66199047e-01 -9.63915897e-01 2.05193434e-03 1.42790805e+02] [ 9.63880300e-01 -2.66206857e-01 -8.28707887e-03 1.09636248e+02] [ 8.53428606e-03 -2.28193409e-04 9.99963556e-01 -1.87545024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.87 [[-2.59870987e-01 -9.65641121e-01 2.07269450e-03 1.42788840e+02] [ 9.65604970e-01 -2.59879196e-01 -8.35733687e-03 1.09637004e+02] [ 8.60883833e-03 -1.70425267e-04 9.99962929e-01 -1.87462154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:109.64, Z:-1.89 [[-2.65539515e-01 -9.63983742e-01 1.49703572e-02 1.42773089e+02] [ 9.64097554e-01 -2.65472015e-01 6.36525708e-03 1.09643978e+02] [-2.16179344e-03 1.61231121e-02 9.99867677e-01 -1.89072411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:109.72, Z:-1.88 [[-2.59328179e-01 -9.65789254e-01 1.13147404e-04 1.42762157e+02] [ 9.65789253e-01 -2.59328189e-01 -9.04477160e-05 1.09718838e+02] [ 1.16695744e-04 8.58209055e-05 9.99999990e-01 -1.88392714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.65, Z:-1.87 [[-2.42326065e-01 -9.70124034e-01 -1.17233349e-02 1.42791842e+02] [ 9.70105537e-01 -2.42122093e-01 -1.64966297e-02 1.09645177e+02] [ 1.31652986e-02 -1.53704354e-02 9.99795191e-01 -1.86985912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.79, Y:109.65, Z:-1.88 [[-2.39475175e-01 -9.70895982e-01 3.55435414e-03 1.42785012e+02] [ 9.70790859e-01 -2.39501549e-01 -1.42869306e-02 1.09646322e+02] [ 1.47223968e-02 2.91693132e-05 9.99891619e-01 -1.87745172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.65, Z:-1.88 [[-2.36059630e-01 -9.71731700e-01 3.65441669e-03 1.42785365e+02] [ 9.71621039e-01 -2.36087898e-01 -1.46649616e-02 1.09648400e+02] [ 1.51131716e-02 8.89027400e-05 9.99885786e-01 -1.87613854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.88 [[-2.36480255e-01 -9.71629740e-01 3.56905448e-03 1.42787709e+02] [ 9.71524521e-01 -2.36507171e-01 -1.42990485e-02 1.09642975e+02] [ 1.47374878e-02 8.59813097e-05 9.99891394e-01 -1.87628166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.88 [[-2.37605445e-01 -9.71356204e-01 3.28301466e-03 1.42790475e+02] [ 9.71267436e-01 -2.37628114e-01 -1.31318998e-02 1.09639496e+02] [ 1.35358890e-02 6.84743341e-05 9.99908383e-01 -1.87531537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.64, Z:-1.88 [[-2.37978317e-01 -9.71264902e-01 3.28805661e-03 1.42791119e+02] [ 9.71176143e-01 -2.38001021e-01 -1.31306381e-02 1.09637226e+02] [ 1.35358888e-02 6.84749721e-05 9.99908383e-01 -1.87532161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.63, Z:-1.87 [[-2.39303099e-01 -9.70940261e-01 3.00602365e-03 1.42794064e+02] [ 9.70866288e-01 -2.39321973e-01 -1.19851777e-02 1.09634972e+02] [ 1.23562991e-02 5.03568564e-05 9.99923657e-01 -1.87388394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.63, Z:-1.87 [[-2.42104383e-01 -9.70247506e-01 2.29020907e-03 1.42798188e+02] [ 9.70204668e-01 -2.42115215e-01 -9.11730084e-03 1.09631412e+02] [ 9.40053286e-03 1.46330341e-05 9.99955814e-01 -1.87157389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.63, Z:-1.87 [[-2.43629632e-01 -9.69866227e-01 2.02571970e-03 1.42798785e+02] [ 9.69832804e-01 -2.43638053e-01 -8.05175791e-03 1.09632073e+02] [ 8.30267047e-03 2.96260285e-06 9.99965532e-01 -1.87144990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.63, Z:-1.87 [[-2.45417853e-01 -9.69415390e-01 1.96936228e-03 1.42800808e+02] [ 9.69383888e-01 -2.45425754e-01 -7.81519722e-03 1.09626477e+02] [ 8.05950469e-03 -8.92085164e-06 9.99967522e-01 -1.87126455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.62, Z:-1.87 [[-2.48758200e-01 -9.68563594e-01 1.98029249e-03 1.42803096e+02] [ 9.68531817e-01 -2.48766080e-01 -7.84587979e-03 1.09621820e+02] [ 8.09186313e-03 -3.37506518e-05 9.99967260e-01 -1.87130925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.63, Z:-1.87 [[-2.50349011e-01 -9.68153876e-01 1.85613748e-03 1.42801770e+02] [ 9.68126035e-01 -2.50355888e-01 -7.34237079e-03 1.09628597e+02] [ 7.57323969e-03 -4.11802442e-05 9.99971322e-01 -1.87112096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.62, Z:-1.87 [[-2.52682998e-01 -9.67547682e-01 1.66925938e-03 1.42805147e+02] [ 9.67525221e-01 -2.52688506e-01 -6.59287879e-03 1.09620767e+02] [ 6.80072725e-03 -5.08578299e-05 9.99976874e-01 -1.87081964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.62, Z:-1.87 [[-2.53871497e-01 -9.67236730e-01 1.53959386e-03 1.42806781e+02] [ 9.67217677e-01 -2.53876160e-01 -6.07128284e-03 1.09615205e+02] [ 6.26323394e-03 -5.22032674e-05 9.99980384e-01 -1.87073031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:109.59, Z:-1.88 [[-2.63210233e-01 -9.64686307e-01 1.00351129e-02 1.42801982e+02] [ 9.64736466e-01 -2.63174079e-01 4.79109065e-03 1.09594284e+02] [-1.98091794e-03 1.09423035e-02 9.99938169e-01 -1.88162102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.61, Z:-1.87 [[-2.54886867e-01 -9.66930208e-01 -8.86895922e-03 1.42812915e+02] [ 9.66949026e-01 -2.54808719e-01 -9.06081841e-03 1.09609513e+02] [ 6.50129088e-03 -1.08853151e-02 9.99919618e-01 -1.86690222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.61, Z:-1.87 [[-2.54516207e-01 -9.67066363e-01 2.03725287e-03 1.42808091e+02] [ 9.67033322e-01 -2.54524352e-01 -7.99432259e-03 1.09607766e+02] [ 8.24957094e-03 -6.45932537e-05 9.99965970e-01 -1.87187090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.61, Z:-1.87 [[-2.53613263e-01 -9.67302889e-01 2.33105136e-03 1.42807200e+02] [ 9.67259783e-01 -2.53623968e-01 -9.13207792e-03 1.09610589e+02] [ 9.42469585e-03 -6.12838398e-05 9.99955585e-01 -1.87254823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.87 [[-2.51161281e-01 -9.67940587e-01 3.00510264e-03 1.42808506e+02] [ 9.67869233e-01 -2.51179254e-01 -1.17528628e-02 1.09604863e+02] [ 1.21308924e-02 -4.33176909e-05 9.99926417e-01 -1.87361105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.81, Y:109.61, Z:-1.88 [[-2.50417590e-01 -9.68131319e-01 3.57500286e-03 1.42807652e+02] [ 9.68030684e-01 -2.50443105e-01 -1.39587336e-02 1.09607801e+02] [ 1.44092220e-02 -3.47999485e-05 9.99896181e-01 -1.87541524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.87 [[-2.48789967e-01 -9.68549777e-01 3.85765323e-03 1.42808905e+02] [ 9.68433027e-01 -2.48819873e-01 -1.50380672e-02 1.09603388e+02] [ 1.55249774e-02 -5.44144809e-06 9.99879480e-01 -1.87467300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.88 [[-2.48271035e-01 -9.68681109e-01 4.28980765e-03 1.42809062e+02] [ 9.68537219e-01 -2.48308093e-01 -1.66956954e-02 1.09602654e+02] [ 1.72379987e-02 9.78080036e-06 9.99851415e-01 -1.87531088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.88 [[-2.48286997e-01 -9.68674947e-01 4.73438597e-03 1.42811758e+02] [ 9.68500247e-01 -2.48332131e-01 -1.83963132e-02 1.09599710e+02] [ 1.89957479e-02 1.76886187e-05 9.99819564e-01 -1.87542192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.87 [[-2.49203313e-01 -9.68440141e-01 4.62616825e-03 1.42812306e+02] [ 9.68273825e-01 -2.49246249e-01 -1.79473724e-02 1.09601243e+02] [ 1.85340109e-02 6.85296562e-06 9.99828230e-01 -1.87484338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.87 [[-2.50056540e-01 -9.68223366e-01 3.90392039e-03 1.42814490e+02] [ 9.68105269e-01 -2.50087012e-01 -1.51219563e-02 1.09597854e+02] [ 1.56177512e-02 -1.93816920e-06 9.99878035e-01 -1.87378516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:109.60, Z:-1.87 [[-2.50664275e-01 -9.68067696e-01 3.51520140e-03 1.42814802e+02] [ 9.67972231e-01 -2.50688922e-01 -1.35950363e-02 1.09599070e+02] [ 1.40421376e-02 -5.17258881e-06 9.99901404e-01 -1.87284850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.59, Z:-1.87 [[-2.51377886e-01 -9.67883754e-01 3.19319423e-03 1.42817389e+02] [ 9.67805208e-01 -2.51398166e-01 -1.23304763e-02 1.09592203e+02] [ 1.27372309e-02 -9.21905612e-06 9.99918878e-01 -1.87218484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.59, Z:-1.87 [[-2.52682931e-01 -9.67545568e-01 2.62888662e-03 1.42819701e+02] [ 9.67492473e-01 -2.52696605e-01 -1.01360707e-02 1.09587075e+02] [ 1.04714210e-02 -1.77840272e-05 9.99945173e-01 -1.87069311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.59, Z:-1.87 [[-2.53464372e-01 -9.67342104e-01 2.25075470e-03 1.42819792e+02] [ 9.67303295e-01 -2.53474365e-01 -8.66502128e-03 1.09585589e+02] [ 8.95254854e-03 -1.91117389e-05 9.99959925e-01 -1.87058130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.58, Z:-1.87 [[-2.53837541e-01 -9.67244822e-01 1.98935410e-03 1.42819388e+02] [ 9.67214593e-01 -2.53845335e-01 -7.64707855e-03 1.09584690e+02] [ 7.90158539e-03 -1.69832971e-05 9.99968782e-01 -1.87049855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.58, Z:-1.87 [[-2.53434764e-01 -9.67351198e-01 1.57513835e-03 1.42819272e+02] [ 9.67332303e-01 -2.53439658e-01 -6.04611082e-03 1.09580663e+02] [ 6.24791506e-03 -8.61246207e-06 9.99980482e-01 -1.87063384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.58, Z:-1.87 [[-2.53444929e-01 -9.67348333e-01 1.69424116e-03 1.42819465e+02] [ 9.67326543e-01 -2.53450592e-01 -6.49281534e-03 1.09577696e+02] [ 6.71022052e-03 -6.68668194e-06 9.99977486e-01 -1.87081798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.58, Z:-1.87 [[-2.53759104e-01 -9.67265763e-01 1.80581380e-03 1.42818962e+02] [ 9.67241085e-01 -2.53765530e-01 -6.90932498e-03 1.09576434e+02] [ 7.14140679e-03 -6.64681707e-06 9.99974500e-01 -1.87131654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.57, Z:-1.87 [[-2.54280539e-01 -9.67128148e-01 2.13364790e-03 1.42818970e+02] [ 9.67093805e-01 -2.54289491e-01 -8.15024230e-03 1.09573111e+02] [ 8.42489298e-03 -9.01034512e-06 9.99964510e-01 -1.87280780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.57, Z:-1.87 [[-2.54828967e-01 -9.66983247e-01 2.36613369e-03 1.42819228e+02] [ 9.66941141e-01 -2.54839951e-01 -9.02379904e-03 1.09572653e+02] [ 9.32884789e-03 -1.16133764e-05 9.99956485e-01 -1.87300522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.57, Z:-1.87 [[-2.55550938e-01 -9.66784870e-01 4.55340331e-03 1.42818028e+02] [ 9.66736779e-01 -2.55584508e-01 -9.82649823e-03 1.09574962e+02] [ 1.06638892e-02 1.89077160e-03 9.99941352e-01 -1.87394731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.57, Z:-1.87 [[-2.58074325e-01 -9.66123703e-01 1.62267623e-03 1.42823311e+02] [ 9.66029164e-01 -2.58072008e-01 -1.36562840e-02 1.09567227e+02] [ 1.36124270e-02 -1.95678370e-03 9.99905432e-01 -1.87273062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.60, Z:-1.87 [[-2.59377721e-01 -9.65768396e-01 3.82142055e-03 1.42815246e+02] [ 9.65652377e-01 -2.59405799e-01 -1.49705806e-02 1.09598390e+02] [ 1.54494122e-02 -1.92871235e-04 9.99880632e-01 -1.87413740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.57, Z:-1.88 [[-2.60200455e-01 -9.65544445e-01 4.43268500e-03 1.42823540e+02] [ 9.65405794e-01 -2.60238208e-01 -1.63623881e-02 1.09565649e+02] [ 1.69521670e-02 2.18389523e-05 9.99856301e-01 -1.87500349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.56, Z:-1.88 [[-2.60557272e-01 -9.65447941e-01 4.49223648e-03 1.42823098e+02] [ 9.65297640e-01 -2.60595974e-01 -1.70353981e-02 1.09561626e+02] [ 1.76174488e-02 -1.02351589e-04 9.99844795e-01 -1.87646744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.56, Z:-1.88 [[-2.61208432e-01 -9.65272224e-01 4.43722281e-03 1.42824636e+02] [ 9.65126008e-01 -2.61246096e-01 -1.68007625e-02 1.09555702e+02] [ 1.73765165e-02 -1.06021695e-04 9.99849011e-01 -1.87613106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.55, Z:-1.88 [[-2.62037176e-01 -9.65048226e-01 4.29427077e-03 1.42825208e+02] [ 9.64911670e-01 -2.62072337e-01 -1.62345014e-02 1.09553442e+02] [ 1.67924864e-02 -1.10450923e-04 9.99858990e-01 -1.87558577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.56, Z:-1.87 [[-2.63825536e-01 -9.64563714e-01 3.59568830e-03 1.42824141e+02] [ 9.64468217e-01 -2.63850014e-01 -1.35730997e-02 1.09556761e+02] [ 1.40408419e-02 -1.13003226e-04 9.99901416e-01 -1.87415348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.55, Z:-1.87 [[-2.64972337e-01 -9.64250738e-01 3.18980237e-03 1.42826510e+02] [ 9.64175788e-01 -2.64991513e-01 -1.20227940e-02 1.09546562e+02] [ 1.24382586e-02 -1.10177607e-04 9.99922636e-01 -1.87382912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.55, Z:-1.87 [[-2.65993352e-01 -9.63971299e-01 2.62131440e-03 1.42825838e+02] [ 9.63920819e-01 -2.66006250e-01 -9.86554871e-03 1.09546038e+02] [ 1.02073918e-02 -9.74308497e-05 9.99947898e-01 -1.87317401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.55, Z:-1.87 [[-2.66062193e-01 -9.63952689e-01 2.47454876e-03 1.42825838e+02] [ 9.63907839e-01 -2.66073685e-01 -9.29908043e-03 1.09545853e+02] [ 9.62228589e-03 -8.88967796e-05 9.99953701e-01 -1.87305088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.54, Z:-1.87 [[-2.66141179e-01 -9.63930870e-01 2.47998743e-03 1.42826375e+02] [ 9.63885960e-01 -2.66152719e-01 -9.30520051e-03 1.09543481e+02] [ 9.62962542e-03 -8.60719646e-05 9.99953630e-01 -1.87269554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:142.83, Y:109.54, Z:-1.88 [[-2.65981709e-01 -9.63974439e-01 2.64793097e-03 1.42826713e+02] [ 9.63923401e-01 -2.65994875e-01 -9.91987167e-03 1.09537888e+02] [ 1.02668388e-02 -8.61017880e-05 9.99947291e-01 -1.87596772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.54, Z:-1.87 [[-2.64781562e-01 -9.64304843e-01 2.62578338e-03 1.42826226e+02] [ 9.64254824e-01 -2.64794572e-01 -9.82187941e-03 1.09538302e+02] [ 1.01665791e-02 -6.87282828e-05 9.99948317e-01 -1.87358591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.54, Z:-1.87 [[-2.64298506e-01 -9.64437481e-01 2.57764500e-03 1.42825477e+02] [ 9.64389432e-01 -2.64311069e-01 -9.62712412e-03 1.09538779e+02] [ 9.96605944e-03 -5.85809308e-05 9.99950336e-01 -1.87453616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.53, Z:-1.87 [[-2.62936868e-01 -9.64809113e-01 2.75281278e-03 1.42825885e+02] [ 9.64754502e-01 -2.62951275e-01 -1.02653796e-02 1.09532974e+02] [ 1.06279874e-02 -4.33582311e-05 9.99943520e-01 -1.87478249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.53, Z:-1.88 [[-2.62700009e-01 -9.64873494e-01 2.80104068e-03 1.42825386e+02] [ 9.64817129e-01 -2.62714939e-01 -1.04292152e-02 1.09532530e+02] [ 1.07987485e-02 -3.72628874e-05 9.99941691e-01 -1.87567002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.51, Z:-1.87 [[-2.65445578e-01 -9.64108981e-01 -5.70244200e-03 1.42832835e+02] [ 9.63957936e-01 -2.65284326e-01 -2.02317399e-02 1.09513370e+02] [ 1.79928336e-02 -1.08673401e-02 9.99779055e-01 -1.87171349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.54, Z:-1.88 [[-2.61588082e-01 -9.65076735e-01 1.40915492e-02 1.42819257e+02] [ 9.65072427e-01 -2.61748730e-01 -1.10821461e-02 1.09537366e+02] [ 1.43835664e-02 1.07004082e-02 9.99839294e-01 -1.88186649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.53, Z:-1.88 [[-2.62137863e-01 -9.65022096e-01 4.01185616e-03 1.42828606e+02] [ 9.64907289e-01 -2.62168559e-01 -1.48852447e-02 1.09525845e+02] [ 1.54163726e-02 -3.09169820e-05 9.99881160e-01 -1.87758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:109.53, Z:-1.88 [[-2.62053283e-01 -9.64924398e-01 1.57791803e-02 1.42823314e+02] [ 9.64935723e-01 -2.62241639e-01 -1.13302049e-02 1.09528564e+02] [ 1.50707493e-02 1.22567774e-02 9.99811304e-01 -1.88202477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.53, Z:-1.87 [[-2.63358336e-01 -9.64667838e-01 -7.63873805e-03 1.42837467e+02] [ 9.64565424e-01 -2.63182555e-01 -1.86677906e-02 1.09527838e+02] [ 1.59978346e-02 -1.22843809e-02 9.99796561e-01 -1.87247095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.52, Z:-1.88 [[-2.63703557e-01 -9.64595283e-01 4.04651956e-03 1.42834476e+02] [ 9.64479199e-01 -2.63734599e-01 -1.49644815e-02 1.09520962e+02] [ 1.55018755e-02 -4.34030513e-05 9.99879838e-01 -1.87802867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.507628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.84, Y:109.52, Z:-1.88 [[-2.63338163e-01 -9.64696037e-01 3.81673825e-03 1.42835955e+02] [ 9.64593084e-01 -2.63365819e-01 -1.40935122e-02 1.09522853e+02] [ 1.46011538e-02 -2.97603046e-05 9.99893397e-01 -1.87722956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.52, Z:-1.88 [[-2.62235036e-01 -9.64997884e-01 3.44529692e-03 1.42837248e+02] [ 9.64914271e-01 -2.62257667e-01 -1.27030009e-02 1.09518832e+02] [ 1.31619245e-02 -6.75573072e-06 9.99913378e-01 -1.87511722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.52, Z:-1.87 [[-2.60856373e-01 -9.65372849e-01 3.03579297e-03 1.42836353e+02] [ 9.65308148e-01 -2.60874037e-01 -1.11765973e-02 1.09519991e+02] [ 1.15815431e-02 1.49890639e-05 9.99932932e-01 -1.87496325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.52, Z:-1.88 [[-2.57455797e-01 -9.66287000e-01 2.43852775e-03 1.42834661e+02] [ 9.66245415e-01 -2.57467340e-01 -8.96479001e-03 1.09519296e+02] [ 9.29040130e-03 4.81791075e-05 9.99956842e-01 -1.87541946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.52, Z:-1.88 [[-2.56186806e-01 -9.66624535e-01 2.30833673e-03 1.42833699e+02] [ 9.66587397e-01 -2.56197198e-01 -8.47348577e-03 1.09520454e+02] [ 8.78206865e-03 6.04139435e-05 9.99961435e-01 -1.87552063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.52, Z:-1.88 [[-2.55157077e-01 -9.66897388e-01 2.07524831e-03 1.42834261e+02] [ 9.66867469e-01 -2.55165508e-01 -7.60666021e-03 1.09517992e+02] [ 7.88439168e-03 6.55968929e-05 9.99968916e-01 -1.87568423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.51, Z:-1.88 [[-2.56052550e-01 -9.66660567e-01 2.10710984e-03 1.42836025e+02] [ 9.66629808e-01 -2.56061212e-01 -7.71169055e-03 1.09514272e+02] [ 7.99413626e-03 6.21971455e-05 9.99968044e-01 -1.87532872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.51, Z:-1.88 [[-2.57230216e-01 -9.66347628e-01 2.20871742e-03 1.42836721e+02] [ 9.66313923e-01 -2.57239692e-01 -8.07115985e-03 1.09513559e+02] [ 8.36771596e-03 5.81681986e-05 9.99964988e-01 -1.87538174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.51, Z:-1.88 [[-2.58495618e-01 -9.66009545e-01 2.36109706e-03 1.42838437e+02] [ 9.65971133e-01 -2.58506396e-01 -8.61472311e-03 1.09507251e+02] [ 8.93226344e-03 5.38834209e-05 9.99960105e-01 -1.87597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.51, Z:-1.88 [[-2.61126117e-01 -9.65301179e-01 2.60478415e-03 1.42839535e+02] [ 9.65254538e-01 -2.61139106e-01 -9.48916952e-03 1.09505812e+02] [ 9.84011753e-03 3.64097304e-05 9.99951584e-01 -1.87666364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.50, Z:-1.88 [[-2.62338466e-01 -9.64971653e-01 2.87031736e-03 1.42841978e+02] [ 9.64915172e-01 -2.62354166e-01 -1.04404361e-02 1.09500336e+02] [ 1.08277646e-02 3.06847735e-05 9.99941378e-01 -1.87594324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.50, Z:-1.88 [[-2.62708468e-01 -9.64870976e-01 2.87432208e-03 1.42842674e+02] [ 9.64814501e-01 -2.62724189e-01 -1.04393341e-02 1.09498085e+02] [ 1.08277644e-02 3.06861601e-05 9.99941378e-01 -1.87594931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.50, Z:-1.88 [[-2.63814832e-01 -9.64569065e-01 2.87288407e-03 1.42843588e+02] [ 9.64512797e-01 -2.63830473e-01 -1.04185018e-02 1.09496588e+02] [ 1.08073189e-02 2.23781549e-05 9.99941599e-01 -1.87637910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.84, Y:109.50, Z:-1.88 [[-2.65966039e-01 -9.63976665e-01 3.32494905e-03 1.42843335e+02] [ 9.63901481e-01 -2.65986821e-01 -1.20393254e-02 1.09497760e+02] [ 1.24900214e-02 2.87163386e-06 9.99921997e-01 -1.87856789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.50, Z:-1.88 [[-2.65889220e-01 -9.63997977e-01 3.28995184e-03 1.42844134e+02] [ 9.63924589e-01 -2.65909573e-01 -1.18948181e-02 1.09495043e+02] [ 1.23414102e-02 8.56157032e-06 9.99923842e-01 -1.87652672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:142.84, Y:109.49, Z:-1.88 [[-2.66424265e-01 -9.63849134e-01 3.59965728e-03 1.42842738e+02] [ 9.63761531e-01 -2.66448582e-01 -1.29948093e-02 1.09487900e+02] [ 1.34841592e-02 7.07870254e-06 9.99909085e-01 -1.87918871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.49, Z:-1.88 [[-2.65394401e-01 -9.64133656e-01 3.47928191e-03 1.42841148e+02] [ 9.64052081e-01 -2.65417205e-01 -1.25416628e-02 1.09488215e+02] [ 1.30153005e-02 2.57218703e-05 9.99915297e-01 -1.87757757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.84, Y:109.48, Z:-1.88 [[-2.65114253e-01 -9.64209793e-01 3.72939022e-03 1.42841161e+02] [ 9.64116357e-01 -2.65140480e-01 -1.34229650e-02 1.09484196e+02] [ 1.39313666e-02 3.69467728e-05 9.99902953e-01 -1.87926753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.48, Z:-1.88 [[-2.64308408e-01 -9.64430886e-01 3.75925125e-03 1.42841284e+02] [ 9.64336253e-01 -2.64335135e-01 -1.35103002e-02 1.09483840e+02] [ 1.40234530e-02 5.42963149e-05 9.99901665e-01 -1.87809576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.49, Z:-1.88 [[-2.64165826e-01 -9.64471326e-01 3.38798551e-03 1.42841752e+02] [ 9.64394690e-01 -2.64187545e-01 -1.21582472e-02 1.09485413e+02] [ 1.26213444e-02 5.55618189e-05 9.99920346e-01 -1.87688616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:109.48, Z:-1.88 [[-2.64905193e-01 -9.64269883e-01 2.97167746e-03 1.42844680e+02] [ 9.64211082e-01 -2.64921857e-01 -1.06488549e-02 1.09478024e+02] [ 1.10556324e-02 4.43873818e-05 9.99938884e-01 -1.87599174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.48, Z:-1.88 [[-2.65807942e-01 -9.64022535e-01 2.58652758e-03 1.42846186e+02] [ 9.63978105e-01 -2.65820524e-01 -9.25541414e-03 1.09475426e+02] [ 9.60997992e-03 3.31933734e-05 9.99953823e-01 -1.87526862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.47, Z:-1.88 [[-2.67462465e-01 -9.63565958e-01 2.11548288e-03 1.42846055e+02] [ 9.63536305e-01 -2.67470831e-01 -7.55930871e-03 1.09472537e+02] [ 7.84972249e-03 1.65132124e-05 9.99969190e-01 -1.87593854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.47, Z:-1.88 [[-2.68662267e-01 -9.63232315e-01 2.02323263e-03 1.42846342e+02] [ 9.63205262e-01 -2.68669885e-01 -7.21915115e-03 1.09470680e+02] [ 7.49730135e-03 9.27480144e-06 9.99971895e-01 -1.87637844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.44, Z:-1.88 [[-2.79005084e-01 -9.60280798e-01 4.11725348e-03 1.42850055e+02] [ 9.60284079e-01 -2.79015480e-01 -2.20232009e-03 1.09440499e+02] [ 3.26362314e-03 3.33927447e-03 9.99989099e-01 -1.88122441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.46, Z:-1.87 [[-2.73299953e-01 -9.61927972e-01 -1.30826099e-03 1.42852150e+02] [ 9.61903909e-01 -2.73282815e-01 -7.57456170e-03 1.09464606e+02] [ 6.92865753e-03 -3.32854872e-03 9.99970457e-01 -1.87438116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.47, Z:-1.88 [[-2.75226254e-01 -9.61377891e-01 1.74933775e-03 1.42851213e+02] [ 9.61357763e-01 -2.75231812e-01 -6.22104044e-03 1.09466174e+02] [ 6.46224413e-03 -3.04542304e-05 9.99979119e-01 -1.87552495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.46, Z:-1.88 [[-2.78513401e-01 -9.60430522e-01 1.87031327e-03 1.42854727e+02] [ 9.60407561e-01 -2.78519675e-01 -6.64125736e-03 1.09459146e+02] [ 6.89938532e-03 -5.34161658e-05 9.99976198e-01 -1.87508986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.86, Y:109.45, Z:-1.88 [[-2.80191671e-01 -9.59941889e-01 2.04864382e-03 1.42856437e+02] [ 9.59914411e-01 -2.80199152e-01 -7.26352098e-03 1.09454634e+02] [ 7.54658631e-03 -6.86553638e-05 9.99971522e-01 -1.87756545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.45, Z:-1.88 [[-2.81375864e-01 -9.59595784e-01 1.88517261e-03 1.42856820e+02] [ 9.59572574e-01 -2.81382171e-01 -6.67445160e-03 1.09451160e+02] [ 6.93522958e-03 -6.90696541e-05 9.99975949e-01 -1.87620899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.45, Z:-1.88 [[-2.81972273e-01 -9.59420400e-01 2.03329418e-03 1.42856379e+02] [ 9.59393475e-01 -2.81979593e-01 -7.18813047e-03 1.09449484e+02] [ 7.46978647e-03 -7.61243125e-05 9.99972098e-01 -1.87719724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.45, Z:-1.88 [[-2.82306918e-01 -9.59321214e-01 2.36931426e-03 1.42855486e+02] [ 9.59284762e-01 -2.82316846e-01 -8.36329764e-03 1.09445781e+02] [ 8.69198617e-03 -8.81697168e-05 9.99962220e-01 -1.87902863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.44, Z:-1.88 [[-2.82169518e-01 -9.59361020e-01 2.60700066e-03 1.42855754e+02] [ 9.59317020e-01 -2.82181546e-01 -9.18859423e-03 1.09442964e+02] [ 9.55082661e-03 -9.18011033e-05 9.99954386e-01 -1.87922132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.44, Z:-1.88 [[-2.81101717e-01 -9.59673598e-01 2.89982005e-03 1.42855308e+02] [ 9.59619337e-01 -2.81116661e-01 -1.02054602e-02 1.09441752e+02] [ 1.06090984e-02 -8.60489899e-05 9.99943718e-01 -1.87979291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.40, Z:-1.90 [[-2.93099565e-01 -9.55981137e-01 1.38820536e-02 1.42852651e+02] [ 9.56081794e-01 -2.93061056e-01 4.77715062e-03 1.09398271e+02] [-4.98576604e-04 1.46725594e-02 9.99892228e-01 -1.89543456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.86, Y:109.44, Z:-1.87 [[-2.79561562e-01 -9.60066716e-01 -1.08274884e-02 1.42860541e+02] [ 9.60060500e-01 -2.79390709e-01 -1.49889299e-02 1.09443957e+02] [ 1.13652731e-02 -1.45853726e-02 9.99829034e-01 -1.87442973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.44, Z:-1.88 [[-2.77155234e-01 -9.60819540e-01 3.28444075e-03 1.42853579e+02] [ 9.60750463e-01 -2.77174692e-01 -1.15211659e-02 1.09438593e+02] [ 1.19801251e-02 -3.76234441e-05 9.99928235e-01 -1.88035750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.44, Z:-1.88 [[-2.76430891e-01 -9.61028165e-01 3.29060198e-03 1.42852126e+02] [ 9.60959045e-01 -2.76450475e-01 -1.15260210e-02 1.09440933e+02] [ 1.19865193e-02 -2.40145183e-05 9.99928159e-01 -1.88096086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.44, Z:-1.88 [[-2.75709716e-01 -9.61235350e-01 3.27930440e-03 1.42852990e+02] [ 9.61166917e-01 -2.75729217e-01 -1.14697870e-02 1.09437563e+02] [ 1.19293648e-02 -1.03728265e-05 9.99928843e-01 -1.88123031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:109.43, Z:-1.88 [[-2.75057916e-01 -9.61423063e-01 2.97274673e-03 1.42854634e+02] [ 9.61366997e-01 -2.75073980e-01 -1.03828144e-02 1.09433599e+02] [ 1.08000025e-02 2.02529690e-06 9.99941678e-01 -1.88113966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.43, Z:-1.88 [[-2.75587538e-01 -9.61272095e-01 2.73289824e-03 1.42856106e+02] [ 9.61224838e-01 -2.75601088e-01 -9.53157932e-03 1.09429902e+02] [ 9.91563094e-03 1.45194098e-07 9.99950839e-01 -1.88137130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.43, Z:-1.88 [[-2.76522752e-01 -9.61004049e-01 2.52698230e-03 1.42857197e+02] [ 9.60963748e-01 -2.76534298e-01 -8.80093653e-03 1.09429516e+02] [ 9.15653292e-03 -5.32080303e-06 9.99958078e-01 -1.88112345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.42, Z:-1.88 [[-2.77883720e-01 -9.60612092e-01 2.24673938e-03 1.42859482e+02] [ 9.60580310e-01 -2.77892802e-01 -7.81401010e-03 1.09424670e+02] [ 8.13058529e-03 -1.32125822e-05 9.99966946e-01 -1.88078649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.42, Z:-1.88 [[-2.79747261e-01 -9.60072142e-01 1.71785518e-03 1.42862151e+02] [ 9.60053601e-01 -2.79752535e-01 -5.96678586e-03 1.09423362e+02] [ 6.20911922e-03 -1.99589477e-05 9.99980723e-01 -1.87952863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.42, Z:-1.88 [[-2.80602782e-01 -9.59822797e-01 1.50907929e-03 1.42863936e+02] [ 9.59808523e-01 -2.80606840e-01 -5.23450813e-03 1.09420225e+02] [ 5.44765820e-03 -2.03903793e-05 9.99985161e-01 -1.87911725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.42, Z:-1.88 [[-2.81608380e-01 -9.59528448e-01 1.37013906e-03 1.42864716e+02] [ 9.59516711e-01 -2.81611712e-01 -4.74606471e-03 1.09419257e+02] [ 4.93983131e-03 -2.18602713e-05 9.99987799e-01 -1.87958044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.42, Z:-1.88 [[-2.83030812e-01 -9.59109655e-01 1.49268864e-03 1.42864599e+02] [ 9.59095760e-01 -2.83034747e-01 -5.16285965e-03 1.09418986e+02] [ 5.37423129e-03 -2.96170107e-05 9.99985558e-01 -1.88074797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.41, Z:-1.88 [[-2.83553059e-01 -9.58955041e-01 1.70072080e-03 1.42866294e+02] [ 9.58937054e-01 -2.83558157e-01 -5.87350455e-03 1.09414451e+02] [ 6.11468005e-03 -3.45659841e-05 9.99981305e-01 -1.88141899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.41, Z:-1.88 [[-2.83776451e-01 -9.58888684e-01 1.84889949e-03 1.42866945e+02] [ 9.58867487e-01 -2.83782472e-01 -6.37582412e-03 1.09414105e+02] [ 6.63839087e-03 -3.64591385e-05 9.99977965e-01 -1.88183322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.41, Z:-1.88 [[-2.82270151e-01 -9.59332109e-01 2.33796312e-03 1.42867128e+02] [ 9.59298335e-01 -2.82279832e-01 -8.04992134e-03 1.09414584e+02] [ 8.38250785e-03 -2.94483815e-05 9.99964866e-01 -1.88183417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.41, Z:-1.88 [[-2.81478808e-01 -9.59564178e-01 2.50365710e-03 1.42866800e+02] [ 9.59525569e-01 -2.81489942e-01 -8.60786512e-03 1.09412599e+02] [ 8.96455331e-03 -2.06086116e-05 9.99959817e-01 -1.88236230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.037628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.87, Y:109.41, Z:-1.88 [[-2.80993509e-01 -9.59705271e-01 2.90535714e-03 1.42867097e+02] [ 9.59653439e-01 -2.81008528e-01 -9.97415849e-03 1.09406696e+02] [ 1.03886826e-02 -1.45378187e-05 9.99946036e-01 -1.88468250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.067628 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:142.87, Y:109.40, Z:-1.89 [[-2.80300758e-01 -9.59907776e-01 2.92352504e-03 1.42865998e+02] [ 9.59855454e-01 -2.80316004e-01 -1.00222105e-02 1.09404686e+02] [ 1.04399086e-02 -3.07172963e-06 9.99945503e-01 -1.88571024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.40, Z:-1.88 [[-2.78823502e-01 -9.60339339e-01 2.41023975e-03 1.42864401e+02] [ 9.60303889e-01 -2.78833919e-01 -8.25143032e-03 1.09402089e+02] [ 8.59622973e-03 1.38699104e-05 9.99963052e-01 -1.88327940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.40, Z:-1.88 [[-2.78313906e-01 -9.60487861e-01 2.10675047e-03 1.42864127e+02] [ 9.60460855e-01 -2.78321879e-01 -7.20259703e-03 1.09402645e+02] [ 7.50436177e-03 1.88684394e-05 9.99971842e-01 -1.88303730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.40, Z:-1.88 [[-2.78331609e-01 -9.60482990e-01 1.98549610e-03 1.42864794e+02] [ 9.60459070e-01 -2.78338690e-01 -6.77858701e-03 1.09399956e+02] [ 7.06335790e-03 2.02927041e-05 9.99975054e-01 -1.88271303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.40, Z:-1.88 [[-2.78460675e-01 -9.60445904e-01 1.82144623e-03 1.42865472e+02] [ 9.60425828e-01 -2.78466632e-01 -6.20994736e-03 1.09399462e+02] [ 6.47153051e-03 2.01378643e-05 9.99979059e-01 -1.88254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.40, Z:-1.88 [[-2.80532229e-01 -9.59842828e-01 1.84765635e-03 1.42867513e+02] [ 9.59822216e-01 -2.80538314e-01 -6.29031455e-03 1.09395629e+02] [ 6.55605170e-03 8.78564564e-06 9.99978509e-01 -1.88255204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.40, Z:-1.88 [[-2.82282449e-01 -9.59311471e-01 6.17414931e-03 1.42864761e+02] [ 9.59312057e-01 -2.82311735e-01 -4.52349197e-03 1.09400705e+02] [ 6.08247253e-03 4.64603348e-03 9.99970709e-01 -1.88447380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.39, Z:-1.88 [[-2.85829744e-01 -9.58275736e-01 -2.99532985e-03 1.42873891e+02] [ 9.58266954e-01 -2.85807763e-01 -6.19414971e-03 1.09389960e+02] [ 5.07961484e-03 -4.64079783e-03 9.99976330e-01 -1.88072551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.39, Z:-1.88 [[-2.87950145e-01 -9.57644440e-01 1.35641548e-03 1.42873341e+02] [ 9.57633373e-01 -2.87953338e-01 -4.60405639e-03 1.09386477e+02] [ 4.79963337e-03 -2.67899717e-05 9.99988481e-01 -1.88227887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.87, Y:109.39, Z:-1.88 [[-2.90638996e-01 -9.56831590e-01 1.51091466e-03 1.42873287e+02] [ 9.56817888e-01 -2.90642920e-01 -5.12086431e-03 1.09387186e+02] [ 5.33894139e-03 -4.26526858e-05 9.99985747e-01 -1.88339700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.37, Z:-1.88 [[-2.94636223e-01 -9.55608096e-01 1.63204909e-03 1.42877644e+02] [ 9.55592136e-01 -2.94640735e-01 -5.52337503e-03 1.09374906e+02] [ 5.75905004e-03 -6.78130819e-05 9.99983414e-01 -1.88302720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.88, Y:109.37, Z:-1.88 [[-2.96837467e-01 -9.54925801e-01 2.05728339e-03 1.42878619e+02] [ 9.54900501e-01 -2.96844580e-01 -6.95190737e-03 1.09372954e+02] [ 7.24924913e-03 -9.90856377e-05 9.99973719e-01 -1.88418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.37, Z:-1.88 [[-2.98242031e-01 -9.54487027e-01 2.49117323e-03 1.42879919e+02] [ 9.54450023e-01 -2.98252407e-01 -8.40565615e-03 1.09370148e+02] [ 8.76608816e-03 -1.29219610e-04 9.99961569e-01 -1.88382325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.37, Z:-1.88 [[-2.99997215e-01 -9.53935355e-01 3.00145810e-03 1.42881040e+02] [ 9.53881767e-01 -3.00012181e-01 -1.01126568e-02 1.09369301e+02] [ 1.05472949e-02 -1.70732733e-04 9.99944361e-01 -1.88370766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.37, Z:-1.88 [[-2.99900528e-01 -9.53965683e-01 3.02478346e-03 1.42880170e+02] [ 9.53911411e-01 -2.99915735e-01 -1.01769963e-02 1.09371412e+02] [ 1.06156854e-02 -1.66711121e-04 9.99943638e-01 -1.88332218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.99712243e-01 -9.54024413e-01 3.16079109e-03 1.42881515e+02] [ 9.53965320e-01 -2.99728863e-01 -1.06196244e-02 1.09363650e+02] [ 1.10787613e-02 -1.67546373e-04 9.99938615e-01 -1.88308783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.98868210e-01 -9.54288719e-01 3.29149601e-03 1.42880029e+02] [ 9.54224832e-01 -2.98886292e-01 -1.10432537e-02 1.09361287e+02] [ 1.15222355e-02 -1.59650239e-04 9.99933604e-01 -1.88279385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.98502306e-01 -9.54403515e-01 3.20995272e-03 1.42878818e+02] [ 9.54342929e-01 -2.98519528e-01 -1.07547770e-02 1.09362298e+02] [ 1.12226305e-02 -1.46930047e-04 9.99937014e-01 -1.88229167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.98159382e-01 -9.54511297e-01 3.02777301e-03 1.42879727e+02] [ 9.54457545e-01 -2.98174726e-01 -1.01304821e-02 1.09356868e+02] [ 1.05724650e-02 -1.30617499e-04 9.99944101e-01 -1.88170736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.97901340e-01 -9.54591863e-01 3.02760763e-03 1.42879463e+02] [ 9.54538270e-01 -2.97916699e-01 -1.01158737e-02 1.09357130e+02] [ 1.05585056e-02 -1.23564993e-04 9.99944250e-01 -1.88219746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.95906061e-01 -9.55213366e-01 2.65121499e-03 1.42879632e+02] [ 9.55172405e-01 -2.95917925e-01 -8.84637419e-03 1.09356666e+02] [ 9.23471691e-03 -8.53283359e-05 9.99957355e-01 -1.87997081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.95124062e-01 -9.55455205e-01 2.67185573e-03 1.42878540e+02] [ 9.55413730e-01 -2.95136146e-01 -8.90283913e-03 1.09358804e+02] [ 9.29482519e-03 -7.47143997e-05 9.99956799e-01 -1.87984369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.36, Z:-1.88 [[-2.95490417e-01 -9.55341958e-01 2.67526787e-03 1.42879289e+02] [ 9.55300487e-01 -2.95502518e-01 -8.90181421e-03 1.09356568e+02] [ 9.29482500e-03 -7.47160946e-05 9.99956799e-01 -1.87984978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.35, Z:-1.88 [[-2.94350018e-01 -9.55693517e-01 2.82279235e-03 1.42880364e+02] [ 9.55647492e-01 -2.94363546e-01 -9.37948481e-03 1.09350457e+02] [ 9.79484000e-03 -6.32570914e-05 9.99952027e-01 -1.87989315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.35, Z:-1.88 [[-2.93122489e-01 -9.56070063e-01 3.03980642e-03 1.42880762e+02] [ 9.56016859e-01 -2.93138247e-01 -1.00863488e-02 1.09347540e+02] [ 1.05343396e-02 -5.04294788e-05 9.99944511e-01 -1.87973007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.35, Z:-1.88 [[-2.89843118e-01 -9.57068824e-01 3.19892563e-03 1.42880119e+02] [ 9.57010128e-01 -2.89860771e-01 -1.05994607e-02 1.09351639e+02] [ 1.10716565e-02 -1.07765292e-05 9.99938707e-01 -1.87907576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.35, Z:-1.88 [[-2.88526942e-01 -9.57465985e-01 3.33035921e-03 1.42881008e+02] [ 9.57402571e-01 -2.88546162e-01 -1.10195462e-02 1.09346929e+02] [ 1.15118030e-02 9.05851178e-06 9.99933737e-01 -1.87917172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.35, Z:-1.88 [[-2.85728383e-01 -9.58304255e-01 3.49937874e-03 1.42880321e+02] [ 9.58234498e-01 -2.85749807e-01 -1.15626182e-02 1.09346926e+02] [ 1.20804530e-02 4.94572318e-05 9.99927027e-01 -1.88013398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.34, Z:-1.88 [[-2.84846839e-01 -9.58566105e-01 3.64698628e-03 1.42882015e+02] [ 9.58490572e-01 -2.84870177e-01 -1.20335426e-02 1.09344126e+02] [ 1.25738637e-02 6.78853906e-05 9.99920944e-01 -1.87966355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.34, Z:-1.88 [[-2.84446685e-01 -9.58684840e-01 3.66900527e-03 1.42883066e+02] [ 9.58608613e-01 -2.84470336e-01 -1.20894474e-02 1.09344551e+02] [ 1.26336931e-02 7.83367994e-05 9.99920189e-01 -1.87930725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.34, Z:-1.88 [[-2.83610955e-01 -9.58932347e-01 3.68504467e-03 1.42885603e+02] [ 9.58855687e-01 -2.83634879e-01 -1.21255068e-02 1.09342950e+02] [ 1.26727479e-02 9.44994783e-05 9.99919693e-01 -1.87869937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.34, Z:-1.88 [[-2.83831780e-01 -9.58866677e-01 3.77061382e-03 1.42887277e+02] [ 9.58786631e-01 -2.83856807e-01 -1.23898679e-02 1.09340757e+02] [ 1.29505459e-02 9.85758565e-05 9.99916133e-01 -1.87869903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.34, Z:-1.88 [[-2.84200041e-01 -9.58756784e-01 3.97060843e-03 1.42889239e+02] [ 9.58668259e-01 -2.84227758e-01 -1.30288667e-02 1.09340056e+02] [ 1.36200715e-02 1.03691820e-04 9.99907237e-01 -1.87768396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.34, Z:-1.88 [[-2.84529297e-01 -9.58659266e-01 3.93596876e-03 1.42890939e+02] [ 9.58572509e-01 -2.84556500e-01 -1.28974370e-02 1.09336880e+02] [ 1.34842530e-02 1.03212779e-04 9.99909078e-01 -1.87763692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.34, Z:-1.88 [[-2.84686869e-01 -9.58612574e-01 3.91409906e-03 1.42892230e+02] [ 9.58527010e-01 -2.84713756e-01 -1.28081417e-02 1.09335948e+02] [ 1.33924435e-02 1.05459918e-04 9.99910312e-01 -1.87749297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:109.33, Z:-1.88 [[-2.84815639e-01 -9.58574150e-01 3.95618561e-03 1.42894404e+02] [ 9.58486974e-01 -2.84843093e-01 -1.29280326e-02 1.09333323e+02] [ 1.35193700e-02 1.09846507e-04 9.99908603e-01 -1.87721491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.88 [[-2.84752567e-01 -9.58592508e-01 4.04716888e-03 1.42896541e+02] [ 9.58501530e-01 -2.84781302e-01 -1.32071163e-02 1.09331931e+02] [ 1.38128008e-02 1.18457289e-04 9.99904592e-01 -1.87650451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.35, Z:-1.88 [[-2.84487331e-01 -9.58671944e-01 3.88111939e-03 1.42895206e+02] [ 9.58588515e-01 -2.84513778e-01 -1.26479245e-02 1.09345410e+02] [ 1.32294423e-02 1.22222181e-04 9.99912480e-01 -1.87509077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.87 [[-2.84250272e-01 -9.58742201e-01 3.89555134e-03 1.42901074e+02] [ 9.58658389e-01 -2.84276935e-01 -1.26774512e-02 1.09328863e+02] [ 1.32618229e-02 1.30934013e-04 9.99912050e-01 -1.87477721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.87 [[-2.84160747e-01 -9.58768742e-01 3.89477605e-03 1.42901715e+02] [ 9.58685196e-01 -2.84187404e-01 -1.26575524e-02 1.09328530e+02] [ 1.32425119e-02 1.37084584e-04 9.99912305e-01 -1.87451020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.87 [[-2.82931796e-01 -9.59131263e-01 4.10119793e-03 1.42901745e+02] [ 9.59038921e-01 -2.82961469e-01 -1.33099831e-02 1.09326951e+02] [ 1.39265019e-02 1.67391020e-04 9.99903008e-01 -1.87480730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.88 [[-2.82624538e-01 -9.59221607e-01 4.15680297e-03 1.42901234e+02] [ 9.59127015e-01 -2.82655048e-01 -1.34719333e-02 1.09326188e+02] [ 1.40975108e-02 1.79403108e-04 9.99900609e-01 -1.87513144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.33, Z:-1.88 [[-2.82628484e-01 -9.59219887e-01 4.28343729e-03 1.42900284e+02] [ 9.59119721e-01 -2.82660877e-01 -1.38632285e-02 1.09327884e+02] [ 1.45086446e-02 1.90185937e-04 9.99894726e-01 -1.87503163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.32, Z:-1.87 [[-2.83834764e-01 -9.58862223e-01 4.58957029e-03 1.42903023e+02] [ 9.58747499e-01 -2.83871805e-01 -1.48334806e-02 1.09317330e+02] [ 1.55261138e-02 1.89981571e-04 9.99879445e-01 -1.87415531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.32, Z:-1.87 [[-2.85050513e-01 -9.58501364e-01 4.61958628e-03 1.42903076e+02] [ 9.58385405e-01 -2.85087888e-01 -1.49101195e-02 1.09317899e+02] [ 1.56083580e-02 1.77206861e-04 9.99878166e-01 -1.87369476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.32, Z:-1.87 [[-2.86551312e-01 -9.58053614e-01 4.64954717e-03 1.42903634e+02] [ 9.57936408e-01 -2.86588986e-01 -1.49863568e-02 1.09315229e+02] [ 1.56902423e-02 1.59610315e-04 9.99876888e-01 -1.87359946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.31, Z:-1.87 [[-2.89906301e-01 -9.57044478e-01 4.49493911e-03 1.42904525e+02] [ 9.56935112e-01 -2.89941125e-01 -1.44684186e-02 1.09313120e+02] [ 1.51501878e-02 1.06879356e-04 9.99885224e-01 -1.87362721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:109.31, Z:-1.87 [[-2.92734152e-01 -9.56183634e-01 4.42429114e-03 1.42906688e+02] [ 9.56077867e-01 -2.92767577e-01 -1.42217300e-02 1.09307529e+02] [ 1.48938745e-02 6.67807627e-05 9.99889078e-01 -1.87362238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:109.30, Z:-1.87 [[-2.96086169e-01 -9.55151225e-01 4.37249129e-03 1.42908540e+02] [ 9.55048086e-01 -2.96118452e-01 -1.40362456e-02 1.09301589e+02] [ 1.47015126e-02 2.00012462e-05 9.99891927e-01 -1.87352869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:109.02, Z:-0.97 [[-3.64982041e-01 9.31007062e-01 3.73646145e-03 1.42148076e+02] [ 9.30965194e-01 3.65001077e-01 -8.83296805e-03 1.09021917e+02] [-9.58736808e-03 2.54640855e-04 -9.99954008e-01 -9.73260356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:109.00, Z:-0.97 [[-4.32206656e-01 9.01763686e-01 4.43412387e-03 1.42195718e+02] [ 9.01723224e-01 4.32229294e-01 -8.54780317e-03 1.09000663e+02] [-9.62465672e-03 3.03935049e-04 -9.99953636e-01 -9.73475034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:108.98, Z:-0.97 [[-4.97000288e-01 8.67735103e-01 5.14836797e-03 1.42244178e+02] [ 8.67695730e-01 4.97026826e-01 -8.27370932e-03 1.08983205e+02] [-9.73826499e-03 3.55180989e-04 -9.99952519e-01 -9.74858762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:108.97, Z:-0.98 [[-5.55090434e-01 8.31775740e-01 4.87117376e-03 1.42296020e+02] [ 8.31749965e-01 5.55111656e-01 -6.56093103e-03 1.08966654e+02] [-8.16126860e-03 4.09688551e-04 -9.99966612e-01 -9.76509668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:108.96, Z:-0.98 [[-6.15226776e-01 7.88335507e-01 4.81075738e-03 1.42347600e+02] [ 7.88316513e-01 6.15245444e-01 -5.48808871e-03 1.08958436e+02] [-7.28625175e-03 4.15980364e-04 -9.99973368e-01 -9.76984652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:108.96, Z:-0.98 [[-6.72739899e-01 7.39864206e-01 4.68892085e-03 1.42399231e+02] [ 7.39850364e-01 6.72756113e-01 -4.54435796e-03 1.08955109e+02] [-6.51670795e-03 4.11928883e-04 -9.99978681e-01 -9.77420740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:108.96, Z:-0.98 [[-7.27192148e-01 6.86418794e-01 4.56267777e-03 1.42448638e+02] [ 6.86408648e-01 7.27206351e-01 -3.75385330e-03 1.08958267e+02] [-5.89472371e-03 4.02088828e-04 -9.99982545e-01 -9.77894366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:142.50, Y:108.96, Z:-0.97 [[-7.78120617e-01 6.28090603e-01 5.52264550e-03 1.42502526e+02] [ 6.28078686e-01 7.78140091e-01 -3.89386997e-03 1.08964734e+02] [-6.74309501e-03 4.38755424e-04 -9.99977169e-01 -9.74848801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:108.98, Z:-0.98 [[-8.27238893e-01 5.61812900e-01 6.48686041e-03 1.42552796e+02] [ 5.61799687e-01 8.27264211e-01 -3.87762809e-03 1.08978610e+02] [-7.54484895e-03 4.36591380e-04 -9.99971442e-01 -9.76096625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:108.99, Z:-0.98 [[-8.70009926e-01 4.92980229e-01 7.29536743e-03 1.42600098e+02] [ 4.92967021e-01 8.70040404e-01 -3.63469557e-03 1.08994981e+02] [-8.13909748e-03 4.34154330e-04 -9.99966783e-01 -9.75560391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:109.05, Z:-0.98 [[-9.07221832e-01 4.20456345e-01 1.28455910e-02 1.42565126e+02] [ 4.20558465e-01 9.07241712e-01 6.56152933e-03 1.09046068e+02] [-8.89521934e-03 1.13550847e-02 -9.99895963e-01 -9.79516521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:109.02, Z:-1.00 [[-9.38262355e-01 3.44230810e-01 3.41892306e-02 1.42678395e+02] [ 3.45716560e-01 9.36533625e-01 5.81792822e-02 1.09015075e+02] [-1.19922627e-02 6.64072135e-02 -9.97720536e-01 -1.00244975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.72, Y:109.07, Z:-0.97 [[-9.63417432e-01 2.67686888e-01 1.30606956e-02 1.42724042e+02] [ 2.67663285e-01 9.63505955e-01 -3.55537214e-03 1.09069674e+02] [-1.35357845e-02 7.05611855e-05 -9.99908385e-01 -9.72672714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:109.10, Z:-0.98 [[-9.81237435e-01 1.92576769e-01 9.34256611e-03 1.42749971e+02] [ 1.92767845e-01 9.80833431e-01 2.83961026e-02 1.09095107e+02] [-3.69507147e-03 2.96642652e-02 -9.99553089e-01 -9.78138856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:109.07, Z:-1.04 [[-9.94084274e-01 1.02223047e-01 3.67002074e-02 1.42794381e+02] [ 1.06572069e-01 9.83218891e-01 1.48064194e-01 1.09070906e+02] [-2.09487642e-02 1.51099504e-01 -9.88296559e-01 -1.03631146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:109.17, Z:-0.97 [[-9.99461287e-01 2.42397543e-02 2.21262386e-02 1.42830799e+02] [ 2.42124662e-02 9.99705709e-01 -1.50039838e-03 1.09168728e+02] [-2.21560964e-02 -9.63859295e-04 -9.99754059e-01 -9.69393708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:109.21, Z:-0.97 [[-9.98177041e-01 -5.63918785e-02 2.15070053e-02 1.42865538e+02] [-5.64006475e-02 9.98408197e-01 1.99115024e-04 1.09206296e+02] [-2.14839988e-02 -1.01425698e-03 -9.99768678e-01 -9.68578909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:110.01, Z:-1.86 [[-9.97854163e-01 6.51046233e-02 -6.96116479e-03 1.42823583e+02] [-6.51031399e-02 -9.97878443e-01 -4.39720488e-04 1.10009561e+02] [-6.97502413e-03 1.44167663e-05 9.99975674e-01 -1.86364477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.24, Z:-0.97 [[-9.90149087e-01 -1.38122802e-01 2.29537953e-02 1.42883293e+02] [-1.38111309e-01 9.90414502e-01 2.09289653e-03 1.09244553e+02] [-2.30228485e-02 -1.09789912e-03 -9.99734336e-01 -9.67988475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:110.04, Z:-1.86 [[-9.89905746e-01 1.41604866e-01 -5.88870159e-03 1.42780553e+02] [-1.41602396e-01 -9.89923261e-01 -8.36486671e-04 1.10041386e+02] [-5.94781326e-03 5.81129056e-06 9.99982312e-01 -1.86336204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:110.04, Z:-1.86 [[-9.89860994e-01 1.41885904e-01 -6.60330951e-03 1.42781818e+02] [-1.41882825e-01 -9.89883018e-01 -9.34729748e-04 1.10041436e+02] [-6.66912892e-03 1.16436908e-05 9.99977761e-01 -1.86239694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:109.28, Z:-0.97 [[-9.76746575e-01 -2.13354014e-01 2.11232767e-02 1.42904526e+02] [-2.13327805e-01 9.76974364e-01 3.51265018e-03 1.09283635e+02] [-2.13863378e-02 -1.07521321e-03 -9.99770708e-01 -9.69023162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:110.07, Z:-1.86 [[-9.75700244e-01 2.18954536e-01 -8.24286089e-03 1.42742236e+02] [-2.18946902e-01 -9.75735062e-01 -1.82846295e-03 1.10070267e+02] [-8.44319864e-03 2.07171123e-05 9.99964355e-01 -1.86204412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:109.32, Z:-0.97 [[-9.57009175e-01 -2.89488388e-01 1.81634650e-02 1.42921544e+02] [-2.89457786e-01 9.57180899e-01 4.34933158e-03 1.09323884e+02] [-1.86448028e-02 -1.09520614e-03 -9.99825571e-01 -9.70149800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:109.37, Z:-0.97 [[-9.31212333e-01 -3.64081515e-01 1.69776484e-02 1.42935426e+02] [-3.64042409e-01 9.31366430e-01 5.44951732e-03 1.09365604e+02] [-1.77964803e-02 -1.10592629e-03 -9.99841018e-01 -9.70186839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:110.12, Z:-1.86 [[-9.30957087e-01 3.64978022e-01 -1.04854717e-02 1.42650439e+02] [-3.64954807e-01 -9.31016135e-01 -4.11646847e-03 1.10116476e+02] [-1.12645639e-02 -5.53217593e-06 9.99936553e-01 -1.86196756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:110.11, Z:-1.86 [[-9.31942865e-01 3.62440925e-01 -1.09120585e-02 1.42633035e+02] [-3.62460928e-01 -9.31998955e-01 -1.54688484e-04 1.10107617e+02] [-1.02260926e-02 3.81103404e-03 9.99940450e-01 -1.86452151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:110.10, Z:-1.01 [[-9.25555636e-01 -7.99779619e-02 3.70067954e-01 1.42568425e+02] [-3.74435071e-01 4.85759747e-02 -9.25979888e-01 1.10101702e+02] [ 5.60815726e-02 -9.95612324e-01 -7.49063210e-02 -1.01285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:109.39, Z:-1.00 [[-8.94648633e-01 -4.44959118e-01 -4.01896452e-02 1.42882742e+02] [-4.44332634e-01 8.95544087e-01 -2.38599693e-02 1.09388910e+02] [ 4.66083100e-02 -3.48871801e-03 -9.98907150e-01 -9.98427670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:110.09, Z:-1.89 [[-8.98570680e-01 4.35386087e-01 5.48606253e-02 1.42481253e+02] [-4.34551946e-01 -9.00243756e-01 2.69404235e-02 1.10087443e+02] [ 6.11174209e-02 3.68083137e-04 9.98130515e-01 -1.89334175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:110.09, Z:-1.89 [[-8.98698668e-01 4.35066423e-01 5.52983885e-02 1.42479361e+02] [-4.34219938e-01 -9.00398285e-01 2.71288504e-02 1.10087617e+02] [ 6.15934260e-02 3.68998871e-04 9.98101254e-01 -1.89311319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:109.41, Z:-1.00 [[-8.58314595e-01 -5.11564649e-01 -3.99708152e-02 1.42856196e+02] [-5.11236552e-01 8.59234098e-01 -1.88136202e-02 1.09408568e+02] [ 4.39686703e-02 4.28653691e-03 -9.99023714e-01 -9.99241789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:110.09, Z:-1.89 [[-8.62628167e-01 5.02887645e-01 5.45588002e-02 1.42403132e+02] [-5.01861857e-01 -8.64351733e-01 3.21054225e-02 1.10086101e+02] [ 6.33034138e-02 3.14060976e-04 9.97994278e-01 -1.89159956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:110.09, Z:-1.89 [[-8.61952578e-01 5.04033044e-01 5.46666564e-02 1.42397493e+02] [-5.03007404e-01 -8.63684346e-01 3.21387993e-02 1.10085375e+02] [ 6.34137522e-02 2.04387972e-04 9.97987302e-01 -1.89258823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:110.09, Z:-1.89 [[-8.61418865e-01 5.04946187e-01 5.46524322e-02 1.42396959e+02] [-5.03925291e-01 -8.63150820e-01 3.20930497e-02 1.10086963e+02] [ 6.33785547e-02 1.04815630e-04 9.97989553e-01 -1.89250901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:110.09, Z:-1.89 [[-8.60853484e-01 5.05894480e-01 5.47910133e-02 1.42393657e+02] [-5.04872115e-01 -8.62595372e-01 3.21461029e-02 1.10087340e+02] [ 6.35250105e-02 1.06299141e-05 9.97980247e-01 -1.89199757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:110.09, Z:-1.89 [[-8.60255825e-01 5.06893358e-01 5.49457884e-02 1.42391349e+02] [-5.05869049e-01 -8.62008768e-01 3.22085292e-02 1.10088291e+02] [ 6.36900409e-02 -8.77988196e-05 9.97969724e-01 -1.89187693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:110.09, Z:-1.89 [[-8.60449618e-01 5.06562986e-01 5.49581288e-02 1.42389349e+02] [-5.05539349e-01 -8.62202954e-01 3.21874603e-02 1.10087044e+02] [ 6.36900370e-02 -8.78087932e-05 9.97969725e-01 -1.89174299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:110.09, Z:-1.89 [[-8.59187556e-01 5.08597908e-01 5.59009130e-02 1.42381283e+02] [-5.07545003e-01 -8.61004121e-01 3.27104500e-02 1.10086168e+02] [ 6.47673829e-02 -2.67817421e-04 9.97900353e-01 -1.89170275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:110.09, Z:-1.89 [[-8.58859358e-01 5.09126211e-01 5.61346904e-02 1.42384710e+02] [-5.08067490e-01 -8.60691809e-01 3.28182313e-02 1.10089947e+02] [ 6.50232900e-02 -3.33966155e-04 9.97883691e-01 -1.89218591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:110.09, Z:-1.89 [[-8.58937174e-01 5.08921075e-01 5.68002684e-02 1.42380799e+02] [-5.07838615e-01 -8.60813115e-01 3.31771444e-02 1.10091211e+02] [ 6.57789639e-02 -3.48286984e-04 9.97834158e-01 -1.89163279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.38, Y:110.09, Z:-1.89 [[-8.59264162e-01 5.08277460e-01 5.76118397e-02 1.42377961e+02] [-5.07164569e-01 -8.61193308e-01 3.36182478e-02 1.10091063e+02] [ 6.67023284e-02 -3.31728303e-04 9.97772865e-01 -1.89315672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:110.09, Z:-1.89 [[-8.60253824e-01 5.06731354e-01 5.64508114e-02 1.42373335e+02] [-5.05661448e-01 -8.62103985e-01 3.29122888e-02 1.10090344e+02] [ 6.53441581e-02 -2.32076763e-04 9.97862760e-01 -1.89037918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:110.09, Z:-1.89 [[-8.61019453e-01 5.05491427e-01 5.58920352e-02 1.42368935e+02] [-5.04441851e-01 -8.62831612e-01 3.25580729e-02 1.10089182e+02] [ 6.46832416e-02 -1.61147558e-04 9.97905833e-01 -1.88957743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:110.09, Z:-1.89 [[-8.62613625e-01 5.02943670e-01 5.42715238e-02 1.42367363e+02] [-5.01950797e-01 -8.64319191e-01 3.15869153e-02 1.10089594e+02] [ 6.27943587e-02 5.66885164e-06 9.98026487e-01 -1.88887177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:110.09, Z:-1.89 [[-8.63303728e-01 5.01818328e-01 5.37125575e-02 1.42366237e+02] [-5.00845345e-01 -8.64973041e-01 3.12342668e-02 1.10088479e+02] [ 6.21338417e-02 6.29745830e-05 9.98067824e-01 -1.88915147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:110.09, Z:-1.89 [[-8.63979935e-01 5.00710530e-01 5.31755321e-02 1.42362767e+02] [-4.99756491e-01 -8.65614782e-01 3.08949592e-02 1.10086680e+02] [ 6.14989580e-02 1.17807550e-04 9.98107141e-01 -1.88925292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:110.09, Z:-1.89 [[-8.64677375e-01 4.99625064e-01 5.20368389e-02 1.42356046e+02] [-4.98711096e-01 -8.66241749e-01 3.02072027e-02 1.10085307e+02] [ 6.01687579e-02 1.68135722e-04 9.98188205e-01 -1.88778228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:110.09, Z:-1.89 [[-8.65055996e-01 4.99054665e-01 5.12109881e-02 1.42353817e+02] [-4.98170042e-01 -8.66570487e-01 2.97018748e-02 1.10085826e+02] [ 5.92007901e-02 1.82004854e-04 9.98246079e-01 -1.88707637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:110.09, Z:-1.89 [[-8.65669874e-01 4.98110908e-01 5.00119152e-02 1.42353672e+02] [-4.97267142e-01 -8.67113300e-01 2.89812846e-02 1.10086805e+02] [ 5.78018908e-02 2.18942853e-04 9.98328049e-01 -1.88681750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:110.09, Z:-1.89 [[-8.66239595e-01 4.97157576e-01 4.96317329e-02 1.42352347e+02] [-4.96326487e-01 -8.67660232e-01 2.87356922e-02 1.10085514e+02] [ 5.73496480e-02 2.58450682e-04 9.98354121e-01 -1.88682110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:110.08, Z:-1.89 [[-8.66835587e-01 4.96185095e-01 4.89532052e-02 1.42347508e+02] [-4.95376446e-01 -8.68216714e-01 2.83180852e-02 1.10081904e+02] [ 5.65530028e-02 2.96859219e-04 9.98399554e-01 -1.88725305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.08, Z:-1.89 [[-8.67408328e-01 4.95222900e-01 4.85496815e-02 1.42340728e+02] [-4.94427418e-01 -8.68765887e-01 2.80599616e-02 1.10076689e+02] [ 5.60742427e-02 3.35150767e-04 9.98426546e-01 -1.88720982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.35, Y:110.08, Z:-1.89 [[-8.68052575e-01 4.94017353e-01 4.93110742e-02 1.42345312e+02] [-4.93196226e-01 -8.69451952e-01 2.84742903e-02 1.10076499e+02] [ 5.69404033e-02 3.97145316e-04 9.98377500e-01 -1.88977849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.68712152e-01 4.92849339e-01 4.93834556e-02 1.42343130e+02] [-4.92025362e-01 -8.70114547e-01 2.84906794e-02 1.10074735e+02] [ 5.70108756e-02 4.52286807e-04 9.98373455e-01 -1.88842320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.89 [[-8.68831811e-01 4.92583268e-01 4.99300320e-02 1.42333502e+02] [-4.91741989e-01 -8.70265201e-01 2.87801490e-02 1.10068505e+02] [ 5.76289891e-02 4.52415715e-04 9.98337966e-01 -1.88835948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.68535648e-01 4.92925177e-01 5.16778227e-02 1.42339917e+02] [-4.92026156e-01 -8.70071602e-01 2.97601975e-02 1.10072236e+02] [ 5.96329566e-02 4.20952015e-04 9.98220283e-01 -1.88875019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.68156328e-01 4.93528509e-01 5.22895879e-02 1.42338055e+02] [-4.92610789e-01 -8.69729545e-01 3.00853722e-02 1.10070916e+02] [ 6.03257884e-02 3.60391077e-04 9.98178676e-01 -1.88903991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.89 [[-8.67562918e-01 4.94522342e-01 5.27469062e-02 1.42329372e+02] [-4.93591976e-01 -8.69164875e-01 3.03212954e-02 1.10065697e+02] [ 6.08403162e-02 2.70181843e-04 9.98147476e-01 -1.88857635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.66873694e-01 4.95716909e-01 5.28653395e-02 1.42337481e+02] [-4.94786233e-01 -8.68484150e-01 3.03622153e-02 1.10070487e+02] [ 6.09637730e-02 1.63163516e-04 9.98139966e-01 -1.88923868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.64484276e-01 4.99921667e-01 5.23952702e-02 1.42337661e+02] [-4.99016787e-01 -8.66070611e-01 3.00656466e-02 1.10070780e+02] [ 6.04084718e-02 -1.54840697e-04 9.98173729e-01 -1.88942474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.89 [[-8.63237510e-01 5.02097027e-01 5.21495706e-02 1.42331366e+02] [-5.01206174e-01 -8.64811233e-01 2.98982210e-02 1.10067020e+02] [ 6.01113423e-02 -3.28420927e-04 9.98191624e-01 -1.88886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.62057599e-01 5.04157360e-01 5.17885343e-02 1.42336852e+02] [-5.03284086e-01 -8.63611669e-01 2.96650284e-02 1.10069921e+02] [ 5.96810249e-02 -4.91381957e-04 9.98217378e-01 -1.88942034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.89 [[-8.60754102e-01 5.06426767e-01 5.13254755e-02 1.42332072e+02] [-5.05574611e-01 -8.62282719e-01 2.93739035e-02 1.10067114e+02] [ 5.91328016e-02 -6.65149332e-04 9.98249903e-01 -1.88928806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.58334071e-01 5.10659235e-01 4.98975835e-02 1.42335857e+02] [-5.09862417e-01 -8.59782671e-01 2.85319828e-02 1.10069045e+02] [ 5.74711981e-02 -9.50929565e-04 9.98346712e-01 -1.88890144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:110.07, Z:-1.90 [[-8.52460475e-01 5.21692317e-01 3.38860706e-02 1.42365037e+02] [-5.20709685e-01 -8.53059083e-01 3.39356032e-02 1.10072216e+02] [ 4.66107638e-02 1.12839552e-02 9.98849393e-01 -1.90440730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.88 [[-8.56468451e-01 5.13276105e-01 5.48582957e-02 1.42334394e+02] [-5.13147938e-01 -8.58122268e-01 1.74747534e-02 1.10074167e+02] [ 5.60444985e-02 -1.31838463e-02 9.98341224e-01 -1.88357373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.55195629e-01 5.15994340e-01 4.88904695e-02 1.42336346e+02] [-5.15240947e-01 -8.56590966e-01 2.79049098e-02 1.10069201e+02] [ 5.62779099e-02 -1.32621494e-03 9.98414262e-01 -1.88890016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.07, Z:-1.89 [[-8.54877298e-01 5.16460694e-01 4.95293507e-02 1.42335612e+02] [-5.15689688e-01 -8.56309758e-01 2.82443578e-02 1.10068410e+02] [ 5.69995670e-02 -1.39631515e-03 9.98373227e-01 -1.88894687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.07, Z:-1.89 [[-8.54722760e-01 5.16652998e-01 5.01864835e-02 1.42331455e+02] [-5.15863188e-01 -8.56193657e-01 2.85935914e-02 1.10065337e+02] [ 5.77423136e-02 -1.44976605e-03 9.98330468e-01 -1.88922974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.06, Z:-1.89 [[-8.54793230e-01 5.16361554e-01 5.19545944e-02 1.42329481e+02] [-5.15516139e-01 -8.56369362e-01 2.95740702e-02 1.10063077e+02] [ 5.97632357e-02 -1.50371698e-03 9.98211448e-01 -1.89010887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.06, Z:-1.89 [[-8.55296279e-01 5.15454005e-01 5.26824831e-02 1.42327846e+02] [-5.14584622e-01 -8.56915963e-01 2.99616191e-02 1.10061450e+02] [ 6.05882973e-02 -1.48353433e-03 9.98161739e-01 -1.89011698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.06, Z:-1.89 [[-8.55951974e-01 5.14277188e-01 5.35274847e-02 1.42327264e+02] [-5.13379050e-01 -8.57622809e-01 3.04149372e-02 1.10060240e+02] [ 6.15481002e-02 -1.44616377e-03 9.98103071e-01 -1.88988231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.06, Z:-1.89 [[-8.57690075e-01 5.11329816e-01 5.39402891e-02 1.42322995e+02] [-5.10413622e-01 -8.59383624e-01 3.06222553e-02 1.10055818e+02] [ 6.20134732e-02 -1.26745388e-03 9.98074508e-01 -1.88878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.58530481e-01 5.09942541e-01 5.37030547e-02 1.42320395e+02] [-5.09033343e-01 -8.60207650e-01 3.04607159e-02 1.10052749e+02] [ 6.17289933e-02 -1.18519241e-03 9.98092244e-01 -1.88862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.59658252e-01 5.08111812e-01 5.30101424e-02 1.42321107e+02] [-5.07224073e-01 -8.61290460e-01 3.00413486e-02 1.10050659e+02] [ 6.09214940e-02 -1.06272710e-03 9.98141995e-01 -1.88844338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.59902863e-01 5.07713000e-01 5.28637378e-02 1.42318839e+02] [-5.06831021e-01 -8.61525622e-01 2.99318946e-02 1.10048324e+02] [ 6.07402766e-02 -1.05446041e-03 9.98153048e-01 -1.88825032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.60046605e-01 5.07522542e-01 5.23517509e-02 1.42317953e+02] [-5.06658796e-01 -8.61637835e-01 2.96159550e-02 1.10047056e+02] [ 6.01390141e-02 -1.05337357e-03 9.98189456e-01 -1.88816462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.59706644e-01 5.08059299e-01 5.27279417e-02 1.42316399e+02] [-5.07185707e-01 -8.61321363e-01 2.98021545e-02 1.10045621e+02] [ 6.05569644e-02 -1.12174818e-03 9.98164113e-01 -1.88986700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:110.06, Z:-1.89 [[-8.54613880e-01 5.17259049e-01 4.55871914e-02 1.42347417e+02] [-5.16414761e-01 -8.55827095e-01 2.95935344e-02 1.10056295e+02] [ 5.43222770e-02 1.74914667e-03 9.98521923e-01 -1.89495599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.05, Z:-1.89 [[-8.58892635e-01 5.09525086e-01 5.18423368e-02 1.42315087e+02] [-5.08864450e-01 -8.60447154e-01 2.62233828e-02 1.10046692e+02] [ 5.79690625e-02 -3.85765182e-03 9.98310927e-01 -1.88597762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:110.04, Z:-1.89 [[-8.58706589e-01 5.10070811e-01 4.95051587e-02 1.42311635e+02] [-5.09307282e-01 -8.60131528e-01 2.79257201e-02 1.10043442e+02] [ 5.68250425e-02 -1.23333794e-03 9.98383390e-01 -1.88691771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:110.04, Z:-1.89 [[-8.58659890e-01 5.10177785e-01 4.92119981e-02 1.42310891e+02] [-5.09424839e-01 -8.60068052e-01 2.77358858e-02 1.10042849e+02] [ 5.64759001e-02 -1.25412155e-03 9.98403175e-01 -1.88619673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:110.05, Z:-1.90 [[-8.53649744e-01 5.19709108e-01 3.44174059e-02 1.42339581e+02] [-5.18809253e-01 -8.54290894e-01 3.20004357e-02 1.10046308e+02] [ 4.60333944e-02 9.46109511e-03 9.98895097e-01 -1.89890348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:142.30, Y:110.04, Z:-1.88 [[-8.59506308e-01 5.08311327e-01 5.35583900e-02 1.42304970e+02] [-5.08108664e-01 -8.61097409e-01 1.83531498e-02 1.10044642e+02] [ 5.54481048e-02 -1.14388339e-02 9.98396044e-01 -1.88330889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:110.04, Z:-1.89 [[-8.60674424e-01 5.06828323e-01 4.86270186e-02 1.42303231e+02] [-5.06090963e-01 -8.62046348e-01 2.73501528e-02 1.10038118e+02] [ 5.57805759e-02 -1.07011770e-03 9.98442478e-01 -1.88527985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.04, Z:-1.90 [[-8.55689171e-01 5.16227407e-01 3.61290253e-02 1.42329393e+02] [-5.15269324e-01 -8.56399081e-01 3.28349950e-02 1.10040066e+02] [ 4.78911884e-02 9.48037125e-03 9.98807567e-01 -1.89834353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:110.04, Z:-1.90 [[-8.55406452e-01 5.16524198e-01 3.85039646e-02 1.42329021e+02] [-5.15857395e-01 -8.56268338e-01 2.63757840e-02 1.10041978e+02] [ 4.65934564e-02 2.69946092e-03 9.98910288e-01 -1.89805131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.04, Z:-1.90 [[-8.56046053e-01 5.14771861e-01 4.68517505e-02 1.42324736e+02] [-5.14205317e-01 -8.57321089e-01 2.43606710e-02 1.10042690e+02] [ 5.27071817e-02 -3.23756299e-03 9.98604762e-01 -1.89608439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.03, Z:-1.88 [[-8.61158862e-01 5.04635468e-01 6.12246609e-02 1.42288052e+02] [-5.04314312e-01 -8.63246793e-01 2.17267027e-02 1.10034827e+02] [ 6.38160569e-02 -1.21663302e-02 9.97887514e-01 -1.88337747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.03, Z:-1.89 [[-8.60725984e-01 5.05910174e-01 5.66186970e-02 1.42293410e+02] [-5.04915400e-01 -8.62585230e-01 3.17357946e-02 1.10033075e+02] [ 6.48939131e-02 -1.27182902e-03 9.97891358e-01 -1.88836178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.89 [[-8.58672529e-01 5.09339008e-01 5.70549122e-02 1.42294929e+02] [-5.08338251e-01 -8.60564535e-01 3.19515760e-02 1.10035166e+02] [ 6.53736180e-02 -1.56725371e-03 9.97859626e-01 -1.88850961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.89 [[-8.57097924e-01 5.11927699e-01 5.75602350e-02 1.42293395e+02] [-5.10916844e-01 -8.59026643e-01 3.22056771e-02 1.10035398e+02] [ 6.59327536e-02 -1.80507463e-03 9.97822436e-01 -1.89073285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.89 [[-8.55893888e-01 5.13965261e-01 5.73180963e-02 1.42292371e+02] [-5.12969321e-01 -8.57808719e-01 3.20418019e-02 1.10036115e+02] [ 6.56363358e-02 -1.97804258e-03 9.97841650e-01 -1.89011241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:110.04, Z:-1.90 [[-8.47568120e-01 5.29019921e-01 4.20262395e-02 1.42322371e+02] [-5.27829122e-01 -8.48563825e-01 3.65493289e-02 1.10041830e+02] [ 5.49972696e-02 8.79537288e-03 9.98447766e-01 -1.90014356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:110.04, Z:-1.90 [[-8.46982661e-01 5.29692103e-01 4.52398982e-02 1.42301940e+02] [-5.28956137e-01 -8.48189951e-01 2.79143687e-02 1.10036432e+02] [ 5.31580477e-02 -2.86935516e-04 9.98586070e-01 -1.89503099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.88 [[-8.51472577e-01 5.20873410e-01 6.07070068e-02 1.42290164e+02] [-5.20679579e-01 -8.53512637e-01 2.02226195e-02 1.10044974e+02] [ 6.23476222e-02 -1.43898928e-02 9.97950753e-01 -1.88024852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.88 [[-8.51170272e-01 5.22051263e-01 5.45128094e-02 1.42290514e+02] [-5.21172757e-01 -8.52910294e-01 3.03807268e-02 1.10038921e+02] [ 6.23548331e-02 -2.55141969e-03 9.98050783e-01 -1.88465248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:110.03, Z:-1.90 [[-8.45986134e-01 5.31799601e-01 3.86864953e-02 1.42297783e+02] [-5.30656656e-01 -8.46808990e-01 3.63049224e-02 1.10027954e+02] [ 5.20670152e-02 1.01842147e-02 9.98591662e-01 -1.89830558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.04, Z:-1.88 [[-8.52232314e-01 5.19676516e-01 6.03025769e-02 1.42285851e+02] [-5.19506252e-01 -8.54239446e-01 1.97033652e-02 1.10040356e+02] [ 6.17522161e-02 -1.45357212e-02 9.97985660e-01 -1.87931509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.03, Z:-1.88 [[-8.52455360e-01 5.19959038e-01 5.44284743e-02 1.42286206e+02] [-5.19082859e-01 -8.54187689e-01 3.02717217e-02 1.10034303e+02] [ 6.22321879e-02 -2.44759667e-03 9.98058698e-01 -1.88433294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:110.02, Z:-1.90 [[-8.49062689e-01 5.26877074e-01 3.86406446e-02 1.42292210e+02] [-5.25701362e-01 -8.49870633e-01 3.68508407e-02 1.10022895e+02] [ 5.22554122e-02 1.09752344e-02 9.98573441e-01 -1.89813179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:110.03, Z:-1.88 [[-8.56957630e-01 5.11863366e-01 6.01624129e-02 1.42275253e+02] [-5.11723686e-01 -8.58942653e-01 1.88782337e-02 1.10031288e+02] [ 6.13391388e-02 -1.46086853e-02 9.98010068e-01 -1.87715979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:110.02, Z:-1.88 [[-8.59008159e-01 5.09190291e-01 5.31999123e-02 1.42272472e+02] [-5.08336161e-01 -8.60652328e-01 2.95282489e-02 1.10021232e+02] [ 6.08221260e-02 -1.67843243e-03 9.98147210e-01 -1.88202469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:142.27, Y:110.02, Z:-1.88 [[-8.60728892e-01 5.06283289e-01 5.31319656e-02 1.42273470e+02] [-5.05427401e-01 -8.62365932e-01 2.94642365e-02 1.10019616e+02] [ 6.07364475e-02 -1.49363169e-03 9.98152720e-01 -1.88428202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.18, Y:109.95, Z:-1.89 [[-8.59300067e-01 5.10487505e-01 3.17159470e-02 1.42178677e+02] [-5.09277473e-01 -8.59704711e-01 3.92971485e-02 1.09950251e+02] [ 4.73270523e-02 1.76158251e-02 9.98724102e-01 -1.89444183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:110.02, Z:-1.87 [[-8.65772076e-01 4.96624591e-01 6.16662675e-02 1.42262410e+02] [-4.96845486e-01 -8.67744824e-01 1.27860925e-02 1.10018961e+02] [ 5.98604724e-02 -1.95687647e-02 9.98014923e-01 -1.87370084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:110.01, Z:-1.88 [[-8.67249568e-01 4.95051681e-01 5.29341036e-02 1.42260648e+02] [-4.94186376e-01 -8.68863182e-01 2.92676624e-02 1.10007002e+02] [ 6.04814992e-02 -7.76945303e-04 9.98169016e-01 -1.88099067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:110.01, Z:-1.88 [[-8.68702532e-01 4.92515825e-01 5.27643144e-02 1.42261162e+02] [-4.91652967e-01 -8.70303267e-01 2.91476259e-02 1.10005817e+02] [ 6.02766222e-02 -6.21115273e-04 9.98181518e-01 -1.88150694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:110.00, Z:-1.88 [[-8.70021427e-01 4.90198990e-01 5.26086266e-02 1.42257862e+02] [-4.89338554e-01 -8.71610417e-01 2.90355204e-02 1.10003162e+02] [ 6.00874098e-02 -4.81904362e-04 9.98193003e-01 -1.88150249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:110.00, Z:-1.88 [[-8.71881467e-01 4.86920395e-01 5.22612324e-02 1.42253802e+02] [-4.86066942e-01 -8.73446308e-01 2.88179621e-02 1.10000270e+02] [ 5.96794339e-02 -2.76610378e-04 9.98217556e-01 -1.88067156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:110.00, Z:-1.88 [[-8.72714626e-01 4.85479024e-01 5.17619518e-02 1.42251360e+02] [-4.84640791e-01 -8.74248293e-01 2.85171055e-02 1.09998367e+02] [ 5.90972545e-02 -1.98658233e-04 9.98252210e-01 -1.87998423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:110.00, Z:-1.88 [[-8.73301300e-01 4.84475135e-01 5.12706762e-02 1.42246247e+02] [-4.83652507e-01 -8.74805019e-01 2.82211295e-02 1.09995237e+02] [ 5.85242803e-02 -1.51641957e-04 9.98285974e-01 -1.87932755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:110.00, Z:-1.88 [[-8.73573651e-01 4.84095971e-01 5.02012611e-02 1.42245947e+02] [-4.83308113e-01 -8.75014897e-01 2.76079435e-02 1.09995147e+02] [ 5.72917456e-02 -1.45104754e-04 9.98357468e-01 -1.87903123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.73421105e-01 4.84429178e-01 4.96381406e-02 1.42244118e+02] [-4.83660837e-01 -8.74830462e-01 2.72737649e-02 1.09993867e+02] [ 5.66371649e-02 -1.86542754e-04 9.98394810e-01 -1.87916238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.73165137e-01 4.84952235e-01 4.90303254e-02 1.42241390e+02] [-4.84204786e-01 -8.74540606e-01 2.69156590e-02 1.09991749e+02] [ 5.59318195e-02 -2.38903192e-04 9.98434562e-01 -1.87908049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.72503446e-01 4.86321371e-01 4.72150570e-02 1.42239802e+02] [-4.85631505e-01 -8.73779957e-01 2.58964975e-02 1.09990949e+02] [ 5.38495906e-02 -3.34335920e-04 9.98549002e-01 -1.87876595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.72341563e-01 4.86687771e-01 4.64242503e-02 1.42241959e+02] [-4.86022560e-01 -8.73575913e-01 2.54400303e-02 1.09992899e+02] [ 5.29364585e-02 -3.70837205e-04 9.98597814e-01 -1.87857656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.71907145e-01 4.87534149e-01 4.56988450e-02 1.42240097e+02] [-4.86891904e-01 -8.73103811e-01 2.50201815e-02 1.09992626e+02] [ 5.20980287e-02 -4.35122634e-04 9.98641881e-01 -1.87781642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.71774291e-01 4.87724587e-01 4.61986304e-02 1.42234557e+02] [-4.87069696e-01 -8.72997426e-01 2.52706647e-02 1.09989042e+02] [ 5.26564099e-02 -4.71637073e-04 9.98612578e-01 -1.87809160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.71512015e-01 4.88100786e-01 4.71638628e-02 1.42234802e+02] [-4.87420060e-01 -8.72787114e-01 2.57747718e-02 1.09988822e+02] [ 5.37446980e-02 -5.25589521e-04 9.98554571e-01 -1.87880951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.70110732e-01 4.90389803e-01 4.92458646e-02 1.42236827e+02] [-4.89652692e-01 -8.71502912e-01 2.68871147e-02 1.09990060e+02] [ 5.61030813e-02 -7.18603073e-04 9.98424723e-01 -1.87992039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:109.99, Z:-1.88 [[-8.69299900e-01 4.91716118e-01 5.03283506e-02 1.42235585e+02] [-4.90949897e-01 -8.70755159e-01 2.74527228e-02 1.09989726e+02] [ 5.73226172e-02 -8.44049334e-04 9.98355350e-01 -1.87953424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.68306832e-01 4.93417293e-01 5.08194923e-02 1.42233509e+02] [-4.92640410e-01 -8.69792159e-01 2.76952507e-02 1.09988861e+02] [ 5.78677115e-02 -9.87760153e-04 9.98323771e-01 -1.87917271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.67337592e-01 4.95067239e-01 5.13218292e-02 1.42232473e+02] [-4.94279284e-01 -8.68853929e-01 2.79434929e-02 1.09989139e+02] [ 5.84250808e-02 -1.13087516e-03 9.98291155e-01 -1.87862169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.64590244e-01 4.99801111e-01 5.17934286e-02 1.42229578e+02] [-4.99008622e-01 -8.66138926e-01 2.81736787e-02 1.09988712e+02] [ 5.89415405e-02 -1.48667969e-03 9.98260329e-01 -1.87784126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.63008536e-01 5.02509006e-01 5.19708068e-02 1.42230737e+02] [-5.01718018e-01 -8.64570289e-01 2.82355498e-02 1.09989229e+02] [ 5.91210335e-02 -1.70716969e-03 9.98249362e-01 -1.87788477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.59473704e-01 5.08554616e-01 5.17412336e-02 1.42234068e+02] [-5.07782980e-01 -8.61027088e-01 2.80855660e-02 1.09990620e+02] [ 5.88336480e-02 -2.13451233e-03 9.98265519e-01 -1.87854403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.57914385e-01 5.11212887e-01 5.14226817e-02 1.42232257e+02] [-5.10456945e-01 -8.59450978e-01 2.78876902e-02 1.09990218e+02] [ 5.84518207e-02 -2.32381448e-03 9.98287526e-01 -1.87824225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.56534324e-01 5.13545579e-01 5.11848533e-02 1.42233635e+02] [-5.12802209e-01 -8.58058695e-01 2.77339010e-02 1.09992012e+02] [ 5.81622307e-02 -2.49266772e-03 9.98304033e-01 -1.87720668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:109.99, Z:-1.88 [[-8.54276056e-01 5.17559823e-01 4.84174557e-02 1.42229794e+02] [-5.16703202e-01 -8.55646925e-01 2.97681278e-02 1.09988046e+02] [ 5.68350340e-02 4.12744377e-04 9.98383498e-01 -1.87662410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:109.79, Z:-0.88 [[-8.71893581e-01 -2.93144665e-01 3.92259849e-01 1.42323995e+02] [-4.84878519e-01 4.04728735e-01 -7.75298312e-01 1.09793563e+02] [ 6.85157315e-02 -8.66175996e-01 -4.95019937e-01 -8.79806189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:109.93, Z:-1.89 [[-8.31297448e-01 5.46974588e-01 9.88096760e-02 1.42105200e+02] [-5.43935295e-01 -8.37130149e-01 5.78576508e-02 1.09933821e+02] [ 1.14363224e-01 -5.64915280e-03 9.93422941e-01 -1.89393946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:109.93, Z:-1.89 [[-8.31735584e-01 5.46338973e-01 9.86389628e-02 1.42103113e+02] [-5.43311466e-01 -8.37545483e-01 5.77080173e-02 1.09930761e+02] [ 1.14142757e-01 -5.59386802e-03 9.93448610e-01 -1.89352458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:109.93, Z:-1.89 [[-8.33856231e-01 5.43110047e-01 9.85660344e-02 1.42100815e+02] [-5.40070263e-01 -8.39645489e-01 5.76156556e-02 1.09925694e+02] [ 1.14052168e-01 -5.18941078e-03 9.93461209e-01 -1.89267381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:109.92, Z:-1.89 [[-8.35946460e-01 5.39911392e-01 9.84337560e-02 1.42098342e+02] [-5.36863377e-01 -8.41708241e-01 5.74887000e-02 1.09921766e+02] [ 1.13891308e-01 -4.78800342e-03 9.93481678e-01 -1.89209422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:109.91, Z:-1.89 [[-8.41153327e-01 5.31745081e-01 9.85304476e-02 1.42095313e+02] [-5.28640704e-01 -8.46896271e-01 5.74953234e-02 1.09914238e+02] [ 1.14017924e-01 -3.72482259e-03 9.93471710e-01 -1.89137325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:109.91, Z:-1.89 [[-8.44090754e-01 5.27005867e-01 9.88717103e-02 1.42089530e+02] [-5.23853194e-01 -8.49855855e-01 5.76442321e-02 1.09907836e+02] [ 1.14405550e-01 -3.13729795e-03 9.93429176e-01 -1.89047211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:109.90, Z:-1.89 [[-8.47004280e-01 5.22269365e-01 9.90881406e-02 1.42085503e+02] [-5.19076267e-01 -8.52776778e-01 5.77199815e-02 1.09902448e+02] [ 1.14645443e-01 -2.54523072e-03 9.93403213e-01 -1.89001462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:109.89, Z:-1.91 [[-8.48022746e-01 5.24004368e-01 7.92265432e-02 1.42107378e+02] [-5.19875928e-01 -8.51562625e-01 6.76026331e-02 1.09893993e+02] [ 1.02890438e-01 1.61405979e-02 9.94561732e-01 -1.90814538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:109.90, Z:-1.88 [[-8.54438739e-01 5.08224777e-01 1.07898183e-01 1.42075081e+02] [-5.06707358e-01 -8.61039680e-01 4.31082663e-02 1.09897840e+02] [ 1.14813306e-01 -1.78394305e-02 9.93226892e-01 -1.88267382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:109.89, Z:-1.90 [[-8.54887752e-01 5.11912091e-01 8.43382634e-02 1.42096136e+02] [-5.08079488e-01 -8.58960910e-01 6.35719182e-02 1.09886034e+02] [ 1.04986505e-01 1.14963126e-02 9.94407195e-01 -1.90317131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:109.89, Z:-1.90 [[-8.56698812e-01 5.07511598e-01 9.21906953e-02 1.42091207e+02] [-5.04821633e-01 -8.61643030e-01 5.22150089e-02 1.09888685e+02] [ 1.05935193e-01 -1.80732131e-03 9.94371394e-01 -1.89758155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:109.88, Z:-1.89 [[-8.61358971e-01 4.97336453e-01 1.03523791e-01 1.42068003e+02] [-4.94922551e-01 -8.67516542e-01 4.96660695e-02 1.09883263e+02] [ 1.14509348e-01 -8.45594417e-03 9.93386182e-01 -1.88586404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:109.87, Z:-1.89 [[-8.62669874e-01 4.95898073e-01 9.94273137e-02 1.42060190e+02] [-4.92532300e-01 -8.68380375e-01 5.76841244e-02 1.09873890e+02] [ 1.14946174e-01 7.91192854e-04 9.93371406e-01 -1.88844723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:109.88, Z:-1.89 [[-8.63778752e-01 4.93861435e-01 9.99357269e-02 1.42062911e+02] [-4.90453468e-01 -8.69540015e-01 5.79271791e-02 1.09876269e+02] [ 1.15506113e-01 1.02244259e-03 9.93306243e-01 -1.88951969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:109.30, Z:-1.00 [[-8.14001116e-01 -5.73086360e-01 -9.47322959e-02 1.42527782e+02] [-5.70562784e-01 8.19438462e-01 -5.45776110e-02 1.09300652e+02] [ 1.08904971e-01 9.62448625e-03 -9.94005572e-01 -1.00392623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:109.88, Z:-1.89 [[-8.22419535e-01 5.60803120e-01 9.55299331e-02 1.42005503e+02] [-5.56931775e-01 -8.27948699e-01 6.57871550e-02 1.09879894e+02] [ 1.15987526e-01 9.00986266e-04 9.93250262e-01 -1.88786116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.88, Z:-1.89 [[-8.21899367e-01 5.61480441e-01 9.60267878e-02 1.42003230e+02] [-5.57579632e-01 -8.27489656e-01 6.60743734e-02 1.09880721e+02] [ 1.16560642e-01 7.63904705e-04 9.93183283e-01 -1.88806203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.88, Z:-1.89 [[-8.19936903e-01 5.64208193e-01 9.68121338e-02 1.41999700e+02] [-5.60268560e-01 -8.25632487e-01 6.65592771e-02 1.09883190e+02] [ 1.17484532e-01 3.33612737e-04 9.93074657e-01 -1.88811173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.88, Z:-1.89 [[-8.18972037e-01 5.65583139e-01 9.69562562e-02 1.41992323e+02] [-5.61647850e-01 -8.24691278e-01 6.66032211e-02 1.09880653e+02] [ 1.17628638e-01 9.09028175e-05 9.93057650e-01 -1.88705578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.89, Z:-1.89 [[-8.17789658e-01 5.67309034e-01 9.68531670e-02 1.41996931e+02] [-5.63400690e-01 -8.23504960e-01 6.64773924e-02 1.09886097e+02] [ 1.17472289e-01 -2.02617089e-04 9.93076140e-01 -1.88821724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.89, Z:-1.89 [[-8.14878234e-01 5.71450319e-01 9.70463692e-02 1.41996033e+02] [-5.67562011e-01 -8.20636228e-01 6.65548313e-02 1.09890605e+02] [ 1.17672546e-01 -8.45749137e-04 9.93052092e-01 -1.88879807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.89, Z:-1.89 [[-8.13189360e-01 5.73725859e-01 9.77839623e-02 1.41994099e+02] [-5.69801009e-01 -8.19046474e-01 6.70051022e-02 1.09891815e+02] [ 1.18532169e-01 -1.22956419e-03 9.92949451e-01 -1.88862508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.89, Z:-1.89 [[-8.11448443e-01 5.76039836e-01 9.86383838e-02 1.41991375e+02] [-5.72069591e-01 -8.17420002e-01 6.75346138e-02 1.09892854e+02] [ 1.19531616e-01 -1.62716263e-03 9.92829061e-01 -1.88863123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.90, Z:-1.89 [[-8.07347478e-01 5.81642383e-01 9.94091962e-02 1.41991586e+02] [-5.77658535e-01 -8.13440709e-01 6.80060927e-02 1.09899204e+02] [ 1.20418713e-01 -2.52002330e-03 9.92719992e-01 -1.88920278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.90, Z:-1.89 [[-8.05521448e-01 5.84117248e-01 9.97107646e-02 1.41989264e+02] [-5.80134758e-01 -8.11663952e-01 6.81563730e-02 1.09900268e+02] [ 1.20742946e-01 -2.94426000e-03 9.92679441e-01 -1.88904344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:109.91, Z:-1.90 [[-7.98756852e-01 5.94604754e-01 9.18296123e-02 1.42016271e+02] [-5.90495901e-01 -8.04016702e-01 6.97978131e-02 1.09911815e+02] [ 1.15334653e-01 1.52647183e-03 9.93325519e-01 -1.90048242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.91, Z:-1.89 [[-8.00594048e-01 5.90366762e-01 1.02548803e-01 1.41985445e+02] [-5.86862990e-01 -8.07092088e-01 6.47625914e-02 1.09906811e+02] [ 1.21000009e-01 -8.33355211e-03 9.92617524e-01 -1.88754252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:109.91, Z:-1.89 [[-7.99774975e-01 5.91918807e-01 9.99605722e-02 1.41983933e+02] [-5.87991659e-01 -8.05986500e-01 6.82024184e-02 1.09905690e+02] [ 1.20937166e-01 -4.22939530e-03 9.92651154e-01 -1.88942030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.91, Z:-1.89 [[-7.99269156e-01 5.92568552e-01 1.00156515e-01 1.41985041e+02] [-5.88637819e-01 -8.05508109e-01 6.82803328e-02 1.09908212e+02] [ 1.21137663e-01 -4.38154862e-03 9.92626047e-01 -1.88956779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.92, Z:-1.89 [[-7.96426183e-01 5.95757670e-01 1.03817788e-01 1.41997533e+02] [-5.92435656e-01 -8.03092398e-01 6.37384801e-02 1.09916489e+02] [ 1.21347965e-01 -1.07423649e-02 9.92551899e-01 -1.88988626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:109.90, Z:-1.89 [[-8.00714432e-01 5.91520329e-01 9.46578002e-02 1.41981566e+02] [-5.87036701e-01 -8.06285637e-01 7.27418953e-02 1.09902626e+02] [ 1.19349535e-01 2.67788268e-03 9.92848688e-01 -1.89188260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.97, Y:109.90, Z:-1.89 [[-8.01101047e-01 5.90399075e-01 9.83160394e-02 1.41974234e+02] [-5.86614647e-01 -8.07101028e-01 6.68669359e-02 1.09901359e+02] [ 1.18829154e-01 -4.10645638e-03 9.92906224e-01 -1.89000139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.97, Y:109.90, Z:-1.89 [[-8.01323823e-01 5.90092452e-01 9.83413907e-02 1.41972328e+02] [-5.86310297e-01 -8.07325235e-01 6.68296319e-02 1.09899996e+02] [ 1.18829148e-01 -4.10639390e-03 9.92906225e-01 -1.88971898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.97, Y:109.90, Z:-1.89 [[-8.02168684e-01 5.88870376e-01 9.87779441e-02 1.41972170e+02] [-5.85051852e-01 -8.08217655e-01 6.70712494e-02 1.09898973e+02] [ 1.19330350e-01 -3.98776319e-03 9.92846597e-01 -1.88934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:109.90, Z:-1.89 [[-8.02780429e-01 5.88095572e-01 9.84234720e-02 1.41968798e+02] [-5.84305209e-01 -8.08782026e-01 6.67761644e-02 1.09896140e+02] [ 1.18873902e-01 -3.90274949e-03 9.92901689e-01 -1.88739844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.97, Y:109.90, Z:-1.89 [[-8.02608258e-01 5.88319491e-01 9.84893988e-02 1.41970537e+02] [-5.84532251e-01 -8.08618768e-01 6.67662729e-02 1.09896947e+02] [ 1.18920276e-01 -3.98306798e-03 9.92895817e-01 -1.88886056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:109.89, Z:-1.89 [[-8.03059206e-01 5.87793350e-01 9.79535039e-02 1.41969750e+02] [-5.84049871e-01 -8.09001577e-01 6.63490530e-02 1.09894830e+02] [ 1.18244071e-01 -3.92751347e-03 9.92976794e-01 -1.88617868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:141.97, Y:109.89, Z:-1.89 [[-8.02838596e-01 5.88147960e-01 9.76328110e-02 1.41968781e+02] [-5.84438016e-01 -8.08743405e-01 6.60780652e-02 1.09892563e+02] [ 1.17823571e-01 -4.01030522e-03 9.93026447e-01 -1.88793995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.97, Y:109.89, Z:-1.89 [[-8.02885576e-01 5.88251672e-01 9.66163647e-02 1.41968180e+02] [-5.84625752e-01 -8.08667894e-01 6.53373389e-02 1.09890737e+02] [ 1.16565351e-01 -4.02600791e-03 9.93174864e-01 -1.88777263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:109.89, Z:-1.89 [[-8.03195268e-01 5.88113767e-01 9.48660001e-02 1.41967336e+02] [-5.84623382e-01 -8.08768448e-01 6.41022559e-02 1.09887031e+02] [ 1.14424047e-01 -3.97425314e-03 9.93424050e-01 -1.88527545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:109.88, Z:-1.89 [[-8.03576231e-01 5.87687906e-01 9.42770722e-02 1.41965690e+02] [-5.84243840e-01 -8.09078162e-01 6.36526769e-02 1.09884602e+02] [ 1.13685429e-01 -3.93102045e-03 9.93509019e-01 -1.88516554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:109.88, Z:-1.88 [[-8.04965094e-01 5.85902767e-01 9.35368618e-02 1.41964285e+02] [-5.82506517e-01 -8.10372953e-01 6.31017811e-02 1.09881330e+02] [ 1.12771251e-01 -3.69110039e-03 9.93614121e-01 -1.88452077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:109.88, Z:-1.88 [[-8.06321404e-01 5.84155186e-01 9.27820702e-02 1.41958263e+02] [-5.80807853e-01 -8.11634616e-01 6.25418897e-02 1.09875880e+02] [ 1.11839309e-01 -3.45969069e-03 9.93720282e-01 -1.88343915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:109.87, Z:-1.88 [[-8.07742872e-01 5.82344127e-01 9.17974425e-02 1.41959186e+02] [-5.79061578e-01 -8.12936025e-01 6.18280523e-02 1.09874908e+02] [ 1.10630651e-01 -3.21520341e-03 9.93856389e-01 -1.88364117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:109.88, Z:-1.89 [[-8.05366539e-01 5.87252355e-01 8.07428624e-02 1.41978655e+02] [-5.83647539e-01 -8.09386040e-01 6.51904002e-02 1.09876030e+02] [ 1.03635362e-01 5.37679410e-03 9.94600825e-01 -1.89436532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:109.87, Z:-1.88 [[-8.12259727e-01 5.75443346e-01 9.53891557e-02 1.41951340e+02] [-5.72941192e-01 -8.17776616e-01 5.45875105e-02 1.09867619e+02] [ 1.09419041e-01 -1.03131402e-02 9.93942208e-01 -1.87964707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:109.87, Z:-1.89 [[-8.10796208e-01 5.78512120e-01 8.90687129e-02 1.41965206e+02] [-5.75204292e-01 -8.15672996e-01 6.17866242e-02 1.09865911e+02] [ 1.08395255e-01 -1.13634528e-03 9.94107226e-01 -1.88771264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:109.86, Z:-1.88 [[-8.15549733e-01 5.71271109e-01 9.23469180e-02 1.41949658e+02] [-5.67988575e-01 -8.20757509e-01 6.12053117e-02 1.09859748e+02] [ 1.10759253e-01 -2.53601872e-03 9.93844030e-01 -1.88330912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:109.86, Z:-1.88 [[-8.18565261e-01 5.66813137e-01 9.31331360e-02 1.41943859e+02] [-5.63354154e-01 -8.23845397e-01 6.25368557e-02 1.09855575e+02] [ 1.12174017e-01 -1.27644144e-03 9.93687758e-01 -1.88302422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96762800000002 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:141.94, Y:109.85, Z:-1.89 [[-8.19543676e-01 5.65279564e-01 9.38465628e-02 1.41940949e+02] [-5.61763156e-01 -8.24898639e-01 6.29634210e-02 1.09854166e+02] [ 1.13005837e-01 -1.11826783e-03 9.93593695e-01 -1.88595466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:109.85, Z:-1.88 [[-8.22002282e-01 5.61722220e-01 9.37037648e-02 1.41934768e+02] [-5.58199338e-01 -8.27325629e-01 6.28156164e-02 1.09851565e+02] [ 1.12808454e-01 -6.70799482e-04 9.93616527e-01 -1.88287909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:109.85, Z:-1.88 [[-8.22942587e-01 5.60311462e-01 9.38965606e-02 1.41927684e+02] [-5.56770815e-01 -8.28281832e-01 6.28924993e-02 1.09847376e+02] [ 1.13012203e-01 -5.21948571e-04 9.93593463e-01 -1.88257876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:109.85, Z:-1.90 [[-8.20014938e-01 5.66787663e-01 7.95439921e-02 1.41952310e+02] [-5.62843554e-01 -8.23794978e-01 6.75941410e-02 1.09852892e+02] [ 1.03839466e-01 1.06573821e-02 9.94536970e-01 -1.89773547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:109.86, Z:-1.88 [[-8.24455500e-01 5.57002754e-01 1.00105246e-01 1.41924159e+02] [-5.54505324e-01 -8.30436267e-01 5.38465648e-02 1.09855773e+02] [ 1.13123712e-01 -1.11147956e-02 9.93518740e-01 -1.87924585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:109.85, Z:-1.88 [[-8.24717103e-01 5.57689104e-01 9.39391498e-02 1.41920979e+02] [-5.54141456e-01 -8.30049876e-01 6.28048683e-02 1.09850209e+02] [ 1.12999770e-01 -2.59328196e-04 9.93594980e-01 -1.88275174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:109.85, Z:-1.88 [[-8.25063953e-01 5.57165215e-01 9.40021088e-02 1.41920756e+02] [-5.53615367e-01 -8.30401632e-01 6.27945455e-02 1.09852413e+02] [ 1.13046441e-01 -2.31496084e-04 9.93589678e-01 -1.88228788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:109.85, Z:-1.88 [[-8.25435838e-01 5.56503229e-01 9.46563968e-02 1.41911060e+02] [-5.52905372e-01 -8.30845426e-01 6.31785371e-02 1.09849783e+02] [ 1.13803894e-01 -1.86201549e-04 9.93503215e-01 -1.88169209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:109.85, Z:-1.88 [[-8.25635903e-01 5.56046619e-01 9.55903388e-02 1.41909229e+02] [-5.52380350e-01 -8.31151087e-01 6.37480998e-02 1.09850286e+02] [ 1.14896929e-01 -1.69504754e-04 9.93377404e-01 -1.88203597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:109.86, Z:-1.88 [[-8.25743689e-01 5.55758781e-01 9.63303584e-02 1.41910942e+02] [-5.52039698e-01 -8.31343579e-01 6.41874203e-02 1.09855500e+02] [ 1.15756347e-01 -1.75824800e-04 9.93277623e-01 -1.88289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:109.85, Z:-1.88 [[-8.25648226e-01 5.55838406e-01 9.66885348e-02 1.41905459e+02] [-5.52098380e-01 -8.31290330e-01 6.43720897e-02 1.09853847e+02] [ 1.16156724e-01 -2.32881748e-04 9.93230870e-01 -1.88211844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.25305124e-01 5.56377204e-01 9.65187036e-02 1.41904205e+02] [-5.52660266e-01 -8.30929770e-01 6.42055112e-02 1.09854663e+02] [ 1.15922747e-01 -3.52915044e-04 9.93258170e-01 -1.88238457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.86, Z:-1.88 [[-8.24924441e-01 5.56960203e-01 9.64105736e-02 1.41903620e+02] [-5.53261818e-01 -8.30539044e-01 6.40800856e-02 1.09855019e+02] [ 1.15762803e-01 -4.79060464e-04 9.93276771e-01 -1.88246566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.24808523e-01 5.57217431e-01 9.59147284e-02 1.41902643e+02] [-5.53564982e-01 -8.30366440e-01 6.36976113e-02 1.09852926e+02] [ 1.15137791e-01 -5.56702238e-04 9.93349374e-01 -1.88310694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.24686560e-01 5.57368860e-01 9.60834575e-02 1.41902414e+02] [-5.53710716e-01 -8.30264756e-01 6.37563958e-02 1.09852411e+02] [ 1.15310538e-01 -6.23397330e-04 9.93329296e-01 -1.88265631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.24006184e-01 5.58360773e-01 9.61616113e-02 1.41901669e+02] [-5.54709561e-01 -8.29597852e-01 6.37550543e-02 1.09850787e+02] [ 1.15373788e-01 -8.07206196e-04 9.93321820e-01 -1.88230377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.23163765e-01 5.59524690e-01 9.66102310e-02 1.41900945e+02] [-5.55853448e-01 -8.28813056e-01 6.39989294e-02 1.09850194e+02] [ 1.15880802e-01 -1.01953026e-03 9.93262604e-01 -1.88162998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.22100720e-01 5.61029998e-01 9.69316618e-02 1.41900193e+02] [-5.57350892e-01 -8.27794480e-01 6.41582553e-02 1.09849737e+02] [ 1.16234200e-01 -1.28040027e-03 9.93221008e-01 -1.88077266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.18942211e-01 5.65769758e-01 9.61157429e-02 1.41901606e+02] [-5.62191011e-01 -8.24560893e-01 6.35657277e-02 1.09849284e+02] [ 1.15216849e-01 -1.97874912e-03 9.93338393e-01 -1.88100192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.17271974e-01 5.68211047e-01 9.59308444e-02 1.41897705e+02] [-5.64668903e-01 -8.22879475e-01 6.33908553e-02 1.09845673e+02] [ 1.14958907e-01 -2.36159526e-03 9.93367441e-01 -1.88047175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.88 [[-8.15395713e-01 5.70916524e-01 9.58339973e-02 1.41900343e+02] [-5.67406189e-01 -8.21003396e-01 6.32743188e-02 1.09846837e+02] [ 1.14804391e-01 -2.78319488e-03 9.93384219e-01 -1.88082043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:141.90, Y:109.85, Z:-1.89 [[-8.11141456e-01 5.76754979e-01 9.69702690e-02 1.41903583e+02] [-5.73208249e-01 -8.16908834e-01 6.39707792e-02 1.09847811e+02] [ 1.16111335e-01 -3.69480707e-03 9.93229332e-01 -1.88527267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:109.86, Z:-1.88 [[-8.06451765e-01 5.83240998e-01 9.72907464e-02 1.41923065e+02] [-5.79849246e-01 -8.12280115e-01 6.30544811e-02 1.09856584e+02] [ 1.15803297e-01 -5.56356835e-03 9.93256585e-01 -1.88489882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:109.86, Z:-1.89 [[-8.05056203e-01 5.85400737e-01 9.58670302e-02 1.41926966e+02] [-5.81825519e-01 -8.10735705e-01 6.47045822e-02 1.09856870e+02] [ 1.15600934e-01 -3.68705935e-03 9.93288895e-01 -1.88684567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:109.85, Z:-1.88 [[-8.04948899e-01 5.85462450e-01 9.63897852e-02 1.41917982e+02] [-5.81804110e-01 -8.10692365e-01 6.54359801e-02 1.09850253e+02] [ 1.16452772e-01 -3.40735308e-03 9.93190386e-01 -1.88483899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:109.84, Z:-1.89 [[-8.05332503e-01 5.85209259e-01 9.47084097e-02 1.41913636e+02] [-5.81570182e-01 -8.10878263e-01 6.52117019e-02 1.09844593e+02] [ 1.14959482e-01 -2.56248394e-03 9.93366876e-01 -1.88509256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.92, Y:109.85, Z:-1.89 [[-8.06316273e-01 5.83260451e-01 9.82919821e-02 1.41920480e+02] [-5.79914074e-01 -8.12259758e-01 6.27196398e-02 1.09849777e+02] [ 1.16420507e-01 -6.42903754e-03 9.93179205e-01 -1.88509493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.84, Z:-1.88 [[-8.11849413e-01 5.75941996e-01 9.58715152e-02 1.41900909e+02] [-5.72252945e-01 -8.17488113e-01 6.51133797e-02 1.09835985e+02] [ 1.15875354e-01 -2.00049778e-03 9.93261748e-01 -1.88048138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.83, Z:-1.88 [[-8.16683746e-01 5.69181120e-01 9.51867180e-02 1.41898097e+02] [-5.65743888e-01 -8.22207430e-01 6.25203571e-02 1.09829174e+02] [ 1.13848634e-01 -2.79194451e-03 9.93494184e-01 -1.87886989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:109.82, Z:-1.88 [[-8.19536183e-01 5.65204321e-01 9.43637669e-02 1.41893325e+02] [-5.61805868e-01 -8.24947855e-01 6.19290250e-02 1.09823736e+02] [ 1.12847740e-01 -2.26104124e-03 9.93609720e-01 -1.87781099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.82, Z:-1.88 [[-8.18916739e-01 5.67270591e-01 8.70600396e-02 1.41902568e+02] [-5.63731773e-01 -8.23526775e-01 6.33256620e-02 1.09820690e+02] [ 1.07619059e-01 2.77993410e-03 9.94188317e-01 -1.88460427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:109.81, Z:-1.87 [[-8.27290101e-01 5.53658340e-01 9.51500501e-02 1.41881915e+02] [-5.50698661e-01 -8.32729351e-01 5.73830418e-02 1.09813690e+02] [ 1.11004839e-01 -4.92658270e-03 9.93807655e-01 -1.87366875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:109.81, Z:-1.89 [[-8.26171944e-01 5.57971422e-01 7.81524893e-02 1.41901149e+02] [-5.54226472e-01 -8.29790687e-01 6.54250160e-02 1.09811809e+02] [ 1.01355497e-01 1.07381343e-02 9.94792318e-01 -1.88851306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.81, Z:-1.87 [[-8.31390433e-01 5.46902240e-01 9.84270688e-02 1.41873907e+02] [-5.44603123e-01 -8.37124620e-01 5.12816703e-02 1.09810860e+02] [ 1.10441783e-01 -1.09685989e-02 9.93822068e-01 -1.87002391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:109.80, Z:-1.87 [[-8.33788845e-01 5.44222845e-01 9.28313391e-02 1.41875189e+02] [-5.40824211e-01 -8.38940589e-01 6.07277663e-02 1.09804274e+02] [ 1.10929416e-01 4.28698446e-04 9.93828195e-01 -1.87462223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.80, Z:-1.87 [[-8.34623200e-01 5.42865748e-01 9.32785784e-02 1.41872289e+02] [-5.39431510e-01 -8.39819300e-01 6.09687610e-02 1.09801666e+02] [ 1.11435002e-01 5.68537987e-04 9.93771562e-01 -1.87482060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.80, Z:-1.88 [[-8.32962477e-01 5.46606106e-01 8.59957937e-02 1.41873738e+02] [-5.42766326e-01 -8.37355689e-01 6.51165489e-02 1.09795058e+02] [ 1.07602170e-01 7.56402087e-03 9.94165257e-01 -1.88312272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.80, Z:-1.87 [[-8.35495348e-01 5.40403723e-01 9.95557165e-02 1.41867983e+02] [-5.37424257e-01 -8.41385163e-01 5.69752141e-02 1.09803602e+02] [ 1.14554321e-01 -5.90113065e-03 9.93399459e-01 -1.87317413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:109.80, Z:-1.88 [[-8.35445812e-01 5.40974563e-01 9.68339653e-02 1.41864954e+02] [-5.37273466e-01 -8.41038616e-01 6.31764994e-02 1.09799627e+02] [ 1.15617983e-01 7.54221731e-04 9.93293468e-01 -1.87542268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:109.80, Z:-1.87 [[-8.35247558e-01 5.41152110e-01 9.75495303e-02 1.41860263e+02] [-5.37403465e-01 -8.40924443e-01 6.35892902e-02 1.09798471e+02] [ 1.16443263e-01 6.89343776e-04 9.93197106e-01 -1.87486559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:109.80, Z:-1.88 [[-8.33801477e-01 5.43150115e-01 9.88081482e-02 1.41859758e+02] [-5.39324264e-01 -8.39635526e-01 6.43546539e-02 1.09801856e+02] [ 1.17917069e-01 3.69373579e-04 9.93023378e-01 -1.87585426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:109.80, Z:-1.88 [[-8.32944263e-01 5.44353614e-01 9.94132686e-02 1.41857473e+02] [-5.40495696e-01 -8.38855840e-01 6.46937639e-02 1.09802831e+02] [ 1.18609685e-01 1.53855720e-04 9.92940944e-01 -1.87548681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.80, Z:-1.88 [[-8.30845421e-01 5.47490407e-01 9.97503892e-02 1.41853898e+02] [-5.43635240e-01 -8.36811889e-01 6.48582179e-02 1.09804913e+02] [ 1.18981564e-01 -3.40673357e-04 9.92896405e-01 -1.87538373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.88 [[-8.29832922e-01 5.49070951e-01 9.94907616e-02 1.41854277e+02] [-5.45253703e-01 -8.35775518e-01 6.46349960e-02 1.09807096e+02] [ 1.18641142e-01 -6.11458546e-04 9.92937010e-01 -1.87533343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.88 [[-8.28784195e-01 5.50711957e-01 9.91619778e-02 1.41854680e+02] [-5.46938112e-01 -8.34694884e-01 6.43673160e-02 1.09809435e+02] [ 1.18217846e-01 -8.88850752e-04 9.92987286e-01 -1.87578415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.82, Z:-1.88 [[-8.22760530e-01 5.60633748e-01 9.35676776e-02 1.41873389e+02] [-5.56785464e-01 -8.28061757e-01 6.56023877e-02 1.09821347e+02] [ 1.14258728e-01 1.87793255e-03 9.93449252e-01 -1.88327261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.82, Z:-1.88 [[-8.22979957e-01 5.60028723e-01 9.52461005e-02 1.41870812e+02] [-5.56471121e-01 -8.28472427e-01 6.30343485e-02 1.09821269e+02] [ 1.14209814e-01 -1.12569886e-03 9.93456014e-01 -1.88174399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:109.82, Z:-1.88 [[-8.22159972e-01 5.61918271e-01 9.11089377e-02 1.41866449e+02] [-5.58208162e-01 -8.27189902e-01 6.45020465e-02 1.09819158e+02] [ 1.11609272e-01 2.17324815e-03 9.93749791e-01 -1.88232568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.82, Z:-1.87 [[-8.24665590e-01 5.56635290e-01 1.00418221e-01 1.41847460e+02] [-5.53780852e-01 -8.30712065e-01 5.69581658e-02 1.09816360e+02] [ 1.15123553e-01 -8.63824839e-03 9.93313620e-01 -1.87047789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.87 [[-8.23422226e-01 5.59280600e-01 9.58177891e-02 1.41847063e+02] [-5.55836072e-01 -8.28975510e-01 6.20150451e-02 1.09811999e+02] [ 1.14114412e-01 -2.19441703e-03 9.93465191e-01 -1.87313961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.87 [[-8.22938351e-01 5.60044732e-01 9.55110929e-02 1.41845360e+02] [-5.56633314e-01 -8.28459077e-01 6.17649747e-02 1.09809769e+02] [ 1.13718181e-01 -2.33588975e-03 9.93510301e-01 -1.87332808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.87 [[-8.22010976e-01 5.61402046e-01 9.55285186e-02 1.41847980e+02] [-5.58004418e-01 -8.27539216e-01 6.17245168e-02 1.09810165e+02] [ 1.13705865e-01 -2.56710514e-03 9.93511140e-01 -1.87378987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:109.81, Z:-1.87 [[-8.21757135e-01 5.61651402e-01 9.62440265e-02 1.41846453e+02] [-5.58210274e-01 -8.27369688e-01 6.21344501e-02 1.09809166e+02] [ 1.14527291e-01 -2.66497668e-03 9.93416528e-01 -1.87333131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:109.80, Z:-1.87 [[-8.22082434e-01 5.60996981e-01 9.72772288e-02 1.41842591e+02] [-5.57482973e-01 -8.27813617e-01 6.27483090e-02 1.09804495e+02] [ 1.15729027e-01 -2.64611608e-03 9.93277298e-01 -1.87350528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:109.80, Z:-1.87 [[-8.22431312e-01 5.60320599e-01 9.82220115e-02 1.41838101e+02] [-5.56740036e-01 -8.28271652e-01 6.32977265e-02 1.09799812e+02] [ 1.16821528e-01 -2.62609399e-03 9.93149452e-01 -1.87271489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:109.80, Z:-1.87 [[-8.22752778e-01 5.59791085e-01 9.85485062e-02 1.41839370e+02] [-5.56189119e-01 -8.28629688e-01 6.34547337e-02 1.09798663e+02] [ 1.17181612e-01 -2.60404848e-03 9.93107088e-01 -1.87342174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:109.80, Z:-1.87 [[-8.23143453e-01 5.59166421e-01 9.88320277e-02 1.41839845e+02] [-5.55545479e-01 -8.29051460e-01 6.35837769e-02 1.09796612e+02] [ 1.17490750e-01 -2.56711644e-03 9.93070659e-01 -1.87331544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:109.79, Z:-1.87 [[-8.23782569e-01 5.58206020e-01 9.89359272e-02 1.41837822e+02] [-5.54576926e-01 -8.29698680e-01 6.35966498e-02 1.09793243e+02] [ 1.17587041e-01 -2.47777081e-03 9.93059489e-01 -1.87304616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.79, Z:-1.87 [[-8.25150674e-01 5.56163193e-01 9.90397277e-02 1.41833716e+02] [-5.52519649e-01 -8.31070073e-01 6.35969487e-02 1.09787364e+02] [ 1.17679236e-01 -2.24433049e-03 9.93049123e-01 -1.87181384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.78, Z:-1.87 [[-8.26306765e-01 5.54442648e-01 9.90478740e-02 1.41831112e+02] [-5.50792496e-01 -8.32219426e-01 6.35488286e-02 1.09784397e+02] [ 1.17663746e-01 -2.04399876e-03 9.93051391e-01 -1.87083659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.78, Z:-1.87 [[-8.28716294e-01 5.51076449e-01 9.76936616e-02 1.41829258e+02] [-5.47508456e-01 -8.34453251e-01 6.26279662e-02 1.09780017e+02] [ 1.16033591e-01 -1.58728983e-03 9.93244022e-01 -1.86984187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.78, Z:-1.87 [[-8.29853286e-01 5.49544930e-01 9.66638233e-02 1.41828379e+02] [-5.46047605e-01 -8.35462989e-01 6.19161325e-02 1.09777656e+02] [ 1.14784743e-01 -1.40174321e-03 9.93389399e-01 -1.86975228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.77, Z:-1.87 [[-8.30738435e-01 5.48323583e-01 9.59942785e-02 1.41825021e+02] [-5.44872461e-01 -8.36265294e-01 6.14358123e-02 1.09773507e+02] [ 1.13963388e-01 -1.26754816e-03 9.93484142e-01 -1.86946194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:109.77, Z:-1.87 [[-8.31255363e-01 5.47713762e-01 9.49955596e-02 1.41825509e+02] [-5.44336090e-01 -8.36664904e-01 6.07458652e-02 1.09770957e+02] [ 1.12750797e-01 -1.21418520e-03 9.93622556e-01 -1.86994813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.31001160e-01 5.48269989e-01 9.40058061e-02 1.41824733e+02] [-5.44971731e-01 -8.36300354e-01 6.00627277e-02 1.09770406e+02] [ 1.11547680e-01 -1.31831042e-03 9.93758209e-01 -1.86925852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.30494789e-01 5.49241518e-01 9.28017289e-02 1.41821472e+02] [-5.46038968e-01 -8.35662366e-01 5.92440360e-02 1.09769152e+02] [ 1.10090197e-01 -1.47149718e-03 9.93920512e-01 -1.86818959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.28344010e-01 5.52540701e-01 9.24390351e-02 1.41824644e+02] [-5.49389099e-01 -8.33483651e-01 5.89628820e-02 1.09772154e+02] [ 1.09625817e-01 -1.94344815e-03 9.93971027e-01 -1.86766891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.27460520e-01 5.53886866e-01 9.22953328e-02 1.41820372e+02] [-5.50758872e-01 -8.32589140e-01 5.88216793e-02 1.09770057e+02] [ 1.09424647e-01 -2.15985607e-03 9.93992747e-01 -1.86714161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.26607411e-01 5.55112422e-01 9.25763839e-02 1.41822078e+02] [-5.51978444e-01 -8.31771951e-01 5.89509886e-02 1.09771656e+02] [ 1.09726865e-01 -2.37084429e-03 9.93958950e-01 -1.86737830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:109.71, Z:-1.87 [[-8.23651558e-01 5.61113876e-01 8.21542977e-02 1.41745459e+02] [-5.57437853e-01 -8.27705833e-01 6.45452828e-02 1.09713998e+02] [ 1.04216845e-01 7.36690737e-03 9.94527314e-01 -1.86734340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.24874451e-01 5.56385945e-01 1.00084070e-01 1.41816887e+02] [-5.54127928e-01 -8.30825074e-01 5.16907770e-02 1.09772373e+02] [ 1.11912376e-01 -1.28209769e-02 9.93635367e-01 -1.86501697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.24662080e-01 5.57546096e-01 9.52617650e-02 1.41816798e+02] [-5.54262829e-01 -8.30140855e-01 6.04886473e-02 1.09766802e+02] [ 1.12805892e-01 -2.91736172e-03 9.93612761e-01 -1.86935852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12762800000002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.82, Y:109.77, Z:-1.87 [[-8.24247664e-01 5.57922900e-01 9.66324239e-02 1.41815922e+02] [-5.54552780e-01 -8.29887160e-01 6.13067337e-02 1.09765685e+02] [ 1.14398439e-01 -3.05584721e-03 9.93430249e-01 -1.87180108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:109.76, Z:-1.87 [[-8.25362998e-01 5.56373558e-01 9.60436613e-02 1.41812856e+02] [-5.53039862e-01 -8.30927344e-01 6.08823499e-02 1.09764921e+02] [ 1.13678634e-01 -2.86593433e-03 9.93513440e-01 -1.86858673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:109.06, Z:-0.95 [[-8.09703370e-01 -5.77970543e-01 -1.01639085e-01 1.42161967e+02] [-5.76268758e-01 8.15827035e-01 -4.83794107e-02 1.09060187e+02] [ 1.10881788e-01 1.93984573e-02 -9.93644267e-01 -9.50294661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:108.92, Z:-1.73 [[-7.97043230e-01 1.94915023e-02 -6.03607630e-01 1.42082552e+02] [-6.00269967e-01 8.41857886e-02 7.95354462e-01 1.08923038e+02] [ 6.63178376e-02 9.96259421e-01 -5.53995494e-02 -1.73358254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:109.74, Z:-1.82 [[-7.84597001e-01 6.19140716e-01 3.27462857e-02 1.41712413e+02] [-6.18553785e-01 -7.85279541e-01 2.69677128e-02 1.09738139e+02] [ 4.24117972e-02 9.03447603e-04 9.99099806e-01 -1.82104493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:109.70, Z:-1.82 [[-7.85768807e-01 6.17591823e-01 3.38780392e-02 1.41661338e+02] [-6.17044050e-01 -7.86498648e-01 2.60099524e-02 1.09699108e+02] [ 4.27085659e-02 -4.66433225e-04 9.99087464e-01 -1.81838972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:109.56, Z:-1.81 [[-7.87588356e-01 6.15455154e-01 3.03238361e-02 1.41485908e+02] [-6.14769081e-01 -7.88158983e-01 2.94005878e-02 1.09563251e+02] [ 4.19947471e-02 4.51340374e-03 9.99107637e-01 -1.81111944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:109.77, Z:-1.62 [[-8.26379458e-01 4.82948669e-01 2.89581723e-01 1.41548056e+02] [-5.59169375e-01 -7.64531110e-01 -3.20658372e-01 1.09769148e+02] [ 6.65327020e-02 -4.26910723e-01 9.01842910e-01 -1.61608958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:109.63, Z:-1.83 [[-8.27053459e-01 5.58922182e-01 5.99046861e-02 1.41620009e+02] [-5.57515504e-01 -8.29219882e-01 3.96339559e-02 1.09629480e+02] [ 7.18264538e-02 -6.18390989e-04 9.97416953e-01 -1.82948145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:109.63, Z:-1.83 [[-8.28851587e-01 5.56170528e-01 6.06579717e-02 1.41615495e+02] [-5.54723290e-01 -8.31068092e-01 4.00986067e-02 1.09627124e+02] [ 7.27125681e-02 -4.12595830e-04 9.97352852e-01 -1.82933044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:109.63, Z:-1.83 [[-8.32070571e-01 5.51236216e-01 6.16214195e-02 1.41611201e+02] [-5.49731557e-01 -8.34349228e-01 4.07011180e-02 1.09625128e+02] [ 7.38497140e-02 -9.03638199e-06 9.97269382e-01 -1.82928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:109.62, Z:-1.83 [[-8.33576307e-01 5.48913845e-01 6.20010610e-02 1.41608454e+02] [-5.47386693e-01 -8.35878916e-01 4.09175535e-02 1.09623226e+02] [ 7.42855913e-02 1.69347309e-04 9.97236994e-01 -1.82933184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:109.62, Z:-1.83 [[-8.35040281e-01 5.46652610e-01 6.22788315e-02 1.41606178e+02] [-5.45108009e-01 -8.37359425e-01 4.10664348e-02 1.09621560e+02] [ 7.45988403e-02 3.43437361e-04 9.97213565e-01 -1.82982181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:109.62, Z:-1.83 [[-8.37330382e-01 5.43097557e-01 6.26328531e-02 1.41597947e+02] [-5.41527972e-01 -8.39669363e-01 4.12651939e-02 1.09617089e+02] [ 7.50019139e-02 6.35158699e-04 9.97183188e-01 -1.83006742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:141.60, Y:109.62, Z:-1.83 [[-8.37823544e-01 5.42198202e-01 6.38186424e-02 1.41595701e+02] [-5.40568671e-01 -8.40250333e-01 4.20105963e-02 1.09616443e+02] [ 7.64017053e-02 6.99107966e-04 9.97076873e-01 -1.83208049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:109.62, Z:-1.83 [[-8.39024668e-01 5.40456635e-01 6.28031237e-02 1.41594351e+02] [-5.38876327e-01 -8.41371476e-01 4.13079027e-02 1.09617605e+02] [ 7.51658870e-02 8.15232705e-04 9.97170710e-01 -1.82939114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:109.62, Z:-1.83 [[-8.39899551e-01 5.39224237e-01 6.16925101e-02 1.41587714e+02] [-5.37698562e-01 -8.42161769e-01 4.05439273e-02 1.09615222e+02] [ 7.38173417e-02 8.80852386e-04 9.97271389e-01 -1.82858334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.61, Z:-1.83 [[-8.40176903e-01 5.38879501e-01 6.09233559e-02 1.41582465e+02] [-5.37393216e-01 -8.42382410e-01 4.00050866e-02 1.09612785e+02] [ 7.28786844e-02 8.71551565e-04 9.97340432e-01 -1.82831763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.62, Z:-1.83 [[-8.40273341e-01 5.38822107e-01 6.00953319e-02 1.41583785e+02] [-5.37378222e-01 -8.42419157e-01 3.94285460e-02 1.09615240e+02] [ 7.18704311e-02 8.36833466e-04 9.97413626e-01 -1.82827960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.62, Z:-1.83 [[-8.40081219e-01 5.39193976e-01 5.94424285e-02 1.41583390e+02] [-5.37784582e-01 -8.42181254e-01 3.89676512e-02 1.09616915e+02] [ 7.10724218e-02 7.68770295e-04 9.97470862e-01 -1.82782548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.62, Z:-1.83 [[-8.38596566e-01 5.41580875e-01 5.87022555e-02 1.41579253e+02] [-5.40214484e-01 -8.40648483e-01 3.84504795e-02 1.09616277e+02] [ 7.01720064e-02 5.32631351e-04 9.97534764e-01 -1.82732623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.62, Z:-1.83 [[-8.37892801e-01 5.42738499e-01 5.80566585e-02 1.41579514e+02] [-5.41407006e-01 -8.39901636e-01 3.79959928e-02 1.09616374e+02] [ 6.93837705e-02 4.04287178e-04 9.97589960e-01 -1.82781130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.62, Z:-1.83 [[-8.36606507e-01 5.44733083e-01 5.79259889e-02 1.41580555e+02] [-5.43414560e-01 -8.38609458e-01 3.78786655e-02 1.09616150e+02] [ 6.92110444e-02 2.11712287e-04 9.97602018e-01 -1.82913916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.61, Z:-1.83 [[-8.36180366e-01 5.45374652e-01 5.80420886e-02 1.41575061e+02] [-5.44054593e-01 -8.38192383e-01 3.79226598e-02 1.09611673e+02] [ 6.93324939e-02 1.32118620e-04 9.97593599e-01 -1.82899814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.61, Z:-1.83 [[-8.35893772e-01 5.45779518e-01 5.83636864e-02 1.41579041e+02] [-5.44448009e-01 -8.37928823e-01 3.81005662e-02 1.09613620e+02] [ 6.96991237e-02 7.20331690e-05 9.97568056e-01 -1.82989525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.61, Z:-1.83 [[-8.35640105e-01 5.46014260e-01 5.97833050e-02 1.41578147e+02] [-5.44620107e-01 -8.37775882e-01 3.89937366e-02 1.09611327e+02] [ 7.13761472e-02 2.55402271e-05 9.97449470e-01 -1.83098341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:109.61, Z:-1.83 [[-8.35899329e-01 5.45514166e-01 6.07174268e-02 1.41576542e+02] [-5.44077178e-01 -8.38101601e-01 3.95693263e-02 1.09609359e+02] [ 7.24730006e-02 4.10071377e-05 9.97370374e-01 -1.83183999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:109.61, Z:-1.83 [[-8.36413152e-01 5.44587266e-01 6.19495679e-02 1.41573268e+02] [-5.43091300e-01 -8.38704179e-01 4.03378167e-02 1.09606906e+02] [ 7.39248228e-02 9.48090463e-05 9.97263812e-01 -1.83194154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:141.57, Y:109.61, Z:-1.83 [[-8.36572338e-01 5.44140029e-01 6.37051985e-02 1.41572519e+02] [-5.42559373e-01 -8.38994408e-01 4.14452569e-02 1.09606501e+02] [ 7.60003287e-02 1.08102859e-04 9.97107787e-01 -1.83489651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:109.60, Z:-1.83 [[-8.37330748e-01 5.42899044e-01 6.43260875e-02 1.41565938e+02] [-5.41286448e-01 -8.39797946e-01 4.18137622e-02 1.09603351e+02] [ 7.67215677e-02 1.93109370e-04 9.97052538e-01 -1.83197564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:109.60, Z:-1.83 [[-8.37410526e-01 5.42679240e-01 6.51371921e-02 1.41565899e+02] [-5.41027798e-01 -8.39940003e-01 4.23050097e-02 1.09603570e+02] [ 7.76693838e-02 1.85628882e-04 9.96979153e-01 -1.83191299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:109.60, Z:-1.83 [[-8.37230393e-01 5.42930990e-01 6.53544850e-02 1.41559678e+02] [-5.41272088e-01 -8.39777305e-01 4.24099577e-02 1.09599201e+02] [ 7.79088936e-02 1.32347019e-04 9.96960474e-01 -1.83117441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:109.60, Z:-1.83 [[-8.36427679e-01 5.44124715e-01 6.57041339e-02 1.41563313e+02] [-5.42454829e-01 -8.39004347e-01 4.25965212e-02 1.09599354e+02] [ 7.83038740e-02 -1.26153757e-05 9.96929538e-01 -1.83185622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:141.56, Y:109.60, Z:-1.83 [[-8.36033760e-01 5.44661604e-01 6.62668001e-02 1.41564000e+02] [-5.42967522e-01 -8.38655906e-01 4.29248404e-02 1.09598625e+02] [ 7.89545557e-02 -9.41044933e-05 9.96878212e-01 -1.83485945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:109.60, Z:-1.83 [[-8.36056139e-01 5.44789396e-01 6.49202989e-02 1.41562188e+02] [-5.43166636e-01 -8.38572892e-01 4.20179740e-02 1.09596894e+02] [ 7.73313495e-02 -1.33155227e-04 9.97005439e-01 -1.83165588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:109.60, Z:-1.82 [[-8.35234259e-01 5.43768885e-01 8.18482293e-02 1.41554591e+02] [-5.42856707e-01 -8.39096927e-01 3.49705894e-02 1.09600841e+02] [ 8.76945161e-02 -1.52232259e-02 9.96031086e-01 -1.81877351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:108.81, Z:-1.69 [[-8.37862691e-01 -5.31662981e-02 -5.43285796e-01 1.42004978e+02] [-5.45827325e-01 9.55577375e-02 8.32430928e-01 1.08806257e+02] [ 7.65789067e-03 9.94003050e-01 -1.09083881e-01 -1.68641238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:108.77, Z:-1.66 [[-8.31956965e-01 -1.09972519e-01 -5.43832376e-01 1.41938758e+02] [-5.51608816e-01 5.83084155e-02 8.32062403e-01 1.08767062e+02] [-5.97939947e-02 9.92222845e-01 -1.09171904e-01 -1.65612640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:109.53, Z:-0.99 [[-8.34045787e-01 5.85932218e-02 5.48574936e-01 1.41276252e+02] [-5.51691829e-01 -9.20706796e-02 -8.28950611e-01 1.09529585e+02] [ 1.93678014e-03 -9.94027074e-01 1.09116564e-01 -9.89640014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:108.65, Z:-1.66 [[-8.31117266e-01 -1.11222060e-01 -5.44861215e-01 1.41758941e+02] [-5.52724363e-01 5.74703029e-02 8.31380144e-01 1.08648420e+02] [-6.11544730e-02 9.92132460e-01 -1.09239703e-01 -1.66285027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:109.41, Z:-1.00 [[-8.34968855e-01 5.61941263e-02 5.47420525e-01 1.41094422e+02] [-5.50277716e-01 -9.36321503e-02 -8.29715286e-01 1.09409013e+02] [ 4.63103526e-03 -9.94019739e-01 1.09102305e-01 -9.96319802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:108.53, Z:-1.67 [[-8.30819410e-01 -1.13125927e-01 -5.44923511e-01 1.41579325e+02] [-5.52915476e-01 5.61812847e-02 8.31341169e-01 1.08528139e+02] [-6.34317375e-02 9.91991022e-01 -1.09225578e-01 -1.66844847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:108.48, Z:-1.64 [[-8.21569134e-01 -1.70314143e-01 -5.44074673e-01 1.41504213e+02] [-5.54577890e-01 1.75117152e-02 8.31947537e-01 1.08480235e+02] [-1.32164751e-01 9.85234202e-01 -1.08839543e-01 -1.64485312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:109.21, Z:-0.99 [[-8.28530848e-01 1.09521613e-01 5.49128082e-01 1.40792463e+02] [-5.56819173e-01 -5.76996089e-02 -8.28627277e-01 1.09214080e+02] [-5.90681204e-02 -9.92308305e-01 1.08789640e-01 -9.88501862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:109.16, Z:-1.02 [[-8.33656552e-01 5.30721489e-02 5.49727296e-01 1.40723892e+02] [-5.52213995e-01 -9.58599771e-02 -8.28173030e-01 1.09164882e+02] [ 8.74392363e-03 -9.93978980e-01 1.09221481e-01 -1.02268758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:109.12, Z:-1.05 [[-8.35203231e-01 -5.19651180e-03 5.49916866e-01 1.40659744e+02] [-5.44378262e-01 -1.34059891e-01 -8.28058122e-01 1.09118396e+02] [ 7.80248089e-02 -9.90959607e-01 1.09138386e-01 -1.05055227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.507628 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:140.60, Y:109.08, Z:-1.08 [[-8.31958114e-01 -6.26956734e-02 5.51284817e-01 1.40600739e+02] [-5.35296553e-01 -1.70677832e-01 -8.27240399e-01 1.09080025e+02] [ 1.45956491e-01 -9.83330224e-01 1.08436029e-01 -1.07585716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:108.15, Z:-1.74 [[-8.40292173e-01 -5.61619238e-03 -5.42104716e-01 1.41019842e+02] [-5.38405663e-01 1.25712713e-01 8.33256056e-01 1.08149504e+02] [ 6.34697282e-02 9.92050791e-01 -1.08659198e-01 -1.74191627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.91, Z:-1.85 [[-8.43168925e-01 5.33709723e-01 6.49622650e-02 1.40513056e+02] [-5.32056412e-01 -8.45667329e-01 4.19850325e-02 1.08907249e+02] [ 7.73442852e-02 8.36885106e-04 9.97004093e-01 -1.84965539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.91, Z:-1.85 [[-8.43721027e-01 5.32867548e-01 6.47070732e-02 1.40513084e+02] [-5.31227468e-01 -8.46198205e-01 4.17848815e-02 1.08906315e+02] [ 7.70208165e-02 8.80608483e-04 9.97029096e-01 -1.85044445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.90, Z:-1.85 [[-8.44068275e-01 5.32338061e-01 6.45363161e-02 1.40508586e+02] [-5.30707803e-01 -8.46531385e-01 4.16394377e-02 1.08902924e+02] [ 7.67982746e-02 8.96601804e-04 9.97046248e-01 -1.85023134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.90, Z:-1.85 [[-8.44059957e-01 5.32405056e-01 6.40909094e-02 1.40507641e+02] [-5.30800112e-01 -8.46489295e-01 4.13172539e-02 1.08902231e+02] [ 7.62497836e-02 8.54777649e-04 9.97088381e-01 -1.84986703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.90, Z:-1.85 [[-8.43155399e-01 5.34011661e-01 6.26140526e-02 1.40505220e+02] [-5.32486854e-01 -8.45476850e-01 4.03317084e-02 1.08901347e+02] [ 7.44763346e-02 6.64737797e-04 9.97222560e-01 -1.84923478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.90, Z:-1.85 [[-8.42480951e-01 5.35126926e-01 6.21692835e-02 1.40505802e+02] [-5.33629264e-01 -8.44771501e-01 4.00114966e-02 1.08901864e+02] [ 7.39300681e-02 5.33574646e-04 9.97263285e-01 -1.84935157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:108.90, Z:-1.85 [[-8.41721803e-01 5.36353717e-01 6.18796921e-02 1.40506875e+02] [-5.34875780e-01 -8.43993207e-01 3.97915305e-02 1.08902834e+02] [ 7.35683751e-02 3.95450221e-04 9.97290097e-01 -1.84998703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:108.89, Z:-1.85 [[-8.41110811e-01 5.37252637e-01 6.23875533e-02 1.40481322e+02] [-5.35755318e-01 -8.43421318e-01 4.00839111e-02 1.08886772e+02] [ 7.41541794e-02 2.90547542e-04 9.97246746e-01 -1.84798578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:108.90, Z:-1.85 [[-8.40198068e-01 5.38498953e-01 6.39224860e-02 1.40501008e+02] [-5.36933271e-01 -8.42626165e-01 4.10342384e-02 1.08900095e+02] [ 7.59596536e-02 1.54778273e-04 9.97110880e-01 -1.85126825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:108.90, Z:-1.85 [[-8.40204025e-01 5.38366509e-01 6.49515035e-02 1.40500947e+02] [-5.36752338e-01 -8.42710794e-01 4.16586769e-02 1.08899754e+02] [ 7.71629695e-02 1.38916722e-04 9.97018484e-01 -1.85185960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:108.90, Z:-1.85 [[-8.40668500e-01 5.37510937e-01 6.60186833e-02 1.40499516e+02] [-5.35843426e-01 -8.43256756e-01 4.23068106e-02 1.08898553e+02] [ 7.84110741e-02 1.90325590e-04 9.96921094e-01 -1.85236639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:108.89, Z:-1.85 [[-8.41844847e-01 5.35446590e-01 6.77805565e-02 1.40492896e+02] [-5.33685084e-01 -8.44569014e-01 4.33982899e-02 1.08892098e+02] [ 8.04828241e-02 3.61154657e-04 9.96755930e-01 -1.85274521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:108.89, Z:-1.85 [[-8.42542023e-01 5.34188505e-01 6.90331822e-02 1.40494136e+02] [-5.32360088e-01 -8.45365265e-01 4.41622625e-02 1.08891393e+02] [ 8.19492273e-02 4.58051068e-04 9.96636400e-01 -1.85296272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:108.89, Z:-1.85 [[-8.43580330e-01 5.32246381e-01 7.13163174e-02 1.40493003e+02] [-5.30291240e-01 -8.46589267e-01 4.55830417e-02 1.08888126e+02] [ 8.46370378e-02 6.34538993e-04 9.96411646e-01 -1.85343637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:108.88, Z:-1.85 [[-8.44210271e-01 5.31138192e-01 7.21196119e-02 1.40488016e+02] [-5.29138026e-01 -8.47284900e-01 4.60570123e-02 1.08884082e+02] [ 8.55684964e-02 7.20573757e-04 9.96332030e-01 -1.85328368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:108.88, Z:-1.85 [[-8.44581026e-01 5.30703794e-01 7.09674049e-02 1.40483663e+02] [-5.28428263e-01 -8.47547415e-01 4.92640881e-02 1.08878021e+02] [ 8.62928791e-02 4.10633160e-03 9.96261350e-01 -1.85412520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:108.71, Z:-0.81 [[-8.06721985e-01 -4.07032520e-01 4.28397207e-01 1.40607094e+02] [-5.77285001e-01 3.87941237e-01 -7.18500957e-01 1.08710422e+02] [ 1.26260313e-01 -8.26937800e-01 -5.47934493e-01 -8.13897889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.17144594e-01 5.64202000e-01 1.18113571e-01 1.40361286e+02] [-5.58261942e-01 -8.25636410e-01 8.16585748e-02 1.08816669e+02] [ 1.43590796e-01 7.88551295e-04 9.89636833e-01 -1.86899977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.16488870e-01 5.65289161e-01 1.17448242e-01 1.40362371e+02] [-5.59437025e-01 -8.24892644e-01 8.11316235e-02 1.08817527e+02] [ 1.42745019e-01 5.38172259e-04 9.89759350e-01 -1.86788795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.14201543e-01 5.68724178e-01 1.16741840e-01 1.40361349e+02] [-5.62987143e-01 -8.22528295e-01 8.05771737e-02 1.08816951e+02] [ 1.41849653e-01 -1.18095566e-04 9.89888207e-01 -1.86804396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.13182250e-01 5.70287252e-01 1.16219955e-01 1.40364006e+02] [-5.64626946e-01 -8.21445222e-01 8.01508493e-02 1.08819421e+02] [ 1.41177334e-01 -4.43670269e-04 9.89984224e-01 -1.86805988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.11719785e-01 5.72667470e-01 1.14729941e-01 1.40362732e+02] [-5.67184768e-01 -8.19787265e-01 7.90587044e-02 1.08819839e+02] [ 1.39328493e-01 -8.99560666e-04 9.90245809e-01 -1.86686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.11296130e-01 5.73363456e-01 1.14249454e-01 1.40361612e+02] [-5.67942800e-01 -8.19300437e-01 7.86623814e-02 1.08819140e+02] [ 1.38706762e-01 -1.06866898e-03 9.90332920e-01 -1.86646990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:108.82, Z:-1.87 [[-8.06710624e-01 5.79056490e-01 1.17947236e-01 1.40369535e+02] [-5.74362033e-01 -8.15247871e-01 7.40213737e-02 1.08823768e+02] [ 1.39018790e-01 -8.03058544e-03 9.90257182e-01 -1.86645625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.81, Z:-1.87 [[-8.11314991e-01 5.74273166e-01 1.09445492e-01 1.40356086e+02] [-5.68074039e-01 -8.18639574e-01 8.43868094e-02 1.08812003e+02] [ 1.38057492e-01 6.29114048e-03 9.90404236e-01 -1.86819932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:108.82, Z:-1.87 [[-8.11740581e-01 5.72646786e-01 1.14686039e-01 1.40355181e+02] [-5.67198893e-01 -8.19801499e-01 7.88093734e-02 1.08816964e+02] [ 1.39149721e-01 -1.07702783e-03 9.90270769e-01 -1.86538663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:108.82, Z:-1.87 [[-8.12575829e-01 5.71469319e-01 1.14644401e-01 1.40351470e+02] [-5.66022854e-01 -8.20622906e-01 7.87157804e-02 1.08815191e+02] [ 1.39063475e-01 -9.28810623e-04 9.90283034e-01 -1.86519542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:108.81, Z:-1.86 [[-8.13467835e-01 5.70241711e-01 1.14431082e-01 1.40349349e+02] [-5.64812559e-01 -8.21476595e-01 7.85046262e-02 1.08814475e+02] [ 1.38769068e-01 -7.71124166e-04 9.90324468e-01 -1.86496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:108.81, Z:-1.86 [[-8.15994912e-01 5.66552419e-01 1.14763500e-01 1.40344278e+02] [-5.61064259e-01 -8.24025678e-01 7.86675254e-02 1.08812869e+02] [ 1.39137348e-01 -1.97397770e-04 9.90273073e-01 -1.86368981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:108.81, Z:-1.86 [[-8.17813657e-01 5.63959088e-01 1.14590445e-01 1.40340977e+02] [-5.58471253e-01 -8.25802707e-01 7.84840658e-02 1.08810263e+02] [ 1.38890902e-01 1.89871295e-04 9.90307670e-01 -1.86353374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:108.81, Z:-1.86 [[-8.19806615e-01 5.61066420e-01 1.14549495e-01 1.40334752e+02] [-5.55563464e-01 -8.27770548e-01 7.83910502e-02 1.08805374e+02] [ 1.38803284e-01 6.25987418e-04 9.90319775e-01 -1.86284677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:108.80, Z:-1.86 [[-8.21921183e-01 5.58033275e-01 1.14212231e-01 1.40330113e+02] [-5.52542667e-01 -8.29817869e-01 7.80954940e-02 1.08801636e+02] [ 1.38355234e-01 1.08121029e-03 9.90382078e-01 -1.86214365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:108.80, Z:-1.86 [[-8.25721666e-01 5.52652590e-01 1.12955059e-01 1.40331509e+02] [-5.47241252e-01 -8.33409545e-01 7.71721569e-02 1.08802689e+02] [ 1.36787217e-01 1.90905401e-03 9.90598613e-01 -1.86186293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:108.80, Z:-1.86 [[-8.27443210e-01 5.50216742e-01 1.12246479e-01 1.40326803e+02] [-5.44859786e-01 -8.35018864e-01 7.66244851e-02 1.08800034e+02] [ 1.35888002e-01 2.24381746e-03 9.90721664e-01 -1.86104065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:108.73, Z:-1.84 [[-8.29343612e-01 5.47672971e-01 1.10650306e-01 1.40218421e+02] [-5.42453844e-01 -8.36688539e-01 7.54726126e-02 1.08728049e+02] [ 1.33914152e-01 2.57004557e-03 9.90989604e-01 -1.84328633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:108.81, Z:-1.84 [[-8.26779974e-01 5.44965194e-01 1.39455410e-01 1.40317161e+02] [-5.41651061e-01 -8.38155712e-01 6.41024975e-02 1.08810305e+02] [ 1.51818979e-01 -2.25375096e-02 9.88151334e-01 -1.84100599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:108.09, Z:-1.82 [[-8.34854114e-01 1.07061785e-01 -5.39959612e-01 1.40745703e+02] [-5.48464650e-01 -7.81021568e-02 8.32518216e-01 1.08089118e+02] [ 4.69588756e-02 9.91180018e-01 1.23923511e-01 -1.82108527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:108.05, Z:-1.79 [[-8.40213589e-01 5.53483418e-02 -5.39423476e-01 1.40692891e+02] [-5.42049929e-01 -1.13123734e-01 8.32697361e-01 1.08049026e+02] [-1.49331797e-02 9.92038095e-01 1.25049663e-01 -1.78808514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:108.00, Z:-1.76 [[-8.42265441e-01 1.47290064e-03 -5.39060996e-01 1.40629858e+02] [-5.33282135e-01 -1.48333829e-01 8.32830859e-01 1.08003273e+02] [-7.87343047e-02 9.88936250e-01 1.25721930e-01 -1.75928113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:107.96, Z:-1.74 [[-8.41119784e-01 -5.03286739e-02 -5.38502120e-01 1.40561511e+02] [-5.22586474e-01 -1.80921367e-01 8.33169152e-01 1.07955315e+02] [-1.39358838e-01 9.82208982e-01 1.25875457e-01 -1.73575534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:107.90, Z:-1.72 [[-8.36224045e-01 -1.05198403e-01 -5.38203162e-01 1.40481108e+02] [-5.09440678e-01 -2.14237478e-01 8.33410163e-01 1.07899780e+02] [-2.02976706e-01 9.71100200e-01 1.25558184e-01 -1.71848953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:107.84, Z:-1.71 [[-8.27472988e-01 -1.60466236e-01 -5.38088322e-01 1.40398859e+02] [-4.94283833e-01 -2.46498114e-01 8.33619921e-01 1.07843158e+02] [-2.66405607e-01 9.55766325e-01 1.24654664e-01 -1.70752801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:107.79, Z:-1.70 [[-8.15140490e-01 -2.15184867e-01 -5.37811728e-01 1.40314213e+02] [-4.77092012e-01 -2.77161028e-01 8.34005381e-01 1.07786343e+02] [-3.28525789e-01 9.36417235e-01 1.23262195e-01 -1.70292950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:107.73, Z:-1.71 [[-7.99410859e-01 -2.69919350e-01 -5.36736270e-01 1.40223344e+02] [-4.57232046e-01 -3.06189048e-01 8.34977319e-01 1.07726528e+02] [-3.89719303e-01 9.12902958e-01 1.21355073e-01 -1.70743681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:108.21, Z:-0.93 [[-8.02212461e-01 2.29993336e-01 5.50961190e-01 1.39414286e+02] [-4.88270421e-01 2.78328389e-01 -8.27118676e-01 1.08213486e+02] [-3.43579924e-01 -9.32542961e-01 -1.10979558e-01 -9.27142616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:108.17, Z:-0.99 [[-8.15145573e-01 1.74648332e-01 5.52300330e-01 1.39334578e+02] [-5.06128995e-01 2.48986849e-01 -8.25735424e-01 1.08169000e+02] [-2.81728833e-01 -9.52629786e-01 -1.14565943e-01 -9.91167404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:108.13, Z:-1.05 [[-8.24533467e-01 1.18938240e-01 5.53171092e-01 1.39260676e+02] [-5.21834164e-01 2.18051567e-01 -8.24707596e-01 1.08127069e+02] [-2.18709093e-01 -9.68662588e-01 -1.17724778e-01 -1.04618033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:108.08, Z:-1.10 [[-8.30407672e-01 6.48808225e-02 5.53365682e-01 1.39185052e+02] [-5.34663289e-01 1.86558358e-01 -8.24215473e-01 1.08082469e+02] [-1.56710770e-01 -9.80299168e-01 -1.20230097e-01 -1.09582706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:107.40, Z:-1.98 [[-8.39940185e-01 -8.96718623e-02 -5.35219061e-01 1.39650398e+02] [-5.10565858e-01 -2.03656633e-01 8.35372061e-01 1.07395755e+02] [-1.83910280e-01 9.74927142e-01 1.25275999e-01 -1.98371433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:107.96, Z:-1.14 [[-8.30427948e-01 6.76212047e-02 5.53007048e-01 1.38984662e+02] [-5.33711331e-01 1.88182635e-01 -8.24463166e-01 1.07955023e+02] [-1.59817516e-01 -9.79803383e-01 -1.20181916e-01 -1.13862460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:107.91, Z:-1.18 [[-8.33464677e-01 1.17222084e-02 5.52448388e-01 1.38904600e+02] [-5.44365359e-01 1.54256237e-01 -8.24543128e-01 1.07907736e+02] [-9.48840759e-02 -9.87961337e-01 -1.22185961e-01 -1.18334750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:107.20, Z:-2.06 [[-8.43675825e-01 -2.96601098e-02 -5.36033003e-01 1.39332610e+02] [-5.24586931e-01 -1.66670675e-01 8.34882889e-01 1.07201497e+02] [-1.14103701e-01 9.85566418e-01 1.25056713e-01 -2.06293113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:107.79, Z:-1.21 [[-8.33447052e-01 1.15380459e-02 5.52478855e-01 1.38714742e+02] [-5.44437741e-01 1.54050657e-01 -8.24533772e-01 1.07786158e+02] [-9.46232389e-02 -9.87995581e-01 -1.22111318e-01 -1.21121055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:107.08, Z:-2.08 [[-8.43876772e-01 -3.01210891e-02 -5.35690876e-01 1.39139241e+02] [-5.24163271e-01 -1.66905206e-01 8.35102100e-01 1.07078963e+02] [-1.14563781e-01 9.85512746e-01 1.25059058e-01 -2.08434556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:107.66, Z:-1.24 [[-8.33814777e-01 1.08936467e-02 5.51936814e-01 1.38520325e+02] [-5.44012727e-01 1.53710996e-01 -8.24877617e-01 1.07662211e+02] [-9.38246825e-02 -9.88055797e-01 -1.22240217e-01 -1.23661061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:106.95, Z:-2.11 [[-8.43286592e-01 -3.14649333e-02 -5.36542339e-01 1.38943709e+02] [-5.24730512e-01 -1.67815642e-01 8.34563239e-01 1.06954869e+02] [-1.16299674e-01 9.85316126e-01 1.25006071e-01 -2.10747171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:107.54, Z:-1.26 [[-8.33977804e-01 8.72307117e-03 5.51729037e-01 1.38326616e+02] [-5.44209570e-01 1.52249928e-01 -8.25018729e-01 1.07537206e+02] [-9.11974035e-02 -9.88303530e-01 -1.22225882e-01 -1.26211698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:107.49, Z:-1.30 [[-8.32808424e-01 -4.92228974e-02 5.51368511e-01 1.38252481e+02] [-5.53071995e-01 1.15858713e-01 -8.25038258e-01 1.07494072e+02] [-2.32700724e-02 -9.92045294e-01 -1.23711918e-01 -1.29877622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:106.76, Z:-2.16 [[-8.43337874e-01 2.23876418e-02 -5.36917149e-01 1.38640447e+02] [-5.34756691e-01 -1.33634124e-01 8.34372340e-01 1.06764710e+02] [-5.30708237e-02 9.90777833e-01 1.24670659e-01 -2.16175914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:138.57, Y:106.71, Z:-2.14 [[-8.43201281e-01 -3.50283224e-02 -5.36455605e-01 1.38567965e+02] [-5.23940284e-01 -1.69954044e-01 8.34626983e-01 1.06711894e+02] [-1.20408383e-01 9.84829244e-01 1.24952718e-01 -2.13651515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:106.66, Z:-2.12 [[-8.37934946e-01 -9.49158475e-02 -5.37453261e-01 1.38488298e+02] [-5.11550741e-01 -2.06620788e-01 8.34040580e-01 1.06657019e+02] [-1.90212685e-01 9.73806363e-01 1.24580506e-01 -2.11713410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:106.60, Z:-2.11 [[-8.29354754e-01 -1.53140226e-01 -5.37325565e-01 1.38401012e+02] [-4.96066884e-01 -2.40668129e-01 8.34264046e-01 1.06597309e+02] [-2.57076523e-01 9.58450272e-01 1.23631462e-01 -2.10739075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:107.13, Z:-1.31 [[-8.27107581e-01 1.16585145e-01 5.49819018e-01 1.37693815e+02] [-5.19249475e-01 2.15902387e-01 -8.26901531e-01 1.07133187e+02] [-2.15111673e-01 -9.69429762e-01 -1.18037726e-01 -1.31162906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:106.47, Z:-2.17 [[-8.28955481e-01 -1.55492817e-01 -5.37266037e-01 1.38197919e+02] [-4.95300551e-01 -2.42154149e-01 8.34289358e-01 1.06473331e+02] [-2.59827203e-01 9.57696900e-01 1.23719332e-01 -2.16525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:107.01, Z:-1.37 [[-8.27450497e-01 1.13002957e-01 5.50050912e-01 1.37489093e+02] [-5.20451034e-01 2.13468399e-01 -8.26778062e-01 1.07007327e+02] [-2.10846853e-01 -9.70392485e-01 -1.17822027e-01 -1.37157667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:106.35, Z:-2.22 [[-8.28694928e-01 -1.58914533e-01 -5.36666459e-01 1.37992544e+02] [-4.93743322e-01 -2.44012917e-01 8.34670731e-01 1.06346762e+02] [-2.63594857e-01 9.56662881e-01 1.23749277e-01 -2.22164527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:106.29, Z:-2.22 [[-8.15915932e-01 -2.16493810e-01 -5.36107846e-01 1.37903016e+02] [-4.75532594e-01 -2.76135321e-01 8.35235318e-01 1.06285866e+02] [-3.28861588e-01 9.36418557e-01 1.22353345e-01 -2.21779989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:106.80, Z:-1.46 [[-8.17924010e-01 1.68726898e-01 5.50028678e-01 1.37152240e+02] [-5.05957940e-01 2.44148836e-01 -8.27283451e-01 1.06802111e+02] [-2.73873832e-01 -9.54946375e-01 -1.14326481e-01 -1.45685806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:106.16, Z:-2.29 [[-8.16369883e-01 -2.16829346e-01 -5.35280533e-01 1.37695426e+02] [-4.74607385e-01 -2.76230288e-01 8.35730015e-01 1.06160801e+02] [-3.29071488e-01 9.36312909e-01 1.22597279e-01 -2.29362450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:106.10, Z:-2.30 [[-8.00537878e-01 -2.72743088e-01 -5.33620009e-01 1.37603727e+02] [-4.53890831e-01 -3.05471902e-01 8.37060351e-01 1.06099622e+02] [-3.91308344e-01 9.12303746e-01 1.20746241e-01 -2.29916537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:106.60, Z:-1.57 [[-8.03288576e-01 2.26655979e-01 5.50776299e-01 1.36815451e+02] [-4.90037003e-01 2.74080675e-01 -8.27492308e-01 1.06600638e+02] [-3.38513218e-01 -9.34615884e-01 -1.09096059e-01 -1.56729976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:105.98, Z:-2.39 [[-8.01529344e-01 -2.72369435e-01 -5.32320957e-01 1.37397002e+02] [-4.52845900e-01 -3.04861644e-01 8.37848416e-01 1.05977486e+02] [-3.90488542e-01 9.12619455e-01 1.21014171e-01 -2.39324597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:137.30, Y:105.92, Z:-2.41 [[-7.82591322e-01 -3.26532081e-01 -5.30026059e-01 1.37304530e+02] [-4.30294109e-01 -3.31553087e-01 8.39594861e-01 1.05915480e+02] [-4.49886433e-01 8.85126743e-01 1.18965737e-01 -2.40774945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:105.86, Z:-2.43 [[-7.57281387e-01 -3.80452225e-01 -5.30830486e-01 1.37207668e+02] [-4.08407147e-01 -3.58394573e-01 8.39498024e-01 1.05856889e+02] [-5.09635657e-01 8.52531192e-01 1.16026132e-01 -2.43114032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.11, Y:105.80, Z:-2.46 [[-7.30138355e-01 -4.32715398e-01 -5.28824514e-01 1.37113739e+02] [-3.83170072e-01 -3.81508466e-01 8.41208646e-01 1.05796118e+02] [-5.65754964e-01 8.16828424e-01 1.12750374e-01 -2.46122492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:106.25, Z:-1.83 [[-7.41121386e-01 3.92881272e-01 5.44411055e-01 1.36208054e+02] [-4.24670632e-01 3.53725873e-01 -8.33386381e-01 1.06248737e+02] [-5.19994178e-01 -8.48835857e-01 -9.53086709e-02 -1.83357970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:106.21, Z:-1.92 [[-7.65823927e-01 3.37330734e-01 5.47468436e-01 1.36133833e+02] [-4.48856043e-01 3.29233808e-01 -8.30742651e-01 1.06209129e+02] [-4.60480146e-01 -8.81937115e-01 -1.00722189e-01 -1.91535476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:136.80, Y:105.63, Z:-2.72 [[-7.57587364e-01 -3.82199391e-01 -5.29136099e-01 1.36798507e+02] [-4.04803287e-01 -3.60825537e-01 8.40201899e-01 1.05627013e+02] [-5.12050471e-01 8.50722374e-01 1.18641298e-01 -2.71887424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:105.57, Z:-2.75 [[-7.28795573e-01 -4.35272494e-01 -5.28578158e-01 1.36699539e+02] [-3.79947486e-01 -3.85136361e-01 8.41017177e-01 1.05568072e+02] [-5.69646312e-01 8.13761537e-01 1.15304985e-01 -2.75312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:106.02, Z:-2.11 [[-7.42462915e-01 3.90399177e-01 5.44368719e-01 1.35794346e+02] [-4.23314183e-01 3.56386413e-01 -8.32942872e-01 1.06019006e+02] [-5.19185827e-01 -8.48868192e-01 -9.93421860e-02 -2.11177517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.80, Y:105.68, Z:-2.05 [[-7.42427031e-01 -2.11286748e-02 6.69593670e-01 1.35795247e+02] [-4.69548343e-01 7.29321404e-01 -4.97608926e-01 1.05684417e+02] [-4.77835179e-01 -6.83844916e-01 -5.51388859e-01 -2.05172222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:105.39, Z:-2.14 [[-7.16432214e-01 -4.05857043e-01 5.67454794e-01 1.35874805e+02] [-5.26162842e-01 8.48439266e-01 -5.74758700e-02 1.05387978e+02] [-4.58123942e-01 -3.39751192e-01 -8.21396117e-01 -2.13788238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:106.13, Z:-3.07 [[-7.26525356e-01 5.88228153e-01 -3.55173966e-01 1.35916733e+02] [-5.29599611e-01 -8.08692290e-01 -2.56009830e-01 1.06127682e+02] [-4.37818637e-01 2.10236149e-03 8.99060855e-01 -3.07340628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:106.12, Z:-3.08 [[-7.29339542e-01 5.87248613e-01 -3.51002707e-01 1.35900935e+02] [-5.27187578e-01 -8.09398308e-01 -2.58742413e-01 1.06122229e+02] [-4.36047120e-01 -3.66680606e-03 8.99916365e-01 -3.07742798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.087628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:135.90, Y:106.12, Z:-3.08 [[-7.30141107e-01 5.85491127e-01 -3.52269930e-01 1.35900354e+02] [-5.26993250e-01 -8.10678579e-01 -2.55104599e-01 1.06123860e+02] [-4.34939166e-01 -6.18478943e-04 9.00459627e-01 -3.07951641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:106.13, Z:-3.07 [[-7.30222007e-01 5.87411708e-01 -3.48888671e-01 1.35900084e+02] [-5.27179381e-01 -8.09270801e-01 -2.59157620e-01 1.06127620e+02] [-4.34577634e-01 -5.31568343e-03 9.00618689e-01 -3.07268264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:106.10, Z:-3.10 [[-7.33294457e-01 5.81569243e-01 -3.52216488e-01 1.35867407e+02] [-5.22530984e-01 -8.13490653e-01 -2.55331798e-01 1.06102439e+02] [-4.35017941e-01 -3.18936424e-03 9.00416136e-01 -3.09500179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:106.08, Z:-3.11 [[-7.34915401e-01 5.77694331e-01 -3.55202215e-01 1.35843122e+02] [-5.19661797e-01 -8.16252715e-01 -2.52355149e-01 1.06083928e+02] [-4.35718911e-01 -8.74664425e-04 9.00082366e-01 -3.11251809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.207628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:136.21, Y:105.36, Z:-3.15 [[ -0.71921946 -0.31177717 -0.62090125 136.21045242] [ -0.48089361 -0.42161823 0.76875184 105.36445945] [ -0.50146256 0.85148873 0.15330439 -3.15093563] [ 0. 0. 0. 1. ]] SLAMing on 257.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:105.69, Z:-2.41 [[ -0.72346945 0.27367598 0.63379287 135.29880045] [ -0.51964197 0.38852414 -0.76093443 105.693643 ] [ -0.45449331 -0.8798582 -0.13887182 -2.41341946] [ 0. 0. 0. 1. ]] SLAMing on 257.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:105.23, Z:-3.29 [[ -0.71968491 -0.30987928 -0.62131189 136.00930614] [ -0.48212958 -0.42088242 0.7683808 105.22738479] [ -0.49960454 0.85254491 0.15350076 -3.28705431] [ 0. 0. 0. 1. ]] SLAMing on 257.29762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:135.09, Y:105.55, Z:-2.54 [[ -0.72186011 0.27657273 0.63437017 135.09456324] [ -0.51916132 0.38969755 -0.76066244 105.55112014] [ -0.45759099 -0.87843232 -0.13772125 -2.5428513 ] [ 0. 0. 0. 1. ]] SLAMing on 257.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:105.09, Z:-3.43 [[ -0.72090553 -0.30916377 -0.62025235 135.80543675] [ -0.48205787 -0.4193056 0.76928735 105.08730268] [ -0.49791107 0.85358103 0.1532449 -3.42638998] [ 0. 0. 0. 1. ]] SLAMing on 257.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:105.41, Z:-2.68 [[ -0.72257894 0.27650646 0.63358018 134.89204371] [ -0.51878938 0.3888337 -0.76135795 105.4090681 ] [ -0.45687772 -0.8788359 -0.13751442 -2.67687878] [ 0. 0. 0. 1. ]] SLAMing on 257.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:104.94, Z:-3.56 [[ -0.72044331 -0.3106562 -0.62004368 135.60267258] [ -0.48156697 -0.41927594 0.7696109 104.94448706] [ -0.49905379 0.85305358 0.15246278 -3.55979497] [ 0. 0. 0. 1. ]] SLAMing on 257.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:105.27, Z:-2.81 [[ -0.72397378 0.27517979 0.63256466 134.68628051] [ -0.51873154 0.38730354 -0.76217686 105.26884509] [ -0.4547302 -0.8799273 -0.13765317 -2.81470468] [ 0. 0. 0. 1. ]] SLAMing on 257.447628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:134.61, Y:105.22, Z:-2.89 [[ -0.74033516 0.22068805 0.63498081 134.61223952] [ -0.54474034 0.35653884 -0.75903756 105.22150809] [ -0.39390584 -0.90784186 -0.14374055 -2.88975679] [ 0. 0. 0. 1. ]] SLAMing on 257.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:104.73, Z:-3.79 [[ -0.73896275 -0.26100945 -0.62113454 135.2805651 ] [ -0.50743914 -0.39085679 0.76794302 104.72584287] [ -0.44321504 0.88266927 0.1563822 -3.78891696] [ 0. 0. 0. 1. ]] SLAMing on 257.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:104.65, Z:-3.81 [[ -0.71862863 -0.31476592 -0.62007685 135.18967037] [ -0.47941444 -0.42165759 0.7696536 104.65428649] [ -0.50372084 0.85036892 0.15211188 -3.81116173] [ 0. 0. 0. 1. ]] SLAMing on 257.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:104.99, Z:-3.06 [[ -0.72638068 0.27260392 0.63091854 134.28683394] [ -0.51835214 0.38550147 -0.76334767 104.98787547] [ -0.4513116 -0.88151898 -0.138716 -3.06271969] [ 0. 0. 0. 1. ]] SLAMing on 257.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:104.51, Z:-3.94 [[ -0.71714087 -0.31627896 -0.62102866 134.9869456 ] [ -0.47964495 -0.42249978 0.76904789 104.51249128] [ -0.50561814 0.84938893 0.15129025 -3.94375311] [ 0. 0. 0. 1. ]] SLAMing on 257.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:104.84, Z:-3.20 [[ -0.72846797 0.27032699 0.62949006 134.07355427] [ -0.51828318 0.38343229 -0.76443589 104.842156 ] [ -0.44801446 -0.88312117 -0.13921221 -3.20321907] [ 0. 0. 0. 1. ]] SLAMing on 257.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:104.37, Z:-4.08 [[ -0.71679606 -0.31705676 -0.62103013 134.78530702] [ -0.47927465 -0.42287447 0.76907281 104.37274599] [ -0.50645752 0.84891236 0.15115748 -4.0766207 ] [ 0. 0. 0. 1. ]] SLAMing on 257.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:104.71, Z:-3.33 [[ -0.72874301 0.27206923 0.62842021 133.87954089] [ -0.51573599 0.38565994 -0.76503778 104.70909454] [ -0.45049974 -0.88161485 -0.14073109 -3.33376753] [ 0. 0. 0. 1. ]] SLAMing on 257.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:104.66, Z:-3.41 [[ -0.74700746 0.21967567 0.62747307 133.79943119] [ -0.5418809 0.34560976 -0.76610638 104.65835723] [ -0.38515575 -0.91230285 -0.13913501 -3.412986 ] [ 0. 0. 0. 1. ]] SLAMing on 257.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:104.61, Z:-3.48 [[ -0.76073272 0.16536128 0.62764749 133.72370314] [ -0.56350597 0.31161035 -0.76508824 104.6072812 ] [ -0.32209742 -0.93571077 -0.14387012 -3.48108902] [ 0. 0. 0. 1. ]] SLAMing on 257.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:104.08, Z:-4.38 [[ -0.75157666 -0.21582724 -0.62333869 134.36167089] [ -0.53546287 -0.35225809 0.76758957 104.08277196] [ -0.38524284 0.91067713 0.14918149 -4.37725231] [ 0. 0. 0. 1. ]] SLAMing on 257.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:104.66, Z:-4.42 [[-7.70192297e-01 5.53254815e-01 -3.17353014e-01 1.33812108e+02] [-5.10074141e-01 -8.33006000e-01 -2.14302064e-01 1.04657400e+02] [-3.82920614e-01 -3.18023303e-03 9.23775779e-01 -4.42005890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:104.65, Z:-4.42 [[-7.71326000e-01 5.51426076e-01 -3.17782133e-01 1.33810454e+02] [-5.08928421e-01 -8.34221325e-01 -2.12289056e-01 1.04654844e+02] [-3.82162353e-01 -2.01570959e-03 9.24093000e-01 -4.42315049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:104.65, Z:-4.43 [[-7.73091743e-01 5.49674836e-01 -3.16522878e-01 1.33803984e+02] [-5.07504553e-01 -8.35374628e-01 -2.11159561e-01 1.04650942e+02] [-3.80484278e-01 -2.60891100e-03 9.24783708e-01 -4.42828764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:104.65, Z:-4.43 [[-7.74089606e-01 5.48570518e-01 -3.15999476e-01 1.33797104e+02] [-5.06564624e-01 -8.36099232e-01 -2.10547751e-01 1.04647224e+02] [-3.79707208e-01 -2.90866948e-03 9.25102143e-01 -4.43215026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:104.65, Z:-4.43 [[-7.74786490e-01 5.47662504e-01 -3.15866548e-01 1.33798538e+02] [-5.05739492e-01 -8.36693630e-01 -2.10169780e-01 1.04648742e+02] [-3.79385637e-01 -3.09051858e-03 9.25233477e-01 -4.43160118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:104.64, Z:-4.44 [[-7.75579924e-01 5.46851678e-01 -3.15323682e-01 1.33788358e+02] [-5.05121495e-01 -8.37223224e-01 -2.09546054e-01 1.04641765e+02] [-3.78586921e-01 -3.24294270e-03 9.25560061e-01 -4.43725711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:104.63, Z:-4.44 [[-7.75930614e-01 5.46444377e-01 -3.15166980e-01 1.33777553e+02] [-5.04832406e-01 -8.37489277e-01 -2.09179236e-01 1.04634462e+02] [-3.78253784e-01 -3.20206827e-03 9.25696398e-01 -4.44265420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:104.64, Z:-4.44 [[-7.75100374e-01 5.47368302e-01 -3.15606324e-01 1.33785960e+02] [-5.05817535e-01 -8.36888051e-01 -2.09205668e-01 1.04639809e+02] [-3.78639713e-01 -2.51617871e-03 9.25540727e-01 -4.43728372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:104.64, Z:-4.44 [[-7.72904157e-01 5.50093649e-01 -3.16253287e-01 1.33785434e+02] [-5.08692758e-01 -8.35102437e-01 -2.09369523e-01 1.04637530e+02] [-3.79276735e-01 -9.46817699e-04 9.25282801e-01 -4.43871387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:104.63, Z:-4.44 [[-7.73197369e-01 5.49611947e-01 -3.16374044e-01 1.33781843e+02] [-5.08247014e-01 -8.35419542e-01 -2.09186903e-01 1.04634980e+02] [-3.79276681e-01 -9.46599907e-04 9.25282824e-01 -4.44066124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:104.63, Z:-4.44 [[-7.73517950e-01 5.49091359e-01 -3.16494329e-01 1.33777615e+02] [-5.07759057e-01 -8.35761776e-01 -2.09004772e-01 1.04632025e+02] [-3.79276577e-01 -9.66080587e-04 9.25282846e-01 -4.44292489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:104.63, Z:-4.44 [[-7.70173631e-01 5.53484779e-01 -3.16997126e-01 1.33775656e+02] [-5.12490129e-01 -8.32858022e-01 -2.09048754e-01 1.04630670e+02] [-3.79718903e-01 1.45405987e-03 9.25100773e-01 -4.44485813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:133.78, Y:104.63, Z:-4.45 [[-7.68412438e-01 5.56378204e-01 -3.16205026e-01 1.33776037e+02] [-5.15937745e-01 -8.30923362e-01 -2.08265719e-01 1.04632069e+02] [-3.78616650e-01 3.10813870e-03 9.25548363e-01 -4.44627837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:104.63, Z:-4.45 [[-7.66360334e-01 5.58584322e-01 -3.17293859e-01 1.33773451e+02] [-5.18142751e-01 -8.29435813e-01 -2.08720678e-01 1.04630859e+02] [-3.79762988e-01 4.44826488e-03 9.25073124e-01 -4.44510523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:133.77, Y:104.63, Z:-4.45 [[-7.61206477e-01 5.67549657e-01 -3.13770756e-01 1.33768144e+02] [-5.27136115e-01 -8.23322475e-01 -2.10398713e-01 1.04628453e+02] [-3.77746232e-01 5.24303443e-03 9.25894322e-01 -4.44647142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:104.62, Z:-4.45 [[-7.58592663e-01 5.69216028e-01 -3.17065111e-01 1.33767908e+02] [-5.29655660e-01 -8.22131933e-01 -2.08719829e-01 1.04624579e+02] [-3.79476025e-01 9.60199947e-03 9.25151743e-01 -4.44748819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:133.77, Y:104.63, Z:-4.45 [[-7.57039993e-01 5.70125633e-01 -3.19135099e-01 1.33770375e+02] [-5.30728755e-01 -8.21477347e-01 -2.08571229e-01 1.04625949e+02] [-3.81074059e-01 1.14774123e-02 9.24473272e-01 -4.44984002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:104.62, Z:-4.45 [[-7.56038196e-01 5.71118502e-01 -3.19734112e-01 1.33767902e+02] [-5.31643528e-01 -8.20780152e-01 -2.08985885e-01 1.04621756e+02] [-3.81787119e-01 1.19832598e-02 9.24172601e-01 -4.45038389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:104.62, Z:-4.45 [[-7.55396573e-01 5.72053853e-01 -3.19578483e-01 1.33763409e+02] [-5.32805200e-01 -8.20118084e-01 -2.08626335e-01 1.04616850e+02] [-3.81437591e-01 1.26774590e-02 9.24307658e-01 -4.45374119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:104.60, Z:-4.47 [[-7.54555810e-01 5.74923274e-01 -3.16399683e-01 1.33735850e+02] [-5.35451402e-01 -8.18130372e-01 -2.09653261e-01 1.04598103e+02] [-3.79390730e-01 1.12215675e-02 9.25168499e-01 -4.46511747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:104.61, Z:-4.46 [[-7.55356660e-01 5.73308159e-01 -3.17417818e-01 1.33754751e+02] [-5.34554074e-01 -8.19238875e-01 -2.07604450e-01 1.04607745e+02] [-3.79062341e-01 1.28615840e-02 9.25281752e-01 -4.45676396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:104.53, Z:-4.52 [[-7.55976007e-01 5.67975812e-01 -3.25428569e-01 1.33644154e+02] [-5.30535542e-01 -8.22833042e-01 -2.03661051e-01 1.04527436e+02] [-3.83447930e-01 1.86885541e-02 9.23373393e-01 -4.52014015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:104.48, Z:-4.55 [[-7.68149223e-01 5.58739135e-01 -3.12661718e-01 1.33559896e+02] [-5.16211836e-01 -8.29338555e-01 -2.13829140e-01 1.04476767e+02] [-3.78777126e-01 -2.85300810e-03 9.25483522e-01 -4.55163808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:133.98, Y:103.69, Z:-4.45 [[-7.70667904e-01 -3.82340587e-01 -5.09790798e-01 1.33977256e+02] [-4.76312217e-01 -1.85815572e-01 8.59417969e-01 1.03689192e+02] [-4.23317440e-01 9.05145430e-01 -3.89113949e-02 -4.44729778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:104.46, Z:-4.53 [[-7.45147500e-01 5.50367722e-01 -3.76630552e-01 1.33548807e+02] [-4.97515679e-01 -8.34838989e-01 -2.35631093e-01 1.04456345e+02] [-4.44109618e-01 1.17996848e-02 8.95894757e-01 -4.53472815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:133.15, Y:104.26, Z:-3.79 [[-7.69667838e-01 2.96583312e-01 5.65375767e-01 1.33147313e+02] [-4.93339435e-01 2.85820411e-01 -8.21536910e-01 1.04260847e+02] [-4.05250072e-01 -9.11232699e-01 -7.36705344e-02 -3.79201079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:104.21, Z:-3.87 [[-7.91639879e-01 2.42148840e-01 5.60954758e-01 1.33060202e+02] [-5.07306388e-01 2.51167293e-01 -8.24351393e-01 1.04209452e+02] [-3.40509222e-01 -9.37165370e-01 -7.59903923e-02 -3.86881612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:103.52, Z:-3.83 [[-7.65506412e-01 -5.56494744e-01 3.22976057e-01 1.33367828e+02] [-5.58902349e-01 8.23803577e-01 9.47408592e-02 1.03521365e+02] [-3.18791621e-01 -1.07987342e-01 -9.41653140e-01 -3.82521043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:104.27, Z:-4.75 [[-7.52994755e-01 6.06619982e-01 -2.54972736e-01 1.33186031e+02] [-5.75564290e-01 -7.94988137e-01 -1.91623616e-01 1.04266468e+02] [-3.18943015e-01 2.46162438e-03 9.47770697e-01 -4.75381634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:104.26, Z:-4.76 [[-7.54442628e-01 6.04550589e-01 -2.55606938e-01 1.33182686e+02] [-5.73288369e-01 -7.96564804e-01 -1.91898305e-01 1.04260430e+02] [-3.19619723e-01 1.76022276e-03 9.47544265e-01 -4.75620205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:104.25, Z:-4.76 [[-7.56926342e-01 6.01488660e-01 -2.55487584e-01 1.33178441e+02] [-5.70154111e-01 -7.98881086e-01 -1.91607151e-01 1.04252476e+02] [-3.19353727e-01 6.34796624e-04 9.47635370e-01 -4.75906398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:104.25, Z:-4.76 [[-7.58403017e-01 5.99664374e-01 -2.55396754e-01 1.33176058e+02] [-5.68320001e-01 -8.00251609e-01 -1.91336715e-01 1.04248805e+02] [-3.19119475e-01 3.67414695e-05 9.47714493e-01 -4.76027240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:104.25, Z:-4.76 [[-7.55492933e-01 5.99916470e-01 -2.63307154e-01 1.33193252e+02] [-5.70064091e-01 -8.00014733e-01 -1.87091848e-01 1.04252121e+02] [-3.22889084e-01 8.75538418e-03 9.46396314e-01 -4.76183811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:104.24, Z:-4.76 [[-7.61284675e-01 5.98532290e-01 -2.49408784e-01 1.33166405e+02] [-5.64763468e-01 -8.01033357e-01 -1.98463564e-01 1.04242265e+02] [-3.18571607e-01 -1.02302994e-02 9.47843591e-01 -4.76022116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:104.24, Z:-4.77 [[-7.62160003e-01 5.95134835e-01 -2.54807100e-01 1.33166752e+02] [-5.63924485e-01 -8.03624858e-01 -1.90200587e-01 1.04235459e+02] [-3.17964315e-01 -1.27131748e-03 9.48101829e-01 -4.76511886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:104.21, Z:-4.78 [[-7.61622889e-01 5.96227767e-01 -2.53856310e-01 1.33132537e+02] [-5.65382014e-01 -8.02815071e-01 -1.89291154e-01 1.04205735e+02] [-3.16660313e-01 -6.42684234e-04 9.48538788e-01 -4.78140910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:104.22, Z:-4.77 [[-7.65031309e-01 5.92330347e-01 -2.52728819e-01 1.33151308e+02] [-5.61630574e-01 -8.05692565e-01 -1.88230150e-01 1.04218634e+02] [-3.15116160e-01 -2.06172615e-03 9.49050870e-01 -4.77435630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:104.22, Z:-4.77 [[-7.65731790e-01 5.91610256e-01 -2.52293741e-01 1.33150113e+02] [-5.61209520e-01 -8.06222167e-01 -1.87215631e-01 1.04217175e+02] [-3.14163493e-01 -1.76731088e-03 9.49367250e-01 -4.77466142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:104.22, Z:-4.77 [[-7.65125072e-01 5.92940865e-01 -2.51007478e-01 1.33154998e+02] [-5.62992102e-01 -8.05245325e-01 -1.86064124e-01 1.04217776e+02] [-3.12447621e-01 -1.04709875e-03 9.49934412e-01 -4.77227578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:104.21, Z:-4.77 [[-7.66855311e-01 5.90254013e-01 -2.52057797e-01 1.33144198e+02] [-5.59971230e-01 -8.07215129e-01 -1.86643931e-01 1.04212914e+02] [-3.13632197e-01 -1.98377556e-03 9.49542474e-01 -4.77492363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:104.21, Z:-4.78 [[-7.67223723e-01 5.89663073e-01 -2.52319676e-01 1.33138937e+02] [-5.59349970e-01 -8.07646717e-01 -1.86639739e-01 1.04209402e+02] [-3.13839720e-01 -2.05943267e-03 9.49473743e-01 -4.77589098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:104.21, Z:-4.78 [[-7.66977399e-01 5.90193489e-01 -2.51827947e-01 1.33136008e+02] [-5.60094566e-01 -8.07260091e-01 -1.86078537e-01 1.04206556e+02] [-3.13112992e-01 -1.67056747e-03 9.49714411e-01 -4.77547930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:104.20, Z:-4.78 [[-7.66722330e-01 5.90671160e-01 -2.51484491e-01 1.33133257e+02] [-5.60753319e-01 -8.06911347e-01 -1.85606553e-01 1.04203988e+02] [-3.12558127e-01 -1.28792583e-03 9.49897762e-01 -4.77617002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.067628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.13, Y:104.20, Z:-4.78 [[-7.65277392e-01 5.93541495e-01 -2.49116452e-01 1.33133827e+02] [-5.64409985e-01 -8.04803387e-01 -1.83665125e-01 1.04204348e+02] [-3.09502637e-01 4.90446357e-05 9.50898583e-01 -4.77642958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:104.20, Z:-4.78 [[-7.64020296e-01 5.95200050e-01 -2.49017845e-01 1.33130735e+02] [-5.66241195e-01 -8.03577077e-01 -1.83397904e-01 1.04201514e+02] [-3.09263474e-01 8.84441042e-04 9.50975984e-01 -4.77687857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:104.20, Z:-4.78 [[-7.62943376e-01 5.96881115e-01 -2.48294865e-01 1.33127128e+02] [-5.68250399e-01 -8.02327803e-01 -1.82651526e-01 1.04199288e+02] [-3.08235120e-01 1.74088446e-03 9.51308614e-01 -4.77792008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:104.21, Z:-4.76 [[-7.61126058e-01 6.06231259e-01 -2.30587909e-01 1.33134721e+02] [-5.76267430e-01 -7.95217535e-01 -1.88533608e-01 1.04213131e+02] [-2.97662516e-01 -1.06175404e-02 9.54612117e-01 -4.76033661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:104.17, Z:-4.79 [[-7.59770675e-01 5.98855314e-01 -2.53220922e-01 1.33098195e+02] [-5.74501570e-01 -8.00688560e-01 -1.69840442e-01 1.04167863e+02] [-3.04460946e-01 1.64360299e-02 9.52383006e-01 -4.79406370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:104.18, Z:-4.78 [[-7.57554972e-01 6.05508764e-01 -2.43863899e-01 1.33109672e+02] [-5.78066610e-01 -7.95826469e-01 -1.80275417e-01 1.04182768e+02] [-3.03231690e-01 4.40103909e-03 9.52906697e-01 -4.78170202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:104.17, Z:-4.79 [[-7.58775812e-01 6.02448702e-01 -2.47618313e-01 1.33098365e+02] [-5.75659354e-01 -7.98121223e-01 -1.77816819e-01 1.04174450e+02] [-3.04754943e-01 7.62069730e-03 9.52400310e-01 -4.78895615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:104.17, Z:-4.79 [[-7.57724211e-01 6.04291114e-01 -2.46345836e-01 1.33093536e+02] [-5.77398523e-01 -7.96732352e-01 -1.78405451e-01 1.04171223e+02] [-3.04080525e-01 7.05759241e-03 9.52620189e-01 -4.78987506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:104.17, Z:-4.79 [[-7.56651075e-01 6.05757799e-01 -2.46041949e-01 1.33093051e+02] [-5.79074783e-01 -7.95610767e-01 -1.77977254e-01 1.04170966e+02] [-3.03564733e-01 7.81000721e-03 9.52778808e-01 -4.78918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:104.18, Z:-4.79 [[-7.48087565e-01 6.12774363e-01 -2.54700954e-01 1.33113262e+02] [-5.87774659e-01 -7.90022128e-01 -1.74315771e-01 1.04175638e+02] [-3.08035625e-01 1.93033057e-02 9.51178972e-01 -4.78844049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:104.18, Z:-4.79 [[-7.44497471e-01 6.17656290e-01 -2.53424986e-01 1.33116484e+02] [-5.90523201e-01 -7.86315776e-01 -1.81631084e-01 1.04179488e+02] [-3.11457646e-01 1.44294509e-02 9.50150475e-01 -4.78619781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:104.18, Z:-4.78 [[-7.45811424e-01 6.21866826e-01 -2.38845075e-01 1.33104148e+02] [-5.91824296e-01 -7.83122292e-01 -1.90954130e-01 1.04177772e+02] [-3.05792942e-01 -1.06145304e-03 9.52097448e-01 -4.77918663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.427628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.11, Y:104.17, Z:-4.79 [[-7.43076562e-01 6.18418072e-01 -2.55727026e-01 1.33113774e+02] [-5.92878754e-01 -7.85592936e-01 -1.77026897e-01 1.04169166e+02] [-3.10373977e-01 2.00705821e-02 9.50402634e-01 -4.79127872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:104.16, Z:-4.78 [[-7.50166111e-01 6.17197863e-01 -2.37313305e-01 1.33083161e+02] [-5.86967001e-01 -7.86798500e-01 -1.90834642e-01 1.04163783e+02] [-3.04500485e-01 -3.86260222e-03 9.52504349e-01 -4.78421356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48762800000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.08, Y:104.15, Z:-4.79 [[-7.51106505e-01 6.12247034e-01 -2.46966774e-01 1.33083261e+02] [-5.86051602e-01 -7.90584554e-01 -1.77537556e-01 1.04152979e+02] [-3.03944959e-01 1.13856604e-02 9.52621556e-01 -4.79198500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:133.08, Y:104.15, Z:-4.79 [[-7.52032407e-01 6.10909807e-01 -2.47460031e-01 1.33083863e+02] [-5.84596663e-01 -7.91623440e-01 -1.77705010e-01 1.04152235e+02] [-3.04456894e-01 1.10243817e-02 9.52462316e-01 -4.79159719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:104.15, Z:-4.79 [[-7.53856122e-01 6.08580622e-01 -2.47650105e-01 1.33077389e+02] [-5.82162888e-01 -7.93425898e-01 -1.77656172e-01 1.04145461e+02] [-3.04610110e-01 1.02455073e-02 9.52422023e-01 -4.79240403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:104.14, Z:-4.80 [[-7.58197378e-01 6.02958610e-01 -2.48148444e-01 1.33073078e+02] [-5.76210285e-01 -7.97730442e-01 -1.77785964e-01 1.04135648e+02] [-3.05153146e-01 8.18883379e-03 9.52268082e-01 -4.79581572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:104.13, Z:-4.80 [[-7.61158130e-01 5.99151074e-01 -2.48306850e-01 1.33067175e+02] [-5.72229904e-01 -8.00606928e-01 -1.77711798e-01 1.04127485e+02] [-3.05272399e-01 6.82182526e-03 9.52240634e-01 -4.79949137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:104.12, Z:-4.80 [[-7.67034704e-01 5.91365887e-01 -2.48885818e-01 1.33064340e+02] [-5.63974596e-01 -8.06394022e-01 -1.77936328e-01 1.04120662e+02] [-3.05925511e-01 3.88194019e-03 9.52047537e-01 -4.80166651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:104.12, Z:-4.80 [[-7.70127857e-01 5.87327382e-01 -2.48896827e-01 1.33061271e+02] [-5.59781704e-01 -8.09345844e-01 -1.77774430e-01 1.04117229e+02] [-3.05855403e-01 2.41884893e-03 9.52074903e-01 -4.80291677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:104.12, Z:-4.81 [[-7.63970153e-01 5.86797952e-01 -2.68361265e-01 1.33087835e+02] [-5.61637340e-01 -8.09487230e-01 -1.71154674e-01 1.04118197e+02] [-3.17668229e-01 1.99646444e-02 9.47991724e-01 -4.81149814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:104.11, Z:-4.80 [[-7.78270066e-01 5.82022057e-01 -2.35682053e-01 1.33043129e+02] [-5.48909348e-01 -8.12869099e-01 -1.94787976e-01 1.04111823e+02] [-3.04949556e-01 -2.22295692e-02 9.52109035e-01 -4.80161371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:104.10, Z:-4.81 [[-7.80746335e-01 5.73452869e-01 -2.48167215e-01 1.33046484e+02] [-5.45548451e-01 -8.19234458e-01 -1.76725184e-01 1.04100577e+02] [-3.04650698e-01 -2.59030028e-03 9.52460625e-01 -4.81166428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:104.10, Z:-4.81 [[-7.82661348e-01 5.70877065e-01 -2.48073761e-01 1.33044774e+02] [-5.42922179e-01 -8.21028322e-01 -1.76487968e-01 1.04098035e+02] [-3.04428517e-01 -3.44556421e-03 9.52528953e-01 -4.81359949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:104.10, Z:-4.82 [[-7.84081620e-01 5.69005657e-01 -2.47888232e-01 1.33041310e+02] [-5.41056682e-01 -8.22323771e-01 -1.76185362e-01 1.04095081e+02] [-3.04094854e-01 -4.02211960e-03 9.52633268e-01 -4.81560687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:104.09, Z:-4.82 [[-7.85572183e-01 5.67038061e-01 -2.47677580e-01 1.33034936e+02] [-5.39095959e-01 -8.23678555e-01 -1.75866952e-01 1.04094670e+02] [-3.03729967e-01 -4.63420222e-03 9.52746887e-01 -4.81658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:104.09, Z:-4.82 [[-7.85936172e-01 5.66573515e-01 -2.47585916e-01 1.33029106e+02] [-5.38696918e-01 -8.23998186e-01 -1.75592196e-01 1.04093305e+02] [-3.03496233e-01 -4.63048776e-03 9.52821387e-01 -4.81788484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:104.09, Z:-4.82 [[-7.85514745e-01 5.67121523e-01 -2.47668658e-01 1.33022711e+02] [-5.39319500e-01 -8.23623224e-01 -1.75440195e-01 1.04093402e+02] [-3.03481569e-01 -4.23832349e-03 9.52827882e-01 -4.81879515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:104.09, Z:-4.82 [[-7.85156488e-01 5.67401436e-01 -2.48163048e-01 1.33021170e+02] [-5.39560247e-01 -8.23431734e-01 -1.75598744e-01 1.04093933e+02] [-3.03980309e-01 -3.97357789e-03 9.52670028e-01 -4.81948081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:104.09, Z:-4.82 [[-7.85403707e-01 5.67023950e-01 -2.48243542e-01 1.33018775e+02] [-5.39200339e-01 -8.23691721e-01 -1.75484879e-01 1.04092082e+02] [-3.03980280e-01 -3.97347264e-03 9.52670038e-01 -4.82054460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:104.09, Z:-4.82 [[-7.85243148e-01 5.66514745e-01 -2.49908468e-01 1.33012860e+02] [-5.39485359e-01 -8.24051057e-01 -1.72902873e-01 1.04087950e+02] [-3.03889364e-01 -9.48836332e-04 9.52706856e-01 -4.82447681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:103.97, Z:-4.11 [[-7.82854972e-01 1.75751889e-01 5.96866288e-01 1.32674682e+02] [-5.72856091e-01 1.70812686e-01 -8.01660106e-01 1.03966681e+02] [-2.42845612e-01 -9.69502089e-01 -3.30410204e-02 -4.10735591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:103.30, Z:-4.82 [[-7.80986714e-01 -2.42832594e-01 -5.75406017e-01 1.33248653e+02] [-5.33654049e-01 -2.19166974e-01 8.16810378e-01 1.03296045e+02] [-3.24458178e-01 9.44985804e-01 4.15778976e-02 -4.81622579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:103.24, Z:-4.82 [[-7.62956314e-01 -2.93525506e-01 -5.75969132e-01 1.33164542e+02] [-5.18555010e-01 -2.54121877e-01 8.16408460e-01 1.03235177e+02] [-3.86003063e-01 9.21555668e-01 4.16747690e-02 -4.82197811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:103.17, Z:-4.84 [[-7.43109985e-01 -3.41127352e-01 -5.75690612e-01 1.33074796e+02] [-5.01293911e-01 -2.86102620e-01 8.16608661e-01 1.03170146e+02] [-4.43274142e-01 8.95420248e-01 4.16006490e-02 -4.84122488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:103.65, Z:-4.23 [[-7.48670917e-01 2.90779294e-01 5.95767791e-01 1.32229930e+02] [-5.41935022e-01 2.49167473e-01 -8.02634414e-01 1.03651499e+02] [-3.81835423e-01 -9.23776473e-01 -2.89609576e-02 -4.23343118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:103.60, Z:-4.30 [[-7.65525307e-01 2.40586477e-01 5.96732061e-01 1.32156657e+02] [-5.57324735e-01 2.15479100e-01 -8.01846554e-01 1.03600427e+02] [-3.21496725e-01 -9.46407367e-01 -3.08699096e-02 -4.29904717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:103.57, Z:-4.36 [[-7.84487186e-01 2.02543816e-01 5.86136382e-01 1.32093250e+02] [-5.57344669e-01 1.84177097e-01 -8.09596021e-01 1.03572389e+02] [-2.71931564e-01 -9.61797692e-01 -3.15978565e-02 -4.35807622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:103.16, Z:-4.21 [[ -0.76523557 -0.3206689 0.55819887 132.18198227] [ -0.60354455 0.65901266 -0.44881655 103.15735126] [ -0.22393861 -0.68034827 -0.6978379 -4.20966929] [ 0. 0. 0. 1. ]] SLAMing on 260.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:103.55, Z:-5.23 [[-7.60203387e-01 6.32113574e-01 -1.50077447e-01 1.32145244e+02] [-6.20920273e-01 -7.74869453e-01 -1.18470861e-01 1.03550157e+02] [-1.91177469e-01 3.12417930e-03 9.81550516e-01 -5.22556517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:103.55, Z:-5.23 [[-7.58754211e-01 6.33860442e-01 -1.50043282e-01 1.32139372e+02] [-6.22731720e-01 -7.73438745e-01 -1.18311929e-01 1.03548646e+02] [-1.91042539e-01 3.66703628e-03 9.81574908e-01 -5.22697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:103.55, Z:-5.23 [[-7.55553271e-01 6.37589695e-01 -1.50394933e-01 1.32136711e+02] [-6.26504146e-01 -7.70361720e-01 -1.18470993e-01 1.03553090e+02] [-1.91394384e-01 4.71190317e-03 9.81501904e-01 -5.22738006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:103.55, Z:-5.23 [[-7.54192695e-01 6.39174276e-01 -1.50497919e-01 1.32133101e+02] [-6.28130275e-01 -7.69044206e-01 -1.18420296e-01 1.03553554e+02] [-1.91430759e-01 5.22057684e-03 9.81492236e-01 -5.22762362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:103.56, Z:-5.23 [[-7.52403396e-01 6.41382188e-01 -1.50060046e-01 1.32130762e+02] [-6.30469245e-01 -7.67199184e-01 -1.17957383e-01 1.03557420e+02] [-1.90781710e-01 5.85670852e-03 9.81615015e-01 -5.22777961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:103.56, Z:-5.23 [[-7.52007358e-01 6.41899368e-01 -1.49833689e-01 1.32126383e+02] [-6.31049975e-01 -7.66764944e-01 -1.17675188e-01 1.03555824e+02] [-1.90422849e-01 6.05993895e-03 9.81683460e-01 -5.22905796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:103.55, Z:-5.23 [[-7.51761688e-01 6.42175625e-01 -1.49882720e-01 1.32122074e+02] [-6.31347416e-01 -7.66532273e-01 -1.17595560e-01 1.03554783e+02] [-1.90406945e-01 6.22423116e-03 9.81685517e-01 -5.22962930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:103.57, Z:-5.23 [[-7.43471108e-01 6.48621540e-01 -1.62913501e-01 1.32149681e+02] [-6.38303314e-01 -7.60913322e-01 -1.16532382e-01 1.03568836e+02] [-1.99548467e-01 1.73497684e-02 9.79734349e-01 -5.23328377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:103.56, Z:-5.22 [[-7.50930269e-01 6.44263635e-01 -1.45010689e-01 1.32112161e+02] [-6.31331917e-01 -7.64787347e-01 -1.28531418e-01 1.03559643e+02] [-1.93710458e-01 -4.96825624e-03 9.81046163e-01 -5.22415143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:103.55, Z:-5.23 [[-7.51760413e-01 6.41338780e-01 -1.53430281e-01 1.32112768e+02] [-6.30030222e-01 -7.67231155e-01 -1.20076120e-01 1.03553495e+02] [-1.94725964e-01 6.39724050e-03 9.80836823e-01 -5.22984223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:103.55, Z:-5.23 [[-7.54574652e-01 6.37567199e-01 -1.55322763e-01 1.32105456e+02] [-6.25917839e-01 -7.70374562e-01 -1.21449140e-01 1.03548039e+02] [-1.97088693e-01 5.57684580e-03 9.80369801e-01 -5.23188035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.10, Y:103.55, Z:-5.23 [[-7.56369757e-01 6.35214007e-01 -1.56230458e-01 1.32101419e+02] [-6.23409868e-01 -7.72319196e-01 -1.21996701e-01 1.03545577e+02] [-1.98153795e-01 5.12099431e-03 9.80157563e-01 -5.23394602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:103.54, Z:-5.23 [[-7.58810612e-01 6.32133015e-01 -1.56889473e-01 1.32096220e+02] [-6.20187770e-01 -7.74847220e-01 -1.22388377e-01 1.03542357e+02] [-1.98931106e-01 4.43133303e-03 9.80003458e-01 -5.23254206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:103.54, Z:-5.23 [[-7.60954581e-01 6.29313649e-01 -1.57836804e-01 1.32091924e+02] [-6.17187532e-01 -7.77142057e-01 -1.23003146e-01 1.03539280e+02] [-2.00069177e-01 3.81510011e-03 9.79774346e-01 -5.23355372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:103.53, Z:-5.24 [[-7.65308135e-01 6.23748910e-01 -1.58873396e-01 1.32085796e+02] [-6.11365100e-01 -7.81620904e-01 -1.23699139e-01 1.03532955e+02] [-2.01335970e-01 2.46169270e-03 9.79519151e-01 -5.23549444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:103.53, Z:-5.24 [[-7.67283573e-01 6.21120735e-01 -1.59640067e-01 1.32082533e+02] [-6.08585424e-01 -7.83712636e-01 -1.24170390e-01 1.03529303e+02] [-2.02236742e-01 1.88071751e-03 9.79334858e-01 -5.23692824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:103.52, Z:-5.24 [[-7.69492591e-01 6.18316301e-01 -1.59894039e-01 1.32077195e+02] [-6.05703787e-01 -7.85928386e-01 -1.24255762e-01 1.03524458e+02] [-2.02494627e-01 1.23453682e-03 9.79282596e-01 -5.23855416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:103.52, Z:-5.24 [[-7.72457720e-01 6.14468300e-01 -1.60429982e-01 1.32072585e+02] [-6.01719443e-01 -7.88941435e-01 -1.24519576e-01 1.03520017e+02] [-2.03083192e-01 3.47731420e-04 9.79161425e-01 -5.24015941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:103.52, Z:-5.24 [[-7.73767648e-01 6.12770435e-01 -1.60611395e-01 1.32067942e+02] [-5.99982361e-01 -7.90260966e-01 -1.24534224e-01 1.03516833e+02] [-2.03235807e-01 3.45048922e-06 9.79129821e-01 -5.24118809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:103.51, Z:-5.24 [[-7.74875348e-01 6.11337768e-01 -1.60730609e-01 1.32061347e+02] [-5.98526148e-01 -7.91369736e-01 -1.24500563e-01 1.03512966e+02] [-2.03309236e-01 -2.70944733e-04 9.79114539e-01 -5.24242765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:103.51, Z:-5.24 [[-7.76141531e-01 6.09972683e-01 -1.59805037e-01 1.32057276e+02] [-5.97312258e-01 -7.92422282e-01 -1.23632491e-01 1.03511726e+02] [-2.02045514e-01 -5.02803343e-04 9.79376004e-01 -5.24378413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:103.51, Z:-5.25 [[-7.76801338e-01 6.09305522e-01 -1.59142901e-01 1.32054000e+02] [-5.96762595e-01 -7.92935340e-01 -1.22995741e-01 1.03510203e+02] [-2.01132014e-01 -5.72725657e-04 9.79563977e-01 -5.24539110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:103.51, Z:-5.25 [[-7.76964147e-01 6.09276815e-01 -1.58456548e-01 1.32051197e+02] [-5.96867747e-01 -7.92957461e-01 -1.22341153e-01 1.03509108e+02] [-2.00188931e-01 -4.77087001e-04 9.79757197e-01 -5.24697916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.05, Y:103.51, Z:-5.25 [[-7.76723798e-01 6.09993019e-01 -1.56871469e-01 1.32046476e+02] [-5.97869944e-01 -7.92406762e-01 -1.21008486e-01 1.03510006e+02] [-1.98120345e-01 -2.01434248e-04 9.80177682e-01 -5.25107398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:103.51, Z:-5.25 [[-7.76933642e-01 6.09694321e-01 -1.56993471e-01 1.32041137e+02] [-5.97571061e-01 -7.92636615e-01 -1.20979439e-01 1.03509593e+02] [-1.98199250e-01 -1.78240665e-04 9.80161734e-01 -5.24931997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:103.51, Z:-5.25 [[-7.76854677e-01 6.09894042e-01 -1.56608011e-01 1.32036302e+02] [-5.97859530e-01 -7.92482970e-01 -1.20560049e-01 1.03509795e+02] [-1.97638037e-01 -2.80463151e-05 9.80275066e-01 -5.24978192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:103.51, Z:-5.25 [[-7.76560935e-01 6.10250203e-01 -1.56677386e-01 1.32031381e+02] [-5.98236835e-01 -7.92208725e-01 -1.20490769e-01 1.03514023e+02] [-1.97650708e-01 1.61759558e-04 9.80272499e-01 -5.24930077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:103.51, Z:-5.25 [[-7.76776823e-01 6.10099485e-01 -1.56193428e-01 1.32020508e+02] [-5.98182479e-01 -7.92324788e-01 -1.19996466e-01 1.03508873e+02] [-1.96965707e-01 2.21698161e-04 9.80410354e-01 -5.25130905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:103.51, Z:-5.25 [[-7.77544262e-01 6.09113981e-01 -1.56221249e-01 1.32023478e+02] [-5.97194913e-01 -7.93082691e-01 -1.19908641e-01 1.03512156e+02] [-1.96934398e-01 6.02592889e-05 9.80416666e-01 -5.25025530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:103.51, Z:-5.25 [[-7.78821193e-01 6.07419933e-01 -1.56456299e-01 1.32018939e+02] [-5.95455453e-01 -7.94380861e-01 -1.19966044e-01 1.03508306e+02] [-1.97155655e-01 -2.69340970e-04 9.80372161e-01 -5.25154853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:103.50, Z:-5.25 [[-7.80540378e-01 6.05255263e-01 -1.56277912e-01 1.32013765e+02] [-5.93297096e-01 -7.96031116e-01 -1.19720584e-01 1.03503807e+02] [-1.96863594e-01 -7.27518181e-04 9.80430618e-01 -5.25251630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:103.50, Z:-5.26 [[-7.77212296e-01 6.07190898e-01 -1.65106817e-01 1.32025556e+02] [-5.96256756e-01 -7.94504829e-01 -1.15065015e-01 1.03504437e+02] [-2.01044593e-01 9.01611096e-03 9.79540597e-01 -5.25761670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:103.51, Z:-5.25 [[-7.78321225e-01 6.10194592e-01 -1.47914266e-01 1.32011458e+02] [-5.96865202e-01 -7.92177995e-01 -1.27302614e-01 1.03505754e+02] [-1.94853793e-01 -1.07974482e-02 9.80772866e-01 -5.24709997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:103.50, Z:-5.25 [[-7.78866500e-01 6.07639458e-01 -1.55374596e-01 1.32006976e+02] [-5.95961959e-01 -7.94212958e-01 -1.18554295e-01 1.03497860e+02] [-1.95438785e-01 2.59380206e-04 9.80715868e-01 -5.25297102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:103.50, Z:-5.25 [[-7.77849024e-01 6.08999390e-01 -1.55147152e-01 1.32004615e+02] [-5.97383504e-01 -7.93170461e-01 -1.18378917e-01 1.03496115e+02] [-1.95150827e-01 6.01424741e-04 9.80773059e-01 -5.25344075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:103.49, Z:-5.26 [[-7.76901893e-01 6.10227143e-01 -1.55068637e-01 1.31993980e+02] [-5.98672626e-01 -7.92225858e-01 -1.18191694e-01 1.03487469e+02] [-1.94973164e-01 1.01199708e-03 9.80808055e-01 -5.25604410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:103.38, Z:-5.30 [[-7.74391275e-01 6.12513196e-01 -1.58574079e-01 1.31853130e+02] [-6.01933574e-01 -7.90424950e-01 -1.13597412e-01 1.03375631e+02] [-1.94920822e-01 7.48221735e-03 9.80790441e-01 -5.29647363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:103.28, Z:-4.40 [[-7.75297857e-01 2.57801777e-02 6.31069422e-01 1.31787518e+02] [-6.12783656e-01 2.11340684e-01 -7.61466550e-01 1.03279655e+02] [-1.53001386e-01 -9.77072412e-01 -1.48054308e-01 -4.39626324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:103.23, Z:-4.44 [[-7.74850410e-01 -2.64578313e-02 6.31590710e-01 1.31715048e+02] [-6.25849154e-01 1.72763132e-01 -7.60569350e-01 1.03228366e+02] [-8.89925737e-02 -9.84607985e-01 -1.50424195e-01 -4.43871553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:102.62, Z:-5.38 [[-7.94460209e-01 1.04473615e-03 -6.07315309e-01 1.32168648e+02] [-5.95827388e-01 -1.94929929e-01 7.79096943e-01 1.02620392e+02] [-1.17569979e-01 9.80816615e-01 1.55486555e-01 -5.38381104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:102.39, Z:-4.53 [[-7.50819199e-01 -6.59241939e-01 4.08729277e-02 1.31987680e+02] [-6.41358875e-01 7.42447130e-01 1.93471064e-01 1.02385091e+02] [-1.57890227e-01 1.19047574e-01 -9.80254228e-01 -4.53456284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:103.18, Z:-5.36 [[-7.23013838e-01 6.83687634e-01 -9.91070549e-02 1.31541982e+02] [-6.77901004e-01 -7.29768723e-01 -8.88135071e-02 1.03182675e+02] [-1.33045926e-01 2.97137742e-03 9.91105420e-01 -5.35889001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:103.18, Z:-5.36 [[-7.23306286e-01 6.83438736e-01 -9.86889616e-02 1.31536203e+02] [-6.77713088e-01 -7.30001740e-01 -8.83313640e-02 1.03177126e+02] [-1.32412189e-01 2.99217010e-03 9.91190223e-01 -5.35927251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:103.18, Z:-5.35 [[-7.24649600e-01 6.83788693e-01 -8.55335004e-02 1.31537395e+02] [-6.77478089e-01 -7.29617269e-01 -9.31776801e-02 1.03183329e+02] [-1.26120563e-01 -9.57409625e-03 9.91968719e-01 -5.34918540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:102.46, Z:-5.32 [[-7.41116357e-01 -1.30400428e-01 -6.58591128e-01 1.32026616e+02] [-6.42908776e-01 -1.44779434e-01 7.52135108e-01 1.02463178e+02] [-1.93429191e-01 9.80833647e-01 2.34628274e-02 -5.32498987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:102.39, Z:-5.32 [[-7.28292580e-01 -1.81962678e-01 -6.60665953e-01 1.31942468e+02] [-6.32915555e-01 -1.90969394e-01 7.50299001e-01 1.02388062e+02] [-2.62693393e-01 9.64582954e-01 2.39145832e-02 -5.31660892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:102.82, Z:-4.56 [[-7.21090856e-01 1.56532862e-01 6.74926248e-01 1.31110516e+02] [-6.53862381e-01 1.68383647e-01 -7.37638756e-01 1.02819114e+02] [-2.29111248e-01 -9.73213446e-01 -1.90689582e-02 -4.56098985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:102.21, Z:-5.38 [[-7.25797446e-01 -1.84581561e-01 -6.62682213e-01 1.31743836e+02] [-6.34252269e-01 -1.93431190e-01 7.48537531e-01 1.02212115e+02] [-2.66349635e-01 9.63594325e-01 2.33205895e-02 -5.38266556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:102.64, Z:-4.63 [[-7.24335744e-01 1.51689039e-01 6.72553466e-01 1.30915969e+02] [-6.52455788e-01 1.64422285e-01 -7.39774802e-01 1.02644577e+02] [-2.22798506e-01 -9.74656733e-01 -2.01265471e-02 -4.62897821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:102.04, Z:-5.45 [[-7.22290428e-01 -1.89204425e-01 -6.65205399e-01 1.31548440e+02] [-6.35490193e-01 -1.97904093e-01 7.46315070e-01 1.02039796e+02] [-2.72852985e-01 9.61787739e-01 2.27066749e-02 -5.44880290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:102.47, Z:-4.70 [[-7.26484116e-01 1.48189465e-01 6.71014688e-01 1.30718675e+02] [-6.51685812e-01 1.61208930e-01 -7.41159419e-01 1.02468390e+02] [-2.18005577e-01 -9.75731297e-01 -2.05427555e-02 -4.69583239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:102.40, Z:-4.75 [[-7.35345709e-01 9.63574824e-02 6.70806920e-01 1.30647030e+02] [-6.61143325e-01 1.15408554e-01 -7.41330135e-01 1.02404985e+02] [-1.48849562e-01 -9.88633451e-01 -2.11590786e-02 -4.74804561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:102.34, Z:-4.79 [[-7.40454089e-01 4.23619201e-02 6.70770609e-01 1.30571925e+02] [-6.67720178e-01 6.74745852e-02 -7.41348059e-01 1.02340050e+02] [-7.66648959e-02 -9.96821272e-01 -2.16759237e-02 -4.79466112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:102.28, Z:-4.83 [[-7.41493167e-01 -9.76625153e-03 6.70889338e-01 1.30497745e+02] [-6.70925848e-01 2.09423413e-02 -7.41228659e-01 1.02275002e+02] [-6.81096794e-03 -9.99732984e-01 -2.20810335e-02 -4.83289406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:101.57, Z:-5.65 [[-7.44357224e-01 -4.87554468e-02 -6.65999422e-01 1.31021991e+02] [-6.62306894e-01 -7.35455579e-02 7.45614263e-01 1.01571449e+02] [-8.53340555e-02 9.96099371e-01 2.24530988e-02 -5.64574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:101.51, Z:-5.62 [[-7.39441823e-01 -1.00284169e-01 -6.65709303e-01 1.30952627e+02] [-6.55288889e-01 -1.19490459e-01 7.45867617e-01 1.01507459e+02] [-1.54344624e-01 9.87757620e-01 2.26411414e-02 -5.62250001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:101.44, Z:-5.61 [[-7.31227361e-01 -1.51044088e-01 -6.65200894e-01 1.30876388e+02] [-6.44977844e-01 -1.64359394e-01 7.46317339e-01 1.01437365e+02] [-2.22058838e-01 9.74767497e-01 2.27639956e-02 -5.60728412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:101.91, Z:-4.84 [[-7.34569777e-01 8.96853664e-02 6.72579942e-01 1.30086032e+02] [-6.64026511e-01 1.08853143e-01 -7.39743054e-01 1.01908525e+02] [-1.39556568e-01 -9.90003802e-01 -2.04067681e-02 -4.83706854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:101.27, Z:-5.66 [[-7.32904039e-01 -1.49556294e-01 -6.63690127e-01 1.30687894e+02] [-6.43845844e-01 -1.62709021e-01 7.47655204e-01 1.01267431e+02] [-2.19804912e-01 9.75273649e-01 2.29589001e-02 -5.65662798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:101.20, Z:-5.65 [[-7.22941754e-01 -1.94288815e-01 -6.63028715e-01 1.30610696e+02] [-6.31977722e-01 -2.01858789e-01 7.48236052e-01 1.01196308e+02] [-2.79212069e-01 9.59950460e-01 2.31459439e-02 -5.65109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:101.12, Z:-5.65 [[-7.09378057e-01 -2.39863833e-01 -6.62757960e-01 1.30526772e+02] [-6.17583659e-01 -2.41618942e-01 7.48472251e-01 1.01120628e+02] [-3.39666300e-01 9.40258277e-01 2.32631919e-02 -5.65383498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:101.53, Z:-4.91 [[-7.09616555e-01 2.05033615e-01 6.74096107e-01 1.29655931e+02] [-6.40854266e-01 2.09802311e-01 -7.38436727e-01 1.01526254e+02] [-2.92831273e-01 -9.56004292e-01 -1.74825262e-02 -4.91347488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:101.46, Z:-4.97 [[-7.20698104e-01 1.58756163e-01 6.74826440e-01 1.29583014e+02] [-6.53433266e-01 1.69579371e-01 -7.37745081e-01 1.01461738e+02] [-2.31558222e-01 -9.72645525e-01 -1.84789732e-02 -4.97068846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:101.40, Z:-5.02 [[-7.29426189e-01 1.11009140e-01 6.74992153e-01 1.29510807e+02] [-6.63119957e-01 1.27526595e-01 -7.37569583e-01 1.01397326e+02] [-1.67956415e-01 -9.85603337e-01 -1.94088619e-02 -5.02212769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:100.75, Z:-5.86 [[-7.37937521e-01 -1.29912981e-01 -6.62246807e-01 1.30111125e+02] [-6.46695256e-01 -1.44450693e-01 7.48945421e-01 1.00754776e+02] [-1.92959742e-01 9.80946795e-01 2.25814780e-02 -5.86465867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:100.68, Z:-5.86 [[-7.27708197e-01 -1.78707784e-01 -6.62196578e-01 1.30026925e+02] [-6.35512482e-01 -1.87485880e-01 7.48981262e-01 1.00678910e+02] [-2.58001290e-01 9.65873994e-01 2.28639847e-02 -5.85812833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:101.11, Z:-5.09 [[-7.20332127e-01 1.62493801e-01 6.74327362e-01 1.29191294e+02] [-6.52159956e-01 1.72446293e-01 -7.38207063e-01 1.01112824e+02] [-2.36239325e-01 -9.71523567e-01 -1.82466546e-02 -5.08748141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:100.50, Z:-5.92 [[-7.28350550e-01 -1.78107754e-01 -6.61651800e-01 1.29830711e+02] [-6.35121674e-01 -1.86903968e-01 7.49458048e-01 1.00503602e+02] [-2.57149636e-01 9.66097580e-01 2.30115133e-02 -5.92384167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:100.94, Z:-5.16 [[-7.20503587e-01 1.61943107e-01 6.74276658e-01 1.28992111e+02] [-6.52187788e-01 1.72161572e-01 -7.38248930e-01 1.00937229e+02] [-2.35638855e-01 -9.71666004e-01 -1.84257132e-02 -5.15720173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:100.33, Z:-5.99 [[-7.27737621e-01 -1.79526116e-01 -6.61942844e-01 1.29633351e+02] [-6.35022501e-01 -1.88265711e-01 7.49201205e-01 1.00327364e+02] [-2.59122322e-01 9.65570503e-01 2.30049174e-02 -5.98898412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:100.76, Z:-5.23 [[-7.21058130e-01 1.60136569e-01 6.74115311e-01 1.28795486e+02] [-6.52434029e-01 1.70601397e-01 -7.38393528e-01 1.00762060e+02] [-2.33248819e-01 -9.72240424e-01 -1.85349774e-02 -5.22651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:100.15, Z:-6.05 [[-7.26403490e-01 -1.82766562e-01 -6.62521209e-01 1.29434642e+02] [-6.34797049e-01 -1.91006910e-01 7.48698248e-01 1.00150420e+02] [-2.63383134e-01 9.64423529e-01 2.27284121e-02 -6.05299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.427628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.35, Y:100.07, Z:-6.05 [[-7.12151865e-01 -2.32910019e-01 -6.62263273e-01 1.29346819e+02] [-6.19659211e-01 -2.34818181e-01 7.48921147e-01 1.00070801e+02] [-3.29942696e-01 9.43723129e-01 2.29013667e-02 -6.05476067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:100.48, Z:-5.33 [[-7.10488363e-01 2.03957070e-01 6.73504120e-01 1.28473354e+02] [-6.40615375e-01 2.08635124e-01 -7.38974510e-01 1.00475795e+02] [-2.91235691e-01 -9.56489884e-01 -1.75747931e-02 -5.32589071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:99.90, Z:-6.14 [[-7.10452777e-01 -2.38972914e-01 -6.61928091e-01 1.29148627e+02] [-6.17065781e-01 -2.40692072e-01 7.49197670e-01 9.98950593e+01] [-3.38358794e-01 9.40722740e-01 2.35383435e-02 -6.13865014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:99.82, Z:-6.15 [[-6.91717145e-01 -2.88689784e-01 -6.61955889e-01 1.29061398e+02] [-5.98442569e-01 -2.83919644e-01 7.49170292e-01 9.98158262e+01] [-4.04220091e-01 9.14356519e-01 2.36278296e-02 -6.14847281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:100.19, Z:-5.46 [[-6.97746757e-01 2.43426580e-01 6.73715788e-01 1.28148836e+02] [-6.28493614e-01 2.43246184e-01 -7.38801104e-01 1.00189777e+02] [-3.43722621e-01 -9.38922145e-01 -1.67321849e-02 -5.45608057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:100.13, Z:-5.52 [[-7.13795155e-01 1.91356906e-01 6.73705434e-01 1.28077550e+02] [-6.44275073e-01 1.97757544e-01 -7.38783855e-01 1.00127121e+02] [-2.74601724e-01 -9.61391954e-01 -1.78718922e-02 -5.52329921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:99.55, Z:-6.33 [[-7.07186241e-01 -2.47840871e-01 -6.62165027e-01 1.28756383e+02] [-6.14210842e-01 -2.48517247e-01 7.48988798e-01 9.95467972e+01] [-3.50189466e-01 9.36383511e-01 2.35214279e-02 -6.32859871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:99.47, Z:-6.34 [[-6.88466232e-01 -2.95879573e-01 -6.62170315e-01 1.28669567e+02] [-5.95637438e-01 -2.90244546e-01 7.48982073e-01 9.94682993e+01] [-4.13799818e-01 9.10062296e-01 2.35866184e-02 -6.33925696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:99.85, Z:-5.65 [[-6.99974954e-01 2.37944547e-01 6.73362797e-01 1.27759784e+02] [-6.29940794e-01 2.38501344e-01 -7.39115489e-01 9.98465740e+01] [-3.36466432e-01 -9.41541025e-01 -1.70539908e-02 -5.64717377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:99.30, Z:-6.45 [[-6.87958102e-01 -2.94591422e-01 -6.63271848e-01 1.28477758e+02] [-5.97627605e-01 -2.88575420e-01 7.48041090e-01 9.93004400e+01] [-4.11770441e-01 9.11010494e-01 2.24718317e-02 -6.44581109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:99.22, Z:-6.47 [[-6.66714079e-01 -3.39026787e-01 -6.63741799e-01 1.28392032e+02] [-5.77880828e-01 -3.27266158e-01 7.47629996e-01 9.92240756e+01] [-4.70686823e-01 8.82019104e-01 2.22758745e-02 -6.46545891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:99.15, Z:-6.49 [[-6.43154033e-01 -3.79836187e-01 -6.64888983e-01 1.28305324e+02] [-5.57350261e-01 -3.63204377e-01 7.46621235e-01 9.91480752e+01] [-5.25084352e-01 8.50768507e-01 2.18945620e-02 -6.49494696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:99.07, Z:-6.53 [[-6.16600166e-01 -4.21312431e-01 -6.65056442e-01 1.28219575e+02] [-5.32753764e-01 -3.98659829e-01 7.46487621e-01 9.90722774e+01] [-5.79635801e-01 8.14595713e-01 2.13579333e-02 -6.53130612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:99.72, Z:-6.55 [[-6.10719202e-01 6.60440069e-01 -4.36853490e-01 1.27663993e+02] [-5.39417545e-01 -7.50873098e-01 -3.81075192e-01 9.97245240e+01] [-5.79698860e-01 2.91649998e-03 8.14825580e-01 -6.55048677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:99.72, Z:-6.55 [[-6.09954219e-01 6.60848631e-01 -4.37304171e-01 1.27660823e+02] [-5.40331614e-01 -7.50507450e-01 -3.80500084e-01 9.97216146e+01] [-5.79652998e-01 4.20163659e-03 8.14852593e-01 -6.55413869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:99.72, Z:-6.56 [[-6.08766715e-01 6.62279675e-01 -4.36793680e-01 1.27657796e+02] [-5.43017068e-01 -7.49229840e-01 -3.79192709e-01 9.97196318e+01] [-5.78390483e-01 6.34652365e-03 8.15735356e-01 -6.55847700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:99.72, Z:-6.56 [[-6.08759632e-01 6.62497786e-01 -4.36472673e-01 1.27653045e+02] [-5.44088697e-01 -7.49027948e-01 -3.78053730e-01 9.97155884e+01] [-5.77389990e-01 7.33599791e-03 8.16435535e-01 -6.56390149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:99.71, Z:-6.57 [[-6.08738265e-01 6.62857022e-01 -4.35956756e-01 1.27649183e+02] [-5.45445021e-01 -7.48698333e-01 -3.76749963e-01 9.97121502e+01] [-5.76131455e-01 8.44832298e-03 8.17313387e-01 -6.56810461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:99.72, Z:-6.56 [[-6.01615445e-01 6.72407746e-01 -4.31192161e-01 1.27664189e+02] [-5.55474537e-01 -7.40092400e-01 -3.79092704e-01 9.97220389e+01] [-5.74026912e-01 1.14482403e-02 8.18756400e-01 -6.55529544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:99.71, Z:-6.57 [[-6.06277513e-01 6.67423303e-01 -4.32404569e-01 1.27642401e+02] [-5.49855017e-01 -7.44631760e-01 -3.78395300e-01 9.97092315e+01] [-5.74532016e-01 8.34725991e-03 8.18439543e-01 -6.57339441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:99.71, Z:-6.58 [[-6.03502160e-01 6.67927089e-01 -4.35498045e-01 1.27643226e+02] [-5.53610758e-01 -7.44067683e-01 -3.74003225e-01 9.97084141e+01] [-5.73846906e-01 1.53846488e-02 8.18818076e-01 -6.57574351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.057628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.64, Y:99.71, Z:-6.58 [[-6.02082920e-01 6.69330488e-01 -4.35307772e-01 1.27639803e+02] [-5.56041773e-01 -7.42759272e-01 -3.72996261e-01 9.97058953e+01] [-5.72986653e-01 1.74746277e-02 8.19378382e-01 -6.58079733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:99.70, Z:-6.58 [[-6.00397896e-01 6.70030514e-01 -4.36556384e-01 1.27636036e+02] [-5.56851314e-01 -7.42088460e-01 -3.73123750e-01 9.97019916e+01] [-5.73967752e-01 1.90742814e-02 8.18655722e-01 -6.58278426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:99.71, Z:-6.56 [[-5.97623216e-01 6.80998254e-01 -4.23187748e-01 1.27642182e+02] [-5.65856033e-01 -7.32171538e-01 -3.79119756e-01 9.97101946e+01] [-5.68025916e-01 1.28925727e-02 8.22909679e-01 -6.56441877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:99.69, Z:-6.60 [[-5.96589780e-01 6.69893208e-01 -4.41954436e-01 1.27630580e+02] [-5.61116349e-01 -7.41891157e-01 -3.67077587e-01 9.96900087e+01] [-5.73784870e-01 2.89931224e-02 8.18492713e-01 -6.59745158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:99.69, Z:-6.59 [[-5.95507629e-01 6.72953699e-01 -4.38752757e-01 1.27627955e+02] [-5.61242380e-01 -7.39274085e-01 -3.72130109e-01 9.96906117e+01] [-5.74784876e-01 2.46403232e-02 8.17933494e-01 -6.59496088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:99.68, Z:-6.60 [[-5.94610348e-01 6.73234725e-01 -4.39537870e-01 1.27621641e+02] [-5.61745765e-01 -7.38980646e-01 -3.71953358e-01 9.96846809e+01] [-5.75221896e-01 2.57412210e-02 8.17592295e-01 -6.60005730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:99.68, Z:-6.60 [[-5.93416048e-01 6.73436750e-01 -4.40840489e-01 1.27620403e+02] [-5.61679120e-01 -7.38766971e-01 -3.72478092e-01 9.96820001e+01] [-5.76518829e-01 2.65764208e-02 8.16651538e-01 -6.60041296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:99.68, Z:-6.60 [[-5.93605199e-01 6.72782546e-01 -4.41584097e-01 1.27617716e+02] [-5.61045311e-01 -7.39355799e-01 -3.72264908e-01 9.96773716e+01] [-5.76941095e-01 2.67703024e-02 8.16346939e-01 -6.60388126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:99.67, Z:-6.61 [[-5.94003291e-01 6.71905265e-01 -4.42383777e-01 1.27615011e+02] [-5.59917094e-01 -7.40162338e-01 -3.72360795e-01 9.96720540e+01] [-5.77626989e-01 2.65147007e-02 8.15870107e-01 -6.60764096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:99.66, Z:-6.61 [[-5.95878193e-01 6.69420871e-01 -4.43626956e-01 1.27612301e+02] [-5.56539175e-01 -7.42471431e-01 -3.72827467e-01 9.96625371e+01] [-5.78958829e-01 2.47360232e-02 8.14981474e-01 -6.61355435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:99.66, Z:-6.62 [[-5.97383106e-01 6.67499101e-01 -4.44497891e-01 1.27611392e+02] [-5.54066973e-01 -7.44240675e-01 -3.72982047e-01 9.96566581e+01] [-5.79778591e-01 2.34684275e-02 8.14436012e-01 -6.61746592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:99.65, Z:-6.62 [[-5.99279151e-01 6.65443202e-01 -4.45027915e-01 1.27609171e+02] [-5.51619431e-01 -7.46122882e-01 -3.72849365e-01 9.96496389e+01] [-5.80155585e-01 2.20451941e-02 8.14207287e-01 -6.62250873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:99.64, Z:-6.63 [[-6.03544956e-01 6.61482857e-01 -4.45167291e-01 1.27607776e+02] [-5.47028537e-01 -7.49725428e-01 -3.72386308e-01 9.96394771e+01] [-5.80080396e-01 1.87673344e-02 8.14343000e-01 -6.62896977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:99.63, Z:-6.64 [[-6.06197497e-01 6.59090800e-01 -4.45111123e-01 1.27601790e+02] [-5.44501815e-01 -7.51871161e-01 -3.71762734e-01 9.96307496e+01] [-5.79691615e-01 1.70021756e-02 8.14658552e-01 -6.63645640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:99.63, Z:-6.64 [[-6.08222448e-01 6.57097543e-01 -4.45295714e-01 1.27600278e+02] [-5.42337274e-01 -7.53643205e-01 -3.71338391e-01 9.96254873e+01] [-5.79599634e-01 1.56441185e-02 8.14751205e-01 -6.63982237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:99.62, Z:-6.65 [[-6.11538572e-01 6.53663354e-01 -4.45808025e-01 1.27598755e+02] [-5.38204833e-01 -7.56674787e-01 -3.71185700e-01 9.96164273e+01] [-5.79962182e-01 1.29416610e-02 8.14540595e-01 -6.64549251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:99.61, Z:-6.65 [[-6.13158786e-01 6.51847312e-01 -4.46241398e-01 1.27597415e+02] [-5.36124965e-01 -7.58258710e-01 -3.70963272e-01 9.96106526e+01] [-5.80177839e-01 1.17817647e-02 8.14404608e-01 -6.64943508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:99.60, Z:-6.66 [[-6.14659016e-01 6.50130726e-01 -4.46681468e-01 1.27591819e+02] [-5.34163022e-01 -7.59746795e-01 -3.70748801e-01 9.96018480e+01] [-5.80400000e-01 1.07166296e-02 8.14261011e-01 -6.65716599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:99.59, Z:-6.66 [[-6.16128479e-01 6.48682815e-01 -4.46762021e-01 1.27587708e+02] [-5.32741264e-01 -7.60994529e-01 -3.70235160e-01 9.95946913e+01] [-5.80148639e-01 9.89613811e-03 8.14450504e-01 -6.66348375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:99.59, Z:-6.67 [[-6.19070367e-01 6.46364511e-01 -4.46054705e-01 1.27583176e+02] [-5.30700346e-01 -7.62984270e-01 -3.69069297e-01 9.95858949e+01] [-5.78886019e-01 8.24152092e-03 8.15366822e-01 -6.67064425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:99.58, Z:-6.67 [[-6.20846849e-01 6.44724101e-01 -4.45959666e-01 1.27584244e+02] [-5.29146932e-01 -7.64380949e-01 -3.68409133e-01 9.95846959e+01] [-5.78405320e-01 7.25253924e-03 8.15717284e-01 -6.67105962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:99.59, Z:-6.66 [[-6.19102731e-01 6.46828387e-01 -4.45336778e-01 1.27595542e+02] [-5.31244011e-01 -7.62592845e-01 -3.69096131e-01 9.95877388e+01] [-5.78352495e-01 8.07407356e-03 8.15747020e-01 -6.66486076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:99.58, Z:-6.68 [[-6.25355048e-01 6.43045342e-01 -4.42067588e-01 1.27573404e+02] [-5.24281521e-01 -7.65827349e-01 -3.72340380e-01 9.95762845e+01] [-5.77979196e-01 -1.07706892e-03 8.16050788e-01 -6.67827922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:99.57, Z:-6.69 [[-6.27275572e-01 6.38061414e-01 -4.46545619e-01 1.27571099e+02] [-5.21866289e-01 -7.69980584e-01 -3.67131415e-01 9.95700681e+01] [-5.78083846e-01 2.74453670e-03 8.15972754e-01 -6.68530922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:99.57, Z:-6.69 [[-6.27680606e-01 6.37463638e-01 -4.46830132e-01 1.27567253e+02] [-5.21379187e-01 -7.70475554e-01 -3.66784901e-01 9.95666185e+01] [-5.78083731e-01 2.74416203e-03 8.15972836e-01 -6.68921920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:99.56, Z:-6.70 [[-6.30921823e-01 6.33922459e-01 -4.47302995e-01 1.27562218e+02] [-5.17173136e-01 -7.73396608e-01 -3.66591916e-01 9.95609248e+01] [-5.78333468e-01 4.22526821e-05 8.15800464e-01 -6.69505458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:99.56, Z:-6.70 [[-6.32724899e-01 6.31881307e-01 -4.47644073e-01 1.27557282e+02] [-5.14885627e-01 -7.75064118e-01 -3.66290055e-01 9.95564128e+01] [-5.78404697e-01 -1.27533861e-03 8.15748968e-01 -6.69983717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:99.55, Z:-6.71 [[-6.35426526e-01 6.29436256e-01 -4.47261813e-01 1.27551531e+02] [-5.12526973e-01 -7.77046525e-01 -3.65396770e-01 9.95516616e+01] [-5.77537212e-01 -2.94905704e-03 8.16359033e-01 -6.70553514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:99.55, Z:-6.71 [[-6.36766641e-01 6.28162605e-01 -4.47146493e-01 1.27548264e+02] [-5.11414662e-01 -7.78073785e-01 -3.64768732e-01 9.95496340e+01] [-5.77047042e-01 -3.59528757e-03 8.16702997e-01 -6.70828029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:99.55, Z:-6.71 [[-6.37403140e-01 6.27527911e-01 -4.47130807e-01 1.27543991e+02] [-5.11058414e-01 -7.78585668e-01 -3.64175308e-01 9.95470028e+01] [-5.76659808e-01 -3.61652396e-03 8.16976368e-01 -6.71232724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:99.54, Z:-6.72 [[-6.37779392e-01 6.27181205e-01 -4.47080735e-01 1.27536984e+02] [-5.11072746e-01 -7.78866055e-01 -3.63555110e-01 9.95420933e+01] [-5.76230940e-01 -3.37717783e-03 8.17279939e-01 -6.71801630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98762800000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.56, Y:99.55, Z:-6.71 [[-6.29536815e-01 6.31162989e-01 -4.53118837e-01 1.27558708e+02] [-5.17590026e-01 -7.75617776e-01 -3.61272239e-01 9.95528158e+01] [-5.79468691e-01 7.09561603e-03 8.14963612e-01 -6.70760686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:99.54, Z:-6.72 [[-6.36326789e-01 6.35131124e-01 -4.37831785e-01 1.27525473e+02] [-5.13511043e-01 -7.72292381e-01 -3.73993164e-01 9.95437941e+01] [-5.75668850e-01 -1.31504125e-02 8.17577178e-01 -6.71773909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:99.54, Z:-6.72 [[-6.34100665e-01 6.30793285e-01 -4.47231683e-01 1.27528195e+02] [-5.16607958e-01 -7.75949430e-01 -3.61965053e-01 9.95411033e+01] [-5.75354294e-01 1.52116532e-03 8.17902881e-01 -6.72445117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:99.54, Z:-6.73 [[-6.33357305e-01 6.31452765e-01 -4.47354368e-01 1.27524291e+02] [-5.17750481e-01 -7.75409760e-01 -3.61488787e-01 9.95409918e+01] [-5.75146037e-01 2.66637530e-03 8.18046409e-01 -6.72589503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:99.55, Z:-6.72 [[-6.21867150e-01 6.33042276e-01 -4.61019224e-01 1.27545945e+02] [-5.23397844e-01 -7.73870937e-01 -3.56620906e-01 9.95478301e+01] [-5.82525489e-01 1.95256414e-02 8.12577876e-01 -6.72323708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:99.54, Z:-6.73 [[-6.30585496e-01 6.44006057e-01 -4.33149085e-01 1.27500181e+02] [-5.20913059e-01 -7.64904770e-01 -3.78906688e-01 9.95429334e+01] [-5.75336004e-01 -1.33000471e-02 8.17809019e-01 -6.72580930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:99.54, Z:-6.73 [[-6.30299964e-01 6.33682764e-01 -4.48517680e-01 1.27509686e+02] [-5.21238454e-01 -7.73564799e-01 -3.60427489e-01 9.95386957e+01] [-5.75354177e-01 6.60722888e-03 8.17877690e-01 -6.73413590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:99.54, Z:-6.74 [[-6.29842527e-01 6.33951645e-01 -4.48780238e-01 1.27506209e+02] [-5.21825117e-01 -7.73337286e-01 -3.60066645e-01 9.95374933e+01] [-5.75323333e-01 7.39951502e-03 8.17892603e-01 -6.73731231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.50, Y:99.53, Z:-6.74 [[-6.29695022e-01 6.34321903e-01 -4.48463936e-01 1.27498912e+02] [-5.22853755e-01 -7.73024829e-01 -3.59244435e-01 9.95336442e+01] [-5.74550371e-01 8.26662072e-03 8.18427476e-01 -6.74394347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:99.54, Z:-6.74 [[-6.29112516e-01 6.34634510e-01 -4.48839037e-01 1.27494671e+02] [-5.23428847e-01 -7.72758877e-01 -3.58979054e-01 9.95358362e+01] [-5.74664846e-01 9.09708347e-03 8.18338291e-01 -6.74441024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:99.53, Z:-6.75 [[-6.28753092e-01 6.34428976e-01 -4.49632543e-01 1.27488960e+02] [-5.23324953e-01 -7.72920074e-01 -3.58783435e-01 9.95339778e+01] [-5.75152626e-01 9.71773575e-03 8.17988400e-01 -6.74823902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:127.48, Y:99.53, Z:-6.75 [[-6.27681795e-01 6.35420719e-01 -4.49728888e-01 1.27483718e+02] [-5.25074888e-01 -7.72081782e-01 -3.58030843e-01 9.95346403e+01] [-5.74727697e-01 1.14119035e-02 8.18265142e-01 -6.75287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:127.48, Y:99.53, Z:-6.76 [[-6.27706247e-01 6.35171057e-01 -4.50047327e-01 1.27478412e+02] [-5.24993169e-01 -7.72282419e-01 -3.57717818e-01 9.95327116e+01] [-5.74775643e-01 1.17300631e-02 8.18226965e-01 -6.75638394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:99.53, Z:-6.76 [[-6.27957220e-01 6.34485470e-01 -4.50663864e-01 1.27473293e+02] [-5.24214297e-01 -7.72846820e-01 -3.57641111e-01 9.95325180e+01] [-5.75212222e-01 1.16611231e-02 8.17921095e-01 -6.75800495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:99.53, Z:-6.76 [[-6.28823912e-01 6.33559866e-01 -4.50757567e-01 1.27467531e+02] [-5.23422046e-01 -7.73610388e-01 -3.57150290e-01 9.95290895e+01] [-5.74986826e-01 1.13518056e-02 8.18083912e-01 -6.76300623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:127.46, Y:99.53, Z:-6.77 [[-6.30119571e-01 6.32641109e-01 -4.50238330e-01 1.27464330e+02] [-5.22967640e-01 -7.74366604e-01 -3.56175813e-01 9.95272924e+01] [-5.73980988e-01 1.10267263e-02 8.18794380e-01 -6.76761510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:127.46, Y:99.52, Z:-6.77 [[-6.31511858e-01 6.31168391e-01 -4.50354566e-01 1.27458504e+02] [-5.21490709e-01 -7.75578446e-01 -3.55704252e-01 9.95241101e+01] [-5.73794574e-01 1.02242689e-02 8.18935437e-01 -6.77285724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.45, Y:99.52, Z:-6.78 [[-6.33469986e-01 6.28622197e-01 -4.51165059e-01 1.27450454e+02] [-5.18325085e-01 -7.77664634e-01 -3.55776368e-01 9.95221477e+01] [-5.74504032e-01 8.47651701e-03 8.18457858e-01 -6.77615215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:99.52, Z:-6.78 [[-6.34637981e-01 6.26869429e-01 -4.51961671e-01 1.27443857e+02] [-5.16141343e-01 -7.79088715e-01 -3.55835479e-01 9.95191428e+01] [-5.75180621e-01 7.44939382e-03 8.17992518e-01 -6.77938265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:99.51, Z:-6.79 [[-6.35698454e-01 6.25085946e-01 -4.52940433e-01 1.27437530e+02] [-5.13818700e-01 -7.80529726e-01 -3.56038890e-01 9.95148058e+01] [-5.76088378e-01 6.39589236e-03 8.17362388e-01 -6.78500947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:99.51, Z:-6.79 [[-6.39045477e-01 6.21114169e-01 -4.53693803e-01 1.27432889e+02] [-5.08933317e-01 -7.83712896e-01 -3.56063162e-01 9.95112848e+01] [-5.76721560e-01 3.35933928e-03 8.16933876e-01 -6.78989974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:99.51, Z:-6.79 [[-6.41176513e-01 6.18628852e-01 -4.54082618e-01 1.27427903e+02] [-5.06076232e-01 -7.85681582e-01 -3.55796710e-01 9.95075900e+01] [-5.76870460e-01 1.67192666e-03 8.16833935e-01 -6.79495994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:99.50, Z:-6.80 [[-6.43573389e-01 6.16044016e-01 -4.54205970e-01 1.27420005e+02] [-5.03243562e-01 -7.87711724e-01 -3.55325425e-01 9.95024965e+01] [-5.76679470e-01 -1.01757442e-04 8.16970488e-01 -6.80190288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:99.50, Z:-6.81 [[-6.48205277e-01 6.11286140e-01 -4.54047547e-01 1.27413917e+02] [-4.97916069e-01 -7.91400552e-01 -3.54633268e-01 9.95001562e+01] [-5.76115881e-01 -3.79758609e-03 8.17359205e-01 -6.80742785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:99.50, Z:-6.81 [[-6.50405577e-01 6.08832211e-01 -4.54198112e-01 1.27407550e+02] [-4.95238990e-01 -7.93280473e-01 -3.54181358e-01 9.94953683e+01] [-5.75943512e-01 -5.42491622e-03 8.17471493e-01 -6.81377477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:99.49, Z:-6.82 [[-6.53403062e-01 6.05569337e-01 -4.54257875e-01 1.27401261e+02] [-4.91630398e-01 -7.95754768e-01 -3.53657886e-01 9.94927348e+01] [-5.75642241e-01 -7.75416570e-03 8.17664896e-01 -6.81997789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.767628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.40, Y:99.49, Z:-6.82 [[-6.54781764e-01 6.04316374e-01 -4.53941144e-01 1.27396766e+02] [-4.90683142e-01 -7.96701291e-01 -3.52841476e-01 9.94911191e+01] [-5.74883377e-01 -8.29289711e-03 8.18193334e-01 -6.82444867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:99.49, Z:-6.83 [[-6.55778628e-01 6.03495063e-01 -4.53594642e-01 1.27391899e+02] [-4.90274144e-01 -7.97321927e-01 -3.52007114e-01 9.94885146e+01] [-5.74095509e-01 -8.45301780e-03 8.18744705e-01 -6.82769576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:99.48, Z:-6.84 [[-6.55860578e-01 6.03504224e-01 -4.53463950e-01 1.27385522e+02] [-4.90940601e-01 -7.97323277e-01 -3.51073950e-01 9.94825126e+01] [-5.73431974e-01 -7.63169988e-03 8.19217632e-01 -6.83538320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:99.48, Z:-6.84 [[-6.55728517e-01 6.04393826e-01 -4.52469021e-01 1.27389077e+02] [-4.92965422e-01 -7.96660936e-01 -3.49737681e-01 9.94813520e+01] [-5.71843689e-01 -6.28138893e-03 8.20338551e-01 -6.83569975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:99.48, Z:-6.84 [[-6.55839546e-01 6.04664162e-01 -4.51946613e-01 1.27386473e+02] [-4.93974820e-01 -7.96461659e-01 -3.48765972e-01 9.94769130e+01] [-5.70844433e-01 -5.48427026e-03 8.21039923e-01 -6.84005402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:99.47, Z:-6.84 [[-6.56190041e-01 6.04570335e-01 -4.51563219e-01 1.27384676e+02] [-4.94459668e-01 -7.96535981e-01 -3.47908131e-01 9.94731796e+01] [-5.70021287e-01 -5.01405158e-03 8.21614625e-01 -6.84337603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:99.47, Z:-6.85 [[-6.55168231e-01 6.05093504e-01 -4.52345488e-01 1.27380631e+02] [-4.95062451e-01 -7.96144240e-01 -3.47947580e-01 9.94666974e+01] [-5.70673075e-01 -4.02493404e-03 8.21167487e-01 -6.84845166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:99.47, Z:-6.85 [[-6.54642033e-01 6.05034855e-01 -4.53184987e-01 1.27378902e+02] [-4.94929540e-01 -7.96191116e-01 -3.48029393e-01 9.94652072e+01] [-5.71391773e-01 -3.54003216e-03 8.20669793e-01 -6.84956346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:99.46, Z:-6.86 [[-6.53114496e-01 6.05649207e-01 -4.54566270e-01 1.27371143e+02] [-4.95325699e-01 -7.95727935e-01 -3.48524757e-01 9.94608450e+01] [-5.72794821e-01 -2.46821550e-03 8.19695066e-01 -6.85523112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03762800000004 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.37, Y:99.46, Z:-6.86 [[-6.52722551e-01 6.06134645e-01 -4.54482193e-01 1.27372241e+02] [-4.96355460e-01 -7.95360644e-01 -3.47897547e-01 9.94616516e+01] [-5.72350006e-01 -1.49585633e-03 8.20008069e-01 -6.85703314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:99.46, Z:-6.86 [[-6.51958672e-01 6.06411285e-01 -4.55209010e-01 1.27366674e+02] [-4.96695627e-01 -7.95150834e-01 -3.47891658e-01 9.94568580e+01] [-5.72925251e-01 -7.10658751e-04 8.19607315e-01 -6.86086815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:99.46, Z:-6.86 [[-6.51074883e-01 6.07103940e-01 -4.55550549e-01 1.27365179e+02] [-4.97933043e-01 -7.94622126e-01 -3.47330336e-01 9.94561715e+01] [-5.72856161e-01 6.95613308e-04 8.19655620e-01 -6.86317226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:99.46, Z:-6.87 [[-6.47587931e-01 6.10272821e-01 -4.56286047e-01 1.27361287e+02] [-5.01810295e-01 -7.92180993e-01 -3.47326506e-01 9.94556460e+01] [-5.73425060e-01 4.04458285e-03 8.19248034e-01 -6.86570472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:99.45, Z:-6.87 [[-6.46049761e-01 6.11452460e-01 -4.56886851e-01 1.27357297e+02] [-5.03329991e-01 -7.91261065e-01 -3.47224491e-01 9.94535702e+01] [-5.73828046e-01 5.64055474e-03 8.18956383e-01 -6.86927370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:99.45, Z:-6.88 [[-6.43285117e-01 6.13674993e-01 -4.57807013e-01 1.27346997e+02] [-5.06148826e-01 -7.89513720e-01 -3.47104381e-01 9.94470795e+01] [-5.74454197e-01 8.43139935e-03 8.18493303e-01 -6.87570873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:99.45, Z:-6.87 [[-6.43204719e-01 6.13601836e-01 -4.58017988e-01 1.27349703e+02] [-5.06342329e-01 -7.89565302e-01 -3.46704600e-01 9.94492331e+01] [-5.74373690e-01 8.91185975e-03 8.18544711e-01 -6.87204184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:99.45, Z:-6.87 [[-6.43208100e-01 6.13351565e-01 -4.58348337e-01 1.27347097e+02] [-5.06258524e-01 -7.89755959e-01 -3.46392597e-01 9.94462699e+01] [-5.74443772e-01 9.24022870e-03 8.18491888e-01 -6.87461649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:99.44, Z:-6.88 [[-6.44074267e-01 6.12562450e-01 -4.58187280e-01 1.27344970e+02] [-5.05764177e-01 -7.90370157e-01 -3.45713194e-01 9.94415259e+01] [-5.73908474e-01 9.06974084e-03 8.18869223e-01 -6.87986401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.307628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.34, Y:99.44, Z:-6.89 [[-6.45347564e-01 6.11748581e-01 -4.57482454e-01 1.27341092e+02] [-5.05514156e-01 -7.91002668e-01 -3.44630552e-01 9.94372282e+01] [-5.72697093e-01 8.85736930e-03 8.19719212e-01 -6.88819354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:99.43, Z:-6.89 [[-6.46937651e-01 6.11005880e-01 -4.56227454e-01 1.27338390e+02] [-5.05804746e-01 -7.91575606e-01 -3.42884266e-01 9.94319675e+01] [-5.70642826e-01 8.93726988e-03 8.21149737e-01 -6.89159784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.367628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.34, Y:99.43, Z:-6.90 [[-6.47476662e-01 6.10898773e-01 -4.55605818e-01 1.27336726e+02] [-5.06548340e-01 -7.91650497e-01 -3.41611284e-01 9.94294284e+01] [-5.69370487e-01 9.60103679e-03 8.22024981e-01 -6.89730688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:99.43, Z:-6.90 [[-6.48052035e-01 6.10487465e-01 -4.55339011e-01 1.27332186e+02] [-5.06555184e-01 -7.91965863e-01 -3.40869355e-01 9.94253541e+01] [-5.68709422e-01 9.75325744e-03 8.22480679e-01 -6.89946139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.427628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.33, Y:99.42, Z:-6.91 [[-6.48048342e-01 6.10723085e-01 -4.55028196e-01 1.27326757e+02] [-5.07553483e-01 -7.91771650e-01 -3.39833954e-01 9.94216593e+01] [-5.67822867e-01 1.07223156e-02 8.23080934e-01 -6.90667183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:99.43, Z:-6.89 [[-6.43610119e-01 6.15302091e-01 -4.55158601e-01 1.27335944e+02] [-5.12786460e-01 -7.88161085e-01 -3.40370607e-01 9.94255448e+01] [-5.68169043e-01 1.43332011e-02 8.22787031e-01 -6.89466315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:99.43, Z:-6.89 [[-6.43572138e-01 6.17109547e-01 -4.52758997e-01 1.27332043e+02] [-5.12029063e-01 -7.86813085e-01 -3.44603262e-01 9.94259725e+01] [-5.68894666e-01 1.00487065e-02 8.22349003e-01 -6.89263879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:99.40, Z:-6.93 [[-6.45743473e-01 6.12720338e-01 -4.55619528e-01 1.27294397e+02] [-5.07395366e-01 -7.90245085e-01 -3.43602457e-01 9.93996934e+01] [-5.70583306e-01 9.30019345e-03 8.21187066e-01 -6.92529335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:99.41, Z:-6.91 [[-6.45509439e-01 6.09033749e-01 -4.60863816e-01 1.27309196e+02] [-5.03898923e-01 -7.93063771e-01 -3.42250975e-01 9.94082423e+01] [-5.73936790e-01 1.13025458e-02 8.18821601e-01 -6.91265450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:99.40, Z:-6.92 [[-6.45827201e-01 6.07067360e-01 -4.63008042e-01 1.27303097e+02] [-5.01371381e-01 -7.94574654e-01 -3.42458548e-01 9.94024965e+01] [-5.75789861e-01 1.09699357e-02 8.17524126e-01 -6.91845468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:99.40, Z:-6.92 [[-6.47103531e-01 6.03662219e-01 -4.65670425e-01 1.27301214e+02] [-4.96220879e-01 -7.97194277e-01 -3.43869343e-01 9.93990332e+01] [-5.78810728e-01 8.55632202e-03 8.15417028e-01 -6.92119160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:99.39, Z:-6.93 [[-6.48353394e-01 6.01415749e-01 -4.66837202e-01 1.27296269e+02] [-4.93250854e-01 -7.98904484e-01 -3.44173241e-01 9.93945711e+01] [-5.79949542e-01 7.12195931e-03 8.14621266e-01 -6.92623945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:99.39, Z:-6.93 [[-6.49872316e-01 5.99028865e-01 -4.67793108e-01 1.27290904e+02] [-4.90214392e-01 -8.00708163e-01 -3.44320037e-01 9.93901591e+01] [-5.80823401e-01 5.55485378e-03 8.14010639e-01 -6.93114358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:99.39, Z:-6.94 [[-6.50251496e-01 5.98409254e-01 -4.68059137e-01 1.27286905e+02] [-4.89711446e-01 -8.01171337e-01 -3.43958122e-01 9.93869440e+01] [-5.80823288e-01 5.55463321e-03 8.14010721e-01 -6.93505274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:99.38, Z:-6.94 [[-6.52189001e-01 5.95644061e-01 -4.68889816e-01 1.27282005e+02] [-4.86274261e-01 -8.03240208e-01 -3.44009465e-01 9.93830560e+01] [-5.81538348e-01 3.64985966e-03 8.13510804e-01 -6.93948146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:99.38, Z:-6.95 [[-6.55990865e-01 5.90185423e-01 -4.70486079e-01 1.27271800e+02] [-4.79120991e-01 -8.07267457e-01 -3.44619107e-01 9.93751122e+01] [-5.83197274e-01 -6.47229628e-04 8.12330302e-01 -6.94838602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:99.37, Z:-6.95 [[-6.58678421e-01 5.86851582e-01 -4.70901219e-01 1.27267502e+02] [-4.75172648e-01 -8.09688614e-01 -3.44405724e-01 9.93715556e+01] [-5.83398400e-01 -3.09323921e-03 8.12180238e-01 -6.95211351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:127.27, Y:99.37, Z:-6.96 [[-6.61005781e-01 5.84392160e-01 -4.70698589e-01 1.27265695e+02] [-4.72663082e-01 -8.11457758e-01 -3.43694513e-01 9.93693148e+01] [-5.82804400e-01 -4.70221423e-03 8.12598868e-01 -6.95749243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:99.36, Z:-6.97 [[-6.65919501e-01 5.79746939e-01 -4.69515394e-01 1.27254156e+02] [-4.68000284e-01 -8.14755415e-01 -3.42270870e-01 9.93598006e+01] [-5.80970699e-01 -8.19150938e-03 8.13883251e-01 -6.96872093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:99.36, Z:-6.97 [[-6.67976902e-01 5.78088110e-01 -4.68637382e-01 1.27254663e+02] [-4.66807124e-01 -8.15923672e-01 -3.41115333e-01 9.93600882e+01] [-5.79567052e-01 -9.09389446e-03 8.14873814e-01 -6.97034252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:99.36, Z:-6.97 [[-6.69808506e-01 5.77091840e-01 -4.67248941e-01 1.27251590e+02] [-4.66724141e-01 -8.16625686e-01 -3.39545381e-01 9.93585836e+01] [-5.77516356e-01 -9.35402364e-03 8.16325524e-01 -6.97457169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:99.36, Z:-6.98 [[-6.72061199e-01 5.76480101e-01 -4.64762776e-01 1.27244752e+02] [-4.67672050e-01 -8.17058756e-01 -3.37191109e-01 9.93572209e+01] [-5.74122460e-01 -9.25650096e-03 8.18717117e-01 -6.98189314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:99.35, Z:-6.99 [[-6.72445889e-01 5.76502371e-01 -4.64178352e-01 1.27238468e+02] [-4.68635546e-01 -8.17053113e-01 -3.35864459e-01 9.93545408e+01] [-5.72885025e-01 -8.32019882e-03 8.19593510e-01 -6.98748452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:99.35, Z:-6.99 [[-6.71450313e-01 5.77851047e-01 -4.63942502e-01 1.27231700e+02] [-4.70782841e-01 -8.16115447e-01 -3.35140409e-01 9.93534747e+01] [-5.72291878e-01 -6.61396314e-03 8.20023330e-01 -6.99138684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:99.35, Z:-7.00 [[-6.71092062e-01 5.77646499e-01 -4.64714930e-01 1.27225673e+02] [-4.70519697e-01 -8.16263035e-01 -3.35150521e-01 9.93484980e+01] [-5.72928145e-01 -6.25932596e-03 8.19581699e-01 -6.99610356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:99.36, Z:-6.99 [[-6.56167815e-01 5.75651549e-01 -4.87923245e-01 1.27264658e+02] [-4.75531793e-01 -8.17479050e-01 -3.24957717e-01 9.93552845e+01] [-5.85929443e-01 1.87962204e-02 8.10144055e-01 -6.99476657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:99.35, Z:-6.99 [[-6.67169422e-01 5.96202346e-01 -4.46573315e-01 1.27207523e+02] [-4.74247899e-01 -8.02269563e-01 -3.62563757e-01 9.93495496e+01] [-5.74433541e-01 -3.01049961e-02 8.17997431e-01 -6.98855640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:99.34, Z:-7.00 [[-6.65561249e-01 5.81781380e-01 -4.67502567e-01 1.27221475e+02] [-4.76001355e-01 -8.13345201e-01 -3.34503055e-01 9.93404823e+01] [-5.74848618e-01 -1.00415823e-04 8.18259773e-01 -7.00200634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:99.34, Z:-7.00 [[-6.63576965e-01 5.83286734e-01 -4.68446578e-01 1.27218332e+02] [-4.77754632e-01 -8.12264441e-01 -3.34629629e-01 9.93384925e+01] [-5.75687521e-01 1.75000893e-03 8.17667912e-01 -7.00456601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:99.34, Z:-7.01 [[-6.50458701e-01 5.84135184e-01 -4.85478697e-01 1.27244326e+02] [-4.84363964e-01 -8.11350625e-01 -3.27263983e-01 9.93422570e+01] [-5.85059850e-01 2.22766810e-02 8.10684107e-01 -7.00627341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.34, Z:-7.00 [[-6.57898183e-01 6.00955751e-01 -4.53896648e-01 1.27199826e+02] [-4.85279927e-01 -7.99174943e-01 -3.54715102e-01 9.93421597e+01] [-5.75910908e-01 -1.30994886e-02 8.17407505e-01 -6.99984186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:99.33, Z:-7.01 [[-6.57219101e-01 5.90000615e-01 -4.69001415e-01 1.27208623e+02] [-4.87305849e-01 -8.07342718e-01 -3.32762297e-01 9.93338898e+01] [-5.74974837e-01 9.84939449e-03 8.18111806e-01 -7.01158062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.267628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.21, Y:99.33, Z:-7.02 [[-6.56673132e-01 5.91143860e-01 -4.68326099e-01 1.27207305e+02] [-4.89415745e-01 -8.06486129e-01 -3.31741394e-01 9.93315679e+01] [-5.73805390e-01 1.13605068e-02 8.18912885e-01 -7.01666778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.32, Z:-7.02 [[-6.55643289e-01 5.92826134e-01 -4.67642013e-01 1.27202429e+02] [-4.92182738e-01 -8.05220147e-01 -3.30721435e-01 9.93242893e+01] [-5.72615080e-01 1.33300369e-02 8.19715976e-01 -7.02128026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.32, Z:-7.02 [[-6.55416116e-01 5.93691618e-01 -4.66861841e-01 1.27203479e+02] [-4.94163742e-01 -8.04556083e-01 -3.29380790e-01 9.93231328e+01] [-5.71167148e-01 1.48247160e-02 8.20699895e-01 -7.02180068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.32, Z:-7.03 [[-6.54543979e-01 5.95419066e-01 -4.65884445e-01 1.27198133e+02] [-4.97111477e-01 -8.03239544e-01 -3.28156084e-01 9.93176952e+01] [-5.69607198e-01 1.68039151e-02 8.21745258e-01 -7.02636869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.32, Z:-7.03 [[-6.54252543e-01 5.95531870e-01 -4.66149549e-01 1.27197157e+02] [-4.97498488e-01 -8.03142353e-01 -3.27807283e-01 9.93157489e+01] [-5.69604130e-01 1.74399474e-02 8.21734132e-01 -7.02732215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:99.30, Z:-7.05 [[-6.47162918e-01 5.96811549e-01 -4.74337573e-01 1.27184401e+02] [-5.01212817e-01 -8.01916026e-01 -3.25140585e-01 9.92966158e+01] [-5.74426557e-01 2.73251415e-02 8.18099912e-01 -7.05229867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:99.31, Z:-7.03 [[-6.46769018e-01 6.02859363e-01 -4.67172800e-01 1.27200493e+02] [-5.00908338e-01 -7.97671050e-01 -3.35874579e-01 9.93138365e+01] [-5.75135353e-01 1.67774792e-02 8.17886203e-01 -7.02823600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:99.31, Z:-7.03 [[-6.53646478e-01 6.00806758e-01 -4.60192918e-01 1.27178319e+02] [-4.95621325e-01 -7.99371268e-01 -3.39654350e-01 9.93053478e+01] [-5.71931625e-01 6.06755344e-03 8.20278855e-01 -7.03224317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:99.30, Z:-7.04 [[-6.54155170e-01 5.92954062e-01 -4.69559894e-01 1.27182964e+02] [-4.94348565e-01 -8.05043430e-01 -3.27909397e-01 9.92994682e+01] [-5.72451316e-01 1.76226319e-02 8.19749311e-01 -7.03908165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:99.29, Z:-7.04 [[-6.54811146e-01 5.90570460e-01 -4.71644882e-01 1.27177373e+02] [-4.90824381e-01 -8.06823942e-01 -3.28826024e-01 9.92930822e+01] [-5.74729319e-01 1.61758620e-02 8.18183690e-01 -7.04374766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:99.29, Z:-7.05 [[-6.55474012e-01 5.88862388e-01 -4.72858233e-01 1.27174334e+02] [-4.88534669e-01 -8.08089014e-01 -3.29129189e-01 9.92894138e+01] [-5.75923344e-01 1.52720105e-02 8.17361039e-01 -7.04617064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:99.28, Z:-7.05 [[-6.56347590e-01 5.86767032e-01 -4.74249187e-01 1.27167510e+02] [-4.85649066e-01 -8.09634996e-01 -3.29599996e-01 9.92837434e+01] [-5.77367151e-01 1.39865115e-02 8.16364839e-01 -7.05182719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:99.28, Z:-7.06 [[-6.57238722e-01 5.84573446e-01 -4.75721714e-01 1.27163386e+02] [-4.82633862e-01 -8.11242019e-01 -3.30077175e-01 9.92798524e+01] [-5.78879795e-01 1.26599079e-02 8.15314608e-01 -7.05508615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:99.28, Z:-7.06 [[-6.58465307e-01 5.82223990e-01 -4.76905300e-01 1.27159769e+02] [-4.79526966e-01 -8.12952194e-01 -3.30397668e-01 9.92764627e+01] [-5.80066658e-01 1.11335498e-02 8.14492920e-01 -7.05768163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:99.27, Z:-7.06 [[-6.61060022e-01 5.78327738e-01 -4.78055096e-01 1.27155455e+02] [-4.74524258e-01 -8.15762902e-01 -3.30692632e-01 9.92714318e+01] [-5.81228334e-01 8.24106163e-03 8.13698782e-01 -7.06228347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:99.27, Z:-7.07 [[-6.62897467e-01 5.76193233e-01 -4.78088178e-01 1.27149953e+02] [-4.72232695e-01 -8.17284627e-01 -3.30215263e-01 9.92668772e+01] [-5.81001918e-01 6.87000730e-03 8.13873193e-01 -7.06779060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:99.26, Z:-7.07 [[-6.64655579e-01 5.74018542e-01 -4.78263187e-01 1.27145336e+02] [-4.69856868e-01 -8.18823711e-01 -3.29791229e-01 9.92630856e+01] [-5.80919518e-01 5.51766276e-03 8.13942301e-01 -7.07214568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:99.26, Z:-7.08 [[-6.67612599e-01 5.70868167e-01 -4.77915217e-01 1.27141590e+02] [-4.66504759e-01 -8.21035222e-01 -3.29050869e-01 9.92586705e+01] [-5.80229893e-01 3.27121766e-03 8.14446174e-01 -7.07647270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:99.26, Z:-7.07 [[-6.60708835e-01 5.71593264e-01 -4.86564463e-01 1.27164695e+02] [-4.69877944e-01 -8.20427683e-01 -3.25750111e-01 9.92636806e+01] [-5.85387524e-01 1.33999330e-02 8.10642886e-01 -7.07303576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:99.25, Z:-7.08 [[-6.70187590e-01 5.76522811e-01 -4.67407790e-01 1.27127028e+02] [-4.64960040e-01 -8.17003691e-01 -3.41052972e-01 9.92543662e+01] [-5.78498708e-01 -1.12435245e-02 8.15605804e-01 -7.08108035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:99.25, Z:-7.09 [[-6.70211836e-01 5.68475989e-01 -4.77128017e-01 1.27130688e+02] [-4.65079184e-01 -8.22695092e-01 -3.26916102e-01 9.92473976e+01] [-5.78374832e-01 2.79926827e-03 8.15766337e-01 -7.09116150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:99.25, Z:-7.09 [[-6.69640343e-01 5.69022191e-01 -4.77279327e-01 1.27127914e+02] [-4.66239301e-01 -8.22312085e-01 -3.26226531e-01 9.92452145e+01] [-5.78102694e-01 4.07193391e-03 8.15953856e-01 -7.09447001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:99.24, Z:-7.10 [[-6.68765404e-01 5.70031813e-01 -4.77301337e-01 1.27123854e+02] [-4.67854905e-01 -8.21604258e-01 -3.25696533e-01 9.92430455e+01] [-5.77810196e-01 5.49319798e-03 8.16152683e-01 -7.09825207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:99.25, Z:-7.10 [[-6.65526698e-01 5.73872940e-01 -4.77225380e-01 1.27122303e+02] [-4.72996050e-01 -8.18890854e-01 -3.25103838e-01 9.92450056e+01] [-5.77363794e-01 9.36043563e-03 8.16433360e-01 -7.09854538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:99.24, Z:-7.10 [[-6.64294681e-01 5.75290814e-01 -4.77234802e-01 1.27116919e+02] [-4.75115518e-01 -8.17873239e-01 -3.24574505e-01 9.92426865e+01] [-5.77042304e-01 1.11285433e-02 8.16638436e-01 -7.10239723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:99.24, Z:-7.10 [[-6.61106011e-01 5.78605378e-01 -4.77655376e-01 1.27113730e+02] [-4.79623953e-01 -8.15471423e-01 -3.23986455e-01 9.92427185e+01] [-5.76974614e-01 1.49055664e-02 8.16626058e-01 -7.10497887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:99.24, Z:-7.11 [[-6.60756883e-01 5.78983884e-01 -4.77679813e-01 1.27104779e+02] [-4.80454265e-01 -8.15186532e-01 -3.23472747e-01 9.92376304e+01] [-5.76683658e-01 1.57664593e-02 8.16815388e-01 -7.11233004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.10, Y:99.24, Z:-7.12 [[-6.60418801e-01 5.79549969e-01 -4.77460826e-01 1.27104504e+02] [-4.81995362e-01 -8.14753041e-01 -3.22270000e-01 9.92377099e+01] [-5.75784229e-01 1.73007368e-02 8.17418624e-01 -7.11584111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:99.23, Z:-7.12 [[-6.60187979e-01 5.79015815e-01 -4.78427130e-01 1.27099148e+02] [-4.81278761e-01 -8.15130178e-01 -3.22387262e-01 9.92349363e+01] [-5.76647715e-01 1.74206216e-02 8.16807159e-01 -7.11794815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:99.23, Z:-7.12 [[-6.60062089e-01 5.78656340e-01 -4.79035362e-01 1.27092445e+02] [-4.80908088e-01 -8.15380912e-01 -3.22306345e-01 9.92317331e+01] [-5.77100900e-01 1.76297807e-02 8.16482542e-01 -7.12299461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:99.23, Z:-7.12 [[-6.60622466e-01 5.77686917e-01 -4.79432774e-01 1.27090884e+02] [-4.79879020e-01 -8.16075196e-01 -3.22082909e-01 9.92310728e+01] [-5.77316277e-01 1.72945238e-02 8.16337440e-01 -7.12412580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:99.23, Z:-7.13 [[-6.61617863e-01 5.76434926e-01 -4.79567074e-01 1.27085453e+02] [-4.78649335e-01 -8.16971537e-01 -3.21640049e-01 9.92274392e+01] [-5.77197208e-01 1.67416592e-02 8.16433157e-01 -7.12824105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:99.22, Z:-7.13 [[-6.63424860e-01 5.74071434e-01 -4.79905662e-01 1.27080627e+02] [-4.75956046e-01 -8.18663517e-01 -3.21334541e-01 9.92232900e+01] [-5.77350238e-01 1.52326787e-02 8.16354499e-01 -7.13320974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:99.22, Z:-7.14 [[-6.64740508e-01 5.72140674e-01 -4.80390576e-01 1.27074308e+02] [-4.73730232e-01 -8.20034149e-01 -3.21128729e-01 9.92184936e+01] [-5.77667485e-01 1.41082644e-02 8.16150252e-01 -7.13936179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:99.22, Z:-7.14 [[-6.66111650e-01 5.70283516e-01 -4.80699471e-01 1.27070052e+02] [-4.71913527e-01 -8.21338946e-01 -3.20468343e-01 9.92152611e+01] [-5.77575010e-01 1.33808857e-02 8.16227946e-01 -7.14325174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:99.21, Z:-7.15 [[-6.68815399e-01 5.67169433e-01 -4.80629582e-01 1.27063055e+02] [-4.68454292e-01 -8.23525289e-01 -3.19932299e-01 9.92102032e+01] [-5.77266436e-01 1.11773425e-02 8.16479350e-01 -7.14985427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:99.21, Z:-7.16 [[-6.70641789e-01 5.65046086e-01 -4.80585593e-01 1.27057856e+02] [-4.66237918e-01 -8.25000131e-01 -3.19369673e-01 9.92059173e+01] [-5.76941761e-01 9.88457736e-03 8.16725474e-01 -7.15583243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:99.14, Z:-7.24 [[-6.74037968e-01 5.59401814e-01 -4.82433859e-01 1.26964869e+02] [-4.62070749e-01 -8.28832945e-01 -3.15478321e-01 9.91410635e+01] [-5.76336221e-01 1.02742080e-02 8.17148090e-01 -7.24071378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:99.20, Z:-7.17 [[-6.76687777e-01 5.61131070e-01 -4.76681838e-01 1.27042493e+02] [-4.58603542e-01 -8.27726939e-01 -3.23343326e-01 9.91974984e+01] [-5.76000385e-01 -1.94496554e-04 8.17449398e-01 -7.16669441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:99.19, Z:-7.17 [[-6.78283452e-01 5.55492892e-01 -4.80998135e-01 1.27038920e+02] [-4.56019813e-01 -8.31510819e-01 -3.17231285e-01 9.91912210e+01] [-5.76174877e-01 4.17194821e-03 8.17315793e-01 -7.17475004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:99.19, Z:-7.18 [[-6.79297236e-01 5.53608490e-01 -4.81739458e-01 1.27035878e+02] [-4.53716651e-01 -8.32771363e-01 -3.17227139e-01 9.91886266e+01] [-5.76798462e-01 3.08169444e-03 8.16880675e-01 -7.17759513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:99.18, Z:-7.18 [[-6.80306418e-01 5.51215924e-01 -4.83057121e-01 1.27030774e+02] [-4.50524013e-01 -8.34361168e-01 -3.17599676e-01 9.91846270e+01] [-5.78110103e-01 1.56373479e-03 8.15957269e-01 -7.18212761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:99.18, Z:-7.19 [[-6.80549803e-01 5.50432258e-01 -4.83607583e-01 1.27024705e+02] [-4.49658159e-01 -8.34878645e-01 -3.17466830e-01 9.91807004e+01] [-5.78497627e-01 1.40610697e-03 8.15682854e-01 -7.18765350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:99.18, Z:-7.19 [[-6.81055351e-01 5.49753777e-01 -4.83667648e-01 1.27019451e+02] [-4.49148880e-01 -8.35325684e-01 -3.17011491e-01 9.91775577e+01] [-5.78298273e-01 1.33641034e-03 8.15824320e-01 -7.19230320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:99.17, Z:-7.20 [[-6.81377580e-01 5.49154301e-01 -4.83894768e-01 1.27015828e+02] [-4.48660021e-01 -8.35719910e-01 -3.16664519e-01 9.91749270e+01] [-5.78298175e-01 1.33613264e-03 8.15824390e-01 -7.19572124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:99.18, Z:-7.19 [[-6.80965593e-01 5.49248616e-01 -4.84367443e-01 1.27017639e+02] [-4.48909638e-01 -8.35656774e-01 -3.16477317e-01 9.91770033e+01] [-5.78589663e-01 1.92704974e-03 8.15616508e-01 -7.19426208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:99.17, Z:-7.20 [[-6.80307806e-01 5.49569290e-01 -4.84927710e-01 1.27012937e+02] [-4.49396757e-01 -8.35443743e-01 -3.16348395e-01 9.91740344e+01] [-5.78985184e-01 2.71065821e-03 8.15333557e-01 -7.19865941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:99.17, Z:-7.20 [[-6.78472673e-01 5.51293391e-01 -4.85541378e-01 1.27010691e+02] [-4.51585221e-01 -8.34298252e-01 -3.16254983e-01 9.91743613e+01] [-5.79435605e-01 4.69294633e-03 8.15004513e-01 -7.19993220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:99.17, Z:-7.20 [[-6.77902321e-01 5.52024493e-01 -4.85507366e-01 1.27007491e+02] [-4.52880260e-01 -8.33807271e-01 -3.15697490e-01 9.91728411e+01] [-5.79092318e-01 5.86464028e-03 8.15240880e-01 -7.20282598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:99.17, Z:-7.21 [[-6.77037082e-01 5.53004438e-01 -4.85599508e-01 1.27004796e+02] [-4.54392958e-01 -8.33147145e-01 -3.15266354e-01 9.91713079e+01] [-5.78919537e-01 7.20598435e-03 8.15352834e-01 -7.20619917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:99.17, Z:-7.21 [[-6.75602075e-01 5.55197864e-01 -4.85095010e-01 1.27002161e+02] [-4.57665433e-01 -8.31663260e-01 -3.14449636e-01 9.91709727e+01] [-5.78017464e-01 9.56839136e-03 8.15968294e-01 -7.20889981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.00, Y:99.17, Z:-7.21 [[-6.74945155e-01 5.56223923e-01 -4.84833977e-01 1.26998447e+02] [-4.59387426e-01 -8.30960555e-01 -3.13795710e-01 9.91694964e+01] [-5.77418592e-01 1.09317384e-02 8.16375078e-01 -7.21471354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:99.17, Z:-7.22 [[-6.74141935e-01 5.56656242e-01 -4.85454920e-01 1.26994176e+02] [-4.60256833e-01 -8.30653324e-01 -3.13334811e-01 9.91675685e+01] [-5.77664521e-01 1.22018082e-02 8.16183078e-01 -7.21577138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:99.17, Z:-7.22 [[-6.71952993e-01 5.59202848e-01 -4.85562921e-01 1.26988930e+02] [-4.63693511e-01 -8.28897206e-01 -3.12918119e-01 9.91653639e+01] [-5.77466452e-01 1.48861093e-02 8.16278691e-01 -7.21970966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:99.16, Z:-7.22 [[-6.71129286e-01 5.60068704e-01 -4.85704157e-01 1.26985882e+02] [-4.65044649e-01 -8.28289107e-01 -3.12523006e-01 9.91632485e+01] [-5.77337818e-01 1.61307775e-02 8.16346031e-01 -7.22225887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:99.16, Z:-7.22 [[-6.68400516e-01 5.61895538e-01 -4.87354240e-01 1.26992591e+02] [-4.68163536e-01 -8.26965376e-01 -3.11369828e-01 9.91648467e+01] [-5.77982399e-01 2.00417302e-02 8.15803086e-01 -7.22048267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:99.17, Z:-7.22 [[-6.68004068e-01 5.64332856e-01 -4.85076275e-01 1.26991548e+02] [-4.68438568e-01 -8.25378207e-01 -3.15144607e-01 9.91665692e+01] [-5.78217842e-01 1.67105558e-02 8.15711275e-01 -7.21805574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:99.16, Z:-7.23 [[-6.71499991e-01 5.61607157e-01 -4.83409932e-01 1.26973716e+02] [-4.64915398e-01 -8.27301744e-01 -3.15318088e-01 9.91584224e+01] [-5.77010775e-01 1.30086279e-02 8.16632929e-01 -7.22832885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.007628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:126.97, Y:99.15, Z:-7.24 [[-6.72550631e-01 5.58006486e-01 -4.86111520e-01 1.26971487e+02] [-4.63896661e-01 -8.29669782e-01 -3.10560687e-01 9.91537287e+01] [-5.76606917e-01 1.66377245e-02 8.16852282e-01 -7.23663404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:99.15, Z:-7.24 [[-6.75883557e-01 5.53642375e-01 -4.86478712e-01 1.26964459e+02] [-4.58931544e-01 -8.32641069e-01 -3.09984981e-01 9.91466876e+01] [-5.76682976e-01 1.37466747e-02 8.16852357e-01 -7.24236958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:99.14, Z:-7.25 [[-6.78239532e-01 5.50768650e-01 -4.86461747e-01 1.26958741e+02] [-4.55771401e-01 -8.34574041e-01 -3.09448867e-01 9.91413098e+01] [-5.76423080e-01 1.18348970e-02 8.17065706e-01 -7.24862083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:99.14, Z:-7.25 [[-6.81036652e-01 5.47118607e-01 -4.86672692e-01 1.26953616e+02] [-4.51533144e-01 -8.37004079e-01 -3.09098677e-01 9.91369586e+01] [-5.76460666e-01 9.24132234e-03 8.17072640e-01 -7.25378473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:99.13, Z:-7.26 [[-6.86041238e-01 5.40383545e-01 -4.87168395e-01 1.26948207e+02] [-4.43390034e-01 -8.41408980e-01 -3.08927509e-01 9.91317875e+01] [-5.76847204e-01 4.06860025e-03 8.16841937e-01 -7.25919803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:99.13, Z:-7.27 [[-6.88372421e-01 5.36812399e-01 -4.87827694e-01 1.26941019e+02] [-4.39063517e-01 -8.43700159e-01 -3.08858008e-01 9.91266062e+01] [-5.77379111e-01 1.57800856e-03 8.16474661e-01 -7.26521057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:99.12, Z:-7.27 [[-6.90395588e-01 5.33470212e-01 -4.88634286e-01 1.26937843e+02] [-4.34953662e-01 -8.45818551e-01 -3.08879086e-01 9.91242141e+01] [-5.78073736e-01 -7.15485929e-04 8.15984218e-01 -7.26783667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:99.12, Z:-7.27 [[-6.93401352e-01 5.28213241e-01 -4.90087072e-01 1.26931474e+02] [-4.28206318e-01 -8.49099216e-01 -3.09305463e-01 9.91200731e+01] [-5.79511790e-01 -4.61444567e-03 8.14950791e-01 -7.27250273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:99.12, Z:-7.28 [[-6.94994194e-01 5.25752472e-01 -4.90476715e-01 1.26925684e+02] [-4.25365040e-01 -8.50615277e-01 -3.09060241e-01 9.91167292e+01] [-5.79696173e-01 -6.16342529e-03 8.14809401e-01 -7.27703888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:99.11, Z:-7.28 [[-6.96574982e-01 5.23437577e-01 -4.90710095e-01 1.26920532e+02] [-4.22806065e-01 -8.52030678e-01 -3.08672570e-01 9.91137477e+01] [-5.79670877e-01 -7.53838514e-03 8.14815836e-01 -7.28124508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:99.11, Z:-7.28 [[-6.97982972e-01 5.21494010e-01 -4.90778736e-01 1.26916106e+02] [-4.20778309e-01 -8.53211642e-01 -3.08180967e-01 9.91109687e+01] [-5.79452660e-01 -8.59602098e-03 8.14960565e-01 -7.28478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:99.11, Z:-7.29 [[-6.99422917e-01 5.19131285e-01 -4.91233439e-01 1.26907318e+02] [-4.18031530e-01 -8.54635387e-01 -3.07974016e-01 9.91058205e+01] [-5.79704427e-01 -1.00530181e-02 8.14764821e-01 -7.29280680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:99.10, Z:-7.30 [[-6.99926192e-01 5.18192280e-01 -4.91507973e-01 1.26894690e+02] [-4.17108700e-01 -8.55201860e-01 -3.07652582e-01 9.90987099e+01] [-5.79761725e-01 -1.03218485e-02 8.14720689e-01 -7.30343339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:99.10, Z:-7.30 [[-7.00491630e-01 5.17837219e-01 -4.91076462e-01 1.26901186e+02] [-4.17225629e-01 -8.55419758e-01 -3.06887297e-01 9.91030630e+01] [-5.78994172e-01 -1.00822970e-02 8.15269339e-01 -7.29788288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:99.10, Z:-7.30 [[-7.00618227e-01 5.18353064e-01 -4.90351100e-01 1.26898023e+02] [-4.18570155e-01 -8.55118624e-01 -3.05894040e-01 9.91017927e+01] [-5.77869471e-01 -9.06860396e-03 8.16078817e-01 -7.30183376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:99.10, Z:-7.31 [[-7.00231025e-01 5.18778314e-01 -4.90454454e-01 1.26894556e+02] [-4.19389720e-01 -8.54869414e-01 -3.05467752e-01 9.91001134e+01] [-5.77744557e-01 -8.20644100e-03 8.16176379e-01 -7.30559614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:99.10, Z:-7.31 [[-6.99828461e-01 5.19354309e-01 -4.90419440e-01 1.26892576e+02] [-4.20455504e-01 -8.54528532e-01 -3.04955991e-01 9.90999501e+01] [-5.77457612e-01 -7.21732949e-03 8.16388766e-01 -7.30690469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:99.10, Z:-7.31 [[-6.98221914e-01 5.21353518e-01 -4.90588085e-01 1.26887312e+02] [-4.23168002e-01 -8.53325807e-01 -3.04571682e-01 9.91004117e+01] [-5.77420991e-01 -5.05744335e-03 8.16430904e-01 -7.30904656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:99.10, Z:-7.31 [[-6.97605974e-01 5.21779250e-01 -4.91011526e-01 1.26882245e+02] [-4.23845285e-01 -8.53070202e-01 -3.04345864e-01 9.90990969e+01] [-5.77668658e-01 -4.20057278e-03 8.16260544e-01 -7.31201664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:99.10, Z:-7.32 [[-6.95498795e-01 5.23038937e-01 -4.92657788e-01 1.26876468e+02] [-4.25003318e-01 -8.52304640e-01 -3.04875353e-01 9.90974607e+01] [-5.79356199e-01 -2.65924627e-03 8.15070134e-01 -7.31547403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:99.10, Z:-7.32 [[-6.95267003e-01 5.22786392e-01 -4.93252656e-01 1.26875088e+02] [-4.24778492e-01 -8.52460446e-01 -3.04753049e-01 9.90970699e+01] [-5.79799126e-01 -2.36161969e-03 8.14756035e-01 -7.31669939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:99.09, Z:-7.32 [[-6.95723654e-01 5.22255423e-01 -4.93171238e-01 1.26869154e+02] [-4.24511200e-01 -8.52786034e-01 -3.04214105e-01 9.90941791e+01] [-5.79447010e-01 -2.29223480e-03 8.15006692e-01 -7.32184593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:99.09, Z:-7.32 [[-6.96654349e-01 5.21465088e-01 -4.92693495e-01 1.26867387e+02] [-4.24099857e-01 -8.53269141e-01 -3.03432174e-01 9.90939008e+01] [-5.78629441e-01 -2.43610232e-03 8.15586927e-01 -7.32297307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:99.09, Z:-7.33 [[-6.98854642e-01 5.19568116e-01 -4.91580270e-01 1.26860196e+02] [-4.22612189e-01 -8.54421909e-01 -3.02261706e-01 9.90894211e+01] [-5.77062498e-01 -3.48918240e-03 8.16692537e-01 -7.32925838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:99.09, Z:-7.33 [[-7.00128953e-01 5.17832088e-01 -4.91598799e-01 1.26858597e+02] [-4.20825030e-01 -8.55470895e-01 -3.01787742e-01 9.90870288e+01] [-5.76823841e-01 -4.41325665e-03 8.16856646e-01 -7.33184295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:99.08, Z:-7.34 [[-7.01867076e-01 5.16105664e-01 -4.90935384e-01 1.26854101e+02] [-4.19380526e-01 -8.56508708e-01 -3.00853466e-01 9.90822370e+01] [-5.75762609e-01 -5.27040245e-03 8.17599927e-01 -7.33687723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:99.08, Z:-7.34 [[-7.02452803e-01 5.15606035e-01 -4.90622539e-01 1.26849572e+02] [-4.19248789e-01 -8.56810195e-01 -3.00177853e-01 9.90778498e+01] [-5.75143905e-01 -5.16786875e-03 8.18035929e-01 -7.34207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:99.07, Z:-7.35 [[-7.02980065e-01 5.15357077e-01 -4.90128669e-01 1.26841284e+02] [-4.19500822e-01 -8.56961779e-01 -2.99392000e-01 9.90710435e+01] [-5.74315322e-01 -4.85722789e-03 8.18619764e-01 -7.35046621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:99.06, Z:-7.36 [[-7.02186868e-01 5.16300192e-01 -4.90273102e-01 1.26831819e+02] [-4.20928798e-01 -8.56400197e-01 -2.98994398e-01 9.90646969e+01] [-5.74240846e-01 -3.57987282e-03 8.18678591e-01 -7.35862084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:99.07, Z:-7.35 [[-7.01948537e-01 5.16586400e-01 -4.90312903e-01 1.26841073e+02] [-4.21602824e-01 -8.56230372e-01 -2.98530751e-01 9.90711808e+01] [-5.74037726e-01 -2.83591936e-03 8.18823942e-01 -7.34874744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90762800000005 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:126.83, Y:99.07, Z:-7.36 [[-7.01600337e-01 5.17290327e-01 -4.90069060e-01 1.26833739e+02] [-4.22936266e-01 -8.55808276e-01 -2.97854176e-01 9.90672015e+01] [-5.73482242e-01 -1.70661214e-03 8.19216214e-01 -7.35612002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:99.07, Z:-7.35 [[-7.00876488e-01 5.16718933e-01 -4.91704884e-01 1.26834191e+02] [-4.21877243e-01 -8.56153451e-01 -2.98363637e-01 9.90676486e+01] [-5.75144974e-01 -1.67695752e-03 8.18049783e-01 -7.35221296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:99.06, Z:-7.36 [[-7.00010782e-01 5.16959103e-01 -4.92684677e-01 1.26831963e+02] [-4.22123555e-01 -8.56009593e-01 -2.98428018e-01 9.90639767e+01] [-5.76017890e-01 -9.29023569e-04 8.17436559e-01 -7.35542996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:99.06, Z:-7.36 [[-6.99593754e-01 5.17028031e-01 -4.93204414e-01 1.26830537e+02] [-4.22325395e-01 -8.55968387e-01 -2.98260594e-01 9.90610284e+01] [-5.76376475e-01 -3.68499330e-04 8.17184204e-01 -7.35861383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02762800000005 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:126.83, Y:99.06, Z:-7.37 [[-6.98611059e-01 5.18267046e-01 -4.93296926e-01 1.26827037e+02] [-4.24141687e-01 -8.55218061e-01 -2.97835353e-01 9.90565536e+01] [-5.76234689e-01 1.15671860e-03 8.17283455e-01 -7.36565552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.057628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:126.83, Y:99.06, Z:-7.37 [[-6.97667724e-01 5.18602061e-01 -4.94278918e-01 1.26825838e+02] [-4.24476318e-01 -8.55013526e-01 -2.97945844e-01 9.90556502e+01] [-5.77130489e-01 1.94249641e-03 8.16649634e-01 -7.36665469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:99.05, Z:-7.37 [[-6.94157015e-01 5.20561516e-01 -4.97153644e-01 1.26819709e+02] [-4.26041072e-01 -8.53814076e-01 -2.99149675e-01 9.90537177e+01] [-5.80202588e-01 4.15102564e-03 8.14461617e-01 -7.36800242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:99.05, Z:-7.37 [[-6.93071694e-01 5.21511939e-01 -4.97671502e-01 1.26816098e+02] [-4.27366883e-01 -8.53226229e-01 -2.98935694e-01 9.90523366e+01] [-5.80524912e-01 5.50445019e-03 8.14223880e-01 -7.37050145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:99.05, Z:-7.37 [[-6.92423379e-01 5.22446049e-01 -4.97594202e-01 1.26813479e+02] [-4.28922876e-01 -8.52644953e-01 -2.98365130e-01 9.90511056e+01] [-5.80150869e-01 6.83454487e-03 8.14480361e-01 -7.37263845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:99.05, Z:-7.38 [[-6.91569400e-01 5.23658173e-01 -4.97507672e-01 1.26811662e+02] [-4.30793971e-01 -8.51887534e-01 -2.97832477e-01 9.90508106e+01] [-5.79782994e-01 8.35147821e-03 8.14728134e-01 -7.37506073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:99.05, Z:-7.38 [[-6.92277096e-01 5.23319665e-01 -4.96879211e-01 1.26808029e+02] [-4.30976495e-01 -8.52093532e-01 -2.96977902e-01 9.90484445e+01] [-5.78801938e-01 8.55226145e-03 8.15423311e-01 -7.37851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:99.04, Z:-7.39 [[-6.93418773e-01 5.22557916e-01 -4.96088328e-01 1.26801203e+02] [-4.30701807e-01 -8.52562470e-01 -2.96029033e-01 9.90439131e+01] [-5.77638605e-01 8.39405067e-03 8.16249461e-01 -7.38524927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.267628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:126.80, Y:99.04, Z:-7.39 [[-6.95859667e-01 5.21932062e-01 -4.93321646e-01 1.26799202e+02] [-4.31423860e-01 -8.52946261e-01 -2.93864132e-01 9.90419598e+01] [-5.74153966e-01 8.34253224e-03 8.18704847e-01 -7.39154341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:126.80, Y:99.04, Z:-7.39 [[-6.97233373e-01 5.20757332e-01 -4.92623005e-01 1.26797282e+02] [-4.30596391e-01 -8.53668685e-01 -2.92978710e-01 9.90404735e+01] [-5.73107644e-01 7.84715349e-03 8.19442524e-01 -7.39396768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.327628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:126.79, Y:99.04, Z:-7.40 [[-6.98564646e-01 5.18969704e-01 -4.92623469e-01 1.26790355e+02] [-4.28935124e-01 -8.54762601e-01 -2.92225178e-01 9.90355431e+01] [-5.72732132e-01 7.16533027e-03 8.19711268e-01 -7.39930572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:99.03, Z:-7.40 [[-6.99194929e-01 5.17401013e-01 -4.93378802e-01 1.26786918e+02] [-4.27070912e-01 -8.55718883e-01 -2.92156858e-01 9.90325916e+01] [-5.73355812e-01 6.43314134e-03 8.19281226e-01 -7.40186415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:99.03, Z:-7.41 [[-6.99870008e-01 5.14889615e-01 -4.95046116e-01 1.26780284e+02] [-4.23652227e-01 -8.57242492e-01 -2.92667218e-01 9.90273349e+01] [-5.75065877e-01 4.89838140e-03 8.18092442e-01 -7.40780340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:99.02, Z:-7.42 [[-7.00629396e-01 5.13258449e-01 -4.95665426e-01 1.26771517e+02] [-4.21736211e-01 -8.58224464e-01 -2.92556557e-01 9.90212975e+01] [-5.75549319e-01 4.06633514e-03 8.17756960e-01 -7.41501467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:99.03, Z:-7.40 [[-6.96235897e-01 5.14862868e-01 -5.00171773e-01 1.26793247e+02] [-4.24552128e-01 -8.57220482e-01 -2.91425010e-01 9.90275291e+01] [-5.78801405e-01 9.44843724e-03 8.15413797e-01 -7.40488704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:99.02, Z:-7.41 [[-7.02334668e-01 5.14485582e-01 -4.91966056e-01 1.26766266e+02] [-4.17388292e-01 -8.57478282e-01 -3.00862109e-01 9.90213935e+01] [-5.76639426e-01 -5.96501737e-03 8.16976983e-01 -7.41322381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:99.02, Z:-7.42 [[-7.02691803e-01 5.08862866e-01 -4.97275391e-01 1.26766904e+02] [-4.16836587e-01 -8.60844832e-01 -2.91879145e-01 9.90163918e+01] [-5.76603409e-01 2.18149357e-03 8.17021267e-01 -7.42010890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:99.01, Z:-7.43 [[-7.03577008e-01 5.07091517e-01 -4.97832892e-01 1.26758261e+02] [-4.14774108e-01 -8.61891333e-01 -2.91728932e-01 9.90100158e+01] [-5.77011121e-01 1.23442428e-03 8.16735356e-01 -7.42847597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:99.01, Z:-7.43 [[-7.04955902e-01 5.04080557e-01 -4.98938843e-01 1.26754957e+02] [-4.10966999e-01 -8.63656334e-01 -2.91897007e-01 9.90058817e+01] [-5.78051298e-01 -7.27119295e-04 8.16000103e-01 -7.43327047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:99.00, Z:-7.44 [[-7.05961352e-01 5.02246235e-01 -4.99366888e-01 1.26752171e+02] [-4.08882588e-01 -8.64722934e-01 -2.91666380e-01 9.90034661e+01] [-5.78302342e-01 -1.72276637e-03 8.15820712e-01 -7.43699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:99.00, Z:-7.44 [[-7.08605979e-01 4.98806229e-01 -4.99069045e-01 1.26749950e+02] [-4.05136287e-01 -8.66704198e-01 -2.91012754e-01 9.90022060e+01] [-5.77704211e-01 -4.02239739e-03 8.16236280e-01 -7.43883321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:99.00, Z:-7.45 [[-7.10155932e-01 4.96776308e-01 -4.98890621e-01 1.26741676e+02] [-4.03067887e-01 -8.67863258e-01 -2.90430103e-01 9.89972077e+01] [-5.77247634e-01 -5.16387225e-03 8.16552817e-01 -7.44580920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:99.00, Z:-7.45 [[-7.11697212e-01 4.94636120e-01 -4.98820796e-01 1.26739823e+02] [-4.00821187e-01 -8.69076676e-01 -2.89910515e-01 9.89958730e+01] [-5.76913732e-01 -6.39056215e-03 8.16780084e-01 -7.44801485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:98.99, Z:-7.45 [[-7.13212899e-01 4.92996670e-01 -4.98278681e-01 1.26735287e+02] [-3.99385551e-01 -8.70001431e-01 -2.89117089e-01 9.89924440e+01] [-5.76036928e-01 -7.19673145e-03 8.17391990e-01 -7.45339199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:98.99, Z:-7.46 [[-7.15884495e-01 4.91013420e-01 -4.96402267e-01 1.26730220e+02] [-3.98089331e-01 -8.71113012e-01 -2.87553481e-01 9.89895165e+01] [-5.73615092e-01 -8.24263233e-03 8.19083503e-01 -7.45969747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:98.99, Z:-7.46 [[-7.16840236e-01 4.90310419e-01 -4.95717429e-01 1.26727241e+02] [-3.97852914e-01 -8.71508523e-01 -2.86680927e-01 9.89881240e+01] [-5.72584610e-01 -8.28179959e-03 8.19803804e-01 -7.46285561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:98.98, Z:-7.47 [[-7.17062436e-01 4.89998287e-01 -4.95704693e-01 1.26720841e+02] [-3.97811230e-01 -8.71686461e-01 -2.86197377e-01 9.89847298e+01] [-5.72335294e-01 -8.02449472e-03 8.19980438e-01 -7.46933875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:98.99, Z:-7.47 [[-7.16678590e-01 4.90799231e-01 -4.95467369e-01 1.26720183e+02] [-3.99214546e-01 -8.71245574e-01 -2.85585183e-01 9.89872334e+01] [-5.71838740e-01 -6.87500526e-03 8.20337241e-01 -7.46891520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:98.99, Z:-7.47 [[-7.15637005e-01 4.91719869e-01 -4.96059722e-01 1.26713131e+02] [-4.00452300e-01 -8.70735440e-01 -2.85408039e-01 9.89850868e+01] [-5.72277584e-01 -5.60029748e-03 8.20040855e-01 -7.47388002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:98.98, Z:-7.48 [[-7.14247600e-01 4.92908042e-01 -4.96882309e-01 1.26708481e+02] [-4.01894930e-01 -8.70071488e-01 -2.85405100e-01 9.89844532e+01] [-5.73001599e-01 -4.15542707e-03 8.19543715e-01 -7.47626340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.927628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:126.72, Y:98.99, Z:-7.47 [[-7.06693830e-01 5.02085770e-01 -4.98491434e-01 1.26718410e+02] [-4.12049875e-01 -8.64813763e-01 -2.86900777e-01 9.89874766e+01] [-5.75151051e-01 2.65232480e-03 8.18042929e-01 -7.47188371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:126.71, Y:98.99, Z:-7.48 [[-7.08915457e-01 5.00026735e-01 -4.97405407e-01 1.26705054e+02] [-4.06415111e-01 -8.65998919e-01 -2.91329076e-01 9.89864456e+01] [-5.76424872e-01 -4.37461105e-03 8.17138440e-01 -7.47625409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.98, Z:-7.48 [[-7.06273281e-01 4.98391852e-01 -5.02775909e-01 1.26701626e+02] [-4.07276834e-01 -8.66949845e-01 -2.87269119e-01 9.89811837e+01] [-5.79054084e-01 1.87847741e-03 8.15286967e-01 -7.47838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.98, Z:-7.48 [[-7.05182159e-01 4.98732696e-01 -5.03968075e-01 1.26699718e+02] [-4.07555594e-01 -8.66751718e-01 -2.87471558e-01 9.89796348e+01] [-5.80186660e-01 2.67519451e-03 8.14479148e-01 -7.47939744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.98, Z:-7.48 [[-7.04300189e-01 4.98818801e-01 -5.05114885e-01 1.26696280e+02] [-4.07541539e-01 -8.66700144e-01 -2.87646927e-01 9.89769666e+01] [-5.81266839e-01 3.26551260e-03 8.13706457e-01 -7.48224060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.97, Z:-7.48 [[-7.03132124e-01 4.99650944e-01 -5.05919115e-01 1.26696042e+02] [-4.08585248e-01 -8.66215297e-01 -2.87626764e-01 9.89744942e+01] [-5.81947860e-01 4.47146975e-03 8.13213806e-01 -7.48382874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:98.97, Z:-7.49 [[-7.02943237e-01 4.99915884e-01 -5.05919870e-01 1.26691073e+02] [-4.09252103e-01 -8.66058364e-01 -2.87150878e-01 9.89695204e+01] [-5.81707419e-01 5.19800339e-03 8.13381497e-01 -7.49076498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:98.97, Z:-7.49 [[-7.02988906e-01 5.00379731e-01 -5.05397589e-01 1.26692392e+02] [-4.10370225e-01 -8.65784716e-01 -2.86379300e-01 9.89679474e+01] [-5.80863906e-01 6.07865173e-03 8.13977993e-01 -7.49246903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:98.96, Z:-7.50 [[-7.02420790e-01 5.02609416e-01 -5.03973024e-01 1.26690608e+02] [-4.14010607e-01 -8.64472891e-01 -2.85099699e-01 9.89643062e+01] [-5.78964810e-01 8.39022150e-03 8.15309360e-01 -7.49763644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:98.97, Z:-7.49 [[-6.95560393e-01 5.07235580e-01 -5.08829840e-01 1.26716967e+02] [-4.22361565e-01 -8.61596106e-01 -2.81536602e-01 9.89703133e+01] [-5.81211190e-01 1.90844577e-02 8.13528940e-01 -7.48841434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.68, Y:98.96, Z:-7.50 [[-7.02352859e-01 5.13010804e-01 -4.93477837e-01 1.26679555e+02] [-4.20059620e-01 -8.58382033e-01 -2.94499917e-01 9.89648246e+01] [-5.74674148e-01 4.47254177e-04 8.18382199e-01 -7.49748242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:98.97, Z:-7.50 [[-6.95521018e-01 5.10348411e-01 -5.05761814e-01 1.26709052e+02] [-4.27712767e-01 -8.59684561e-01 -2.79292400e-01 9.89650197e+01] [-5.77332056e-01 2.20670508e-02 8.16211212e-01 -7.49533976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.96, Z:-7.50 [[-7.01308029e-01 5.14369032e-01 -4.93549944e-01 1.26674993e+02] [-4.22986585e-01 -8.57561821e-01 -2.92694502e-01 9.89595605e+01] [-5.73802577e-01 3.49600142e-03 8.18986191e-01 -7.50310336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.96, Z:-7.50 [[-6.94224727e-01 5.11929154e-01 -5.05945224e-01 1.26703764e+02] [-4.30264485e-01 -8.58681679e-01 -2.78456904e-01 9.89596640e+01] [-5.76996101e-01 2.43785929e-02 8.16382988e-01 -7.50018315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.95, Z:-7.51 [[-6.97827734e-01 5.16886272e-01 -4.95847795e-01 1.26669901e+02] [-4.25714631e-01 -8.56029628e-01 -2.93224027e-01 9.89529275e+01] [-5.76023877e-01 6.46980292e-03 8.17407263e-01 -7.50770596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.95, Z:-7.51 [[-6.97189884e-01 5.09824415e-01 -5.03989416e-01 1.26672881e+02] [-4.25527111e-01 -8.60084303e-01 -2.81392376e-01 9.89467607e+01] [-5.76934089e-01 1.82772425e-02 8.16586186e-01 -7.51429845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.94, Z:-7.52 [[-6.96404531e-01 5.09658653e-01 -5.05241316e-01 1.26667404e+02] [-4.25193731e-01 -8.60173423e-01 -2.81623816e-01 9.89431637e+01] [-5.78127167e-01 1.87013381e-02 8.15732333e-01 -7.51766080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.94, Z:-7.52 [[-6.95235863e-01 5.09025753e-01 -5.07483870e-01 1.26663381e+02] [-4.23920581e-01 -8.60546050e-01 -2.82403677e-01 9.89397373e+01] [-5.80463984e-01 1.87956929e-02 8.14068968e-01 -7.51958655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.94, Z:-7.52 [[-6.94967106e-01 5.08102934e-01 -5.08775127e-01 1.26661878e+02] [-4.22637246e-01 -8.61095632e-01 -2.82651854e-01 9.89374013e+01] [-5.81720276e-01 1.85935773e-02 8.13176364e-01 -7.52085138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.93, Z:-7.53 [[-6.93961686e-01 5.06085593e-01 -5.12147002e-01 1.26656594e+02] [-4.19221694e-01 -8.62304020e-01 -2.84050961e-01 9.89304394e+01] [-5.85380518e-01 1.75826503e-02 8.10568011e-01 -7.52523931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.93, Z:-7.53 [[-6.94672169e-01 5.04016964e-01 -5.13222639e-01 1.26653855e+02] [-4.16560194e-01 -8.63538947e-01 -2.84214869e-01 9.89270268e+01] [-5.86436853e-01 1.63519623e-02 8.09829878e-01 -7.52705636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.92, Z:-7.53 [[-6.95410557e-01 5.01797188e-01 -5.14396481e-01 1.26647651e+02] [-4.13701209e-01 -8.64854571e-01 -2.84390366e-01 9.89215908e+01] [-5.87584433e-01 1.50383832e-02 8.09023103e-01 -7.53243395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.587628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:126.65, Y:98.92, Z:-7.54 [[-6.96825878e-01 4.99723102e-01 -5.14500259e-01 1.26646396e+02] [-4.11427181e-01 -8.66075292e-01 -2.83974055e-01 9.89185778e+01] [-5.87504358e-01 1.37989206e-02 8.09103343e-01 -7.53729806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.91, Z:-7.54 [[-6.96164257e-01 4.94105338e-01 -5.20783296e-01 1.26652961e+02] [-4.07936059e-01 -8.69216618e-01 -2.79375450e-01 9.89122245e+01] [-5.90714397e-01 1.79550831e-02 8.06680926e-01 -7.54095070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:98.91, Z:-7.54 [[-7.03154056e-01 4.97803386e-01 -5.07706769e-01 1.26631589e+02] [-4.02837927e-01 -8.67289189e-01 -2.92456949e-01 9.89096224e+01] [-5.85914651e-01 -1.11874737e-03 8.10371995e-01 -7.54388082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:98.90, Z:-7.55 [[-7.07224795e-01 4.88383467e-01 -5.11189474e-01 1.26635701e+02] [-3.99670956e-01 -8.72610104e-01 -2.80739618e-01 9.89014373e+01] [-5.83177688e-01 5.76156684e-03 8.12324190e-01 -7.55376552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:98.90, Z:-7.56 [[-7.09099747e-01 4.86647532e-01 -5.10246733e-01 1.26631480e+02] [-3.98231309e-01 -8.73585087e-01 -2.79751534e-01 9.88972838e+01] [-5.81884330e-01 4.82448224e-03 8.13257248e-01 -7.55949941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:98.89, Z:-7.56 [[-7.11483111e-01 4.84969105e-01 -5.08524091e-01 1.26626439e+02] [-3.97191465e-01 -8.74522241e-01 -2.78298023e-01 9.88932778e+01] [-5.79681571e-01 3.97708550e-03 8.14833394e-01 -7.56478017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:98.89, Z:-7.57 [[-7.11957934e-01 4.84243238e-01 -5.08551262e-01 1.26622825e+02] [-3.96623222e-01 -8.74924767e-01 -2.77842890e-01 9.88914787e+01] [-5.79487636e-01 3.89079048e-03 8.14971743e-01 -7.56783532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:98.89, Z:-7.57 [[-7.12333896e-01 4.83712084e-01 -5.08530275e-01 1.26618780e+02] [-3.96312794e-01 -8.75218209e-01 -2.77361239e-01 9.88893336e+01] [-5.79237939e-01 3.96324224e-03 8.15148884e-01 -7.57113429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:98.89, Z:-7.57 [[-7.12367604e-01 4.83292747e-01 -5.08881634e-01 1.26615522e+02] [-3.95968657e-01 -8.75449264e-01 -2.77123454e-01 9.88877708e+01] [-5.79431807e-01 4.08740636e-03 8.15010475e-01 -7.57409844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:98.89, Z:-7.58 [[-7.12453568e-01 4.82568746e-01 -5.09448054e-01 1.26611540e+02] [-3.95197463e-01 -8.75848915e-01 -2.76961446e-01 9.88858502e+01] [-5.79852463e-01 4.01040821e-03 8.14711628e-01 -7.57791762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:98.88, Z:-7.59 [[-7.08578535e-01 4.83623719e-01 -5.13833201e-01 1.26603913e+02] [-3.98149832e-01 -8.75219718e-01 -2.74712863e-01 9.88773786e+01] [-5.82574605e-01 9.92696518e-03 8.12716608e-01 -7.59152988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:98.88, Z:-7.58 [[-7.13583903e-01 4.85099501e-01 -5.05446819e-01 1.26598590e+02] [-3.93216662e-01 -8.74449878e-01 -2.84109254e-01 9.88847356e+01] [-5.79809167e-01 -3.98567967e-03 8.14742563e-01 -7.58212551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:98.87, Z:-7.60 [[-7.14171998e-01 4.73796957e-01 -5.15242469e-01 1.26591643e+02] [-3.91342377e-01 -8.80568656e-01 -2.67301300e-01 9.88728269e+01] [-5.80352911e-01 1.07371089e-02 8.14294304e-01 -7.60018045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:98.63, Z:-6.98 [[-7.43371141e-01 4.41628836e-01 5.02357759e-01 1.26068759e+02] [-4.08381091e-01 2.95149675e-01 -8.63777491e-01 9.86293534e+01] [-5.29739777e-01 -8.47260669e-01 -3.90528851e-02 -6.97515020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:98.59, Z:-7.06 [[-7.71776044e-01 3.87516928e-01 5.04174938e-01 1.25998147e+02] [-4.28610149e-01 2.68679451e-01 -8.62615032e-01 9.85913642e+01] [-4.69739373e-01 -8.81840112e-01 -4.12666749e-02 -7.05635405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:97.98, Z:-7.83 [[-7.49649707e-01 -4.34551411e-01 -4.99189731e-01 1.26663184e+02] [-4.04355500e-01 -2.96389904e-01 8.65245430e-01 9.79787975e+01] [-5.23948419e-01 8.50481097e-01 4.64753515e-02 -7.82990450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:97.92, Z:-7.86 [[-7.17850812e-01 -4.86007803e-01 -4.98484329e-01 1.26568903e+02] [-3.83137601e-01 -3.22048002e-01 8.65731288e-01 9.79245641e+01] [-5.81288044e-01 8.12453998e-01 4.49745559e-02 -7.86162104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:97.87, Z:-7.91 [[-6.82228144e-01 -5.37000988e-01 -4.96180106e-01 1.26473066e+02] [-3.58575270e-01 -3.45674845e-01 8.67140518e-01 9.78694476e+01] [-6.37172296e-01 7.69505582e-01 4.32738337e-02 -7.90504968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:98.34, Z:-7.34 [[-7.14882638e-01 4.87270087e-01 5.01508401e-01 1.25525457e+02] [-3.91545980e-01 3.15276683e-01 -8.64460733e-01 9.83357880e+01] [-5.79339762e-01 -8.14351568e-01 -3.45971836e-02 -7.34052488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:97.72, Z:-8.15 [[-6.81199470e-01 -5.39474983e-01 -4.94908098e-01 1.26197683e+02] [-3.55697852e-01 -3.46973284e-01 8.67806763e-01 9.77213146e+01] [-6.39879927e-01 7.67187254e-01 4.44679242e-02 -8.15206342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:98.51, Z:-8.09 [[-6.89526038e-01 4.66713441e-01 -5.53834278e-01 1.25894294e+02] [-3.57473355e-01 -8.84362705e-01 -3.00192282e-01 9.85109687e+01] [-6.29894153e-01 -9.00939716e-03 7.76628732e-01 -8.08794030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:98.51, Z:-8.09 [[-6.92490555e-01 4.61292228e-01 -5.54676763e-01 1.25894343e+02] [-3.55316434e-01 -8.87223099e-01 -2.94253980e-01 9.85123740e+01] [-6.27859110e-01 -6.68233240e-03 7.78298326e-01 -8.09176836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:98.51, Z:-8.10 [[-6.93558758e-01 4.60374983e-01 -5.54103893e-01 1.25889690e+02] [-3.54825690e-01 -8.87697819e-01 -2.93413211e-01 9.85124591e+01] [-6.26956919e-01 -6.88900630e-03 7.79023468e-01 -8.09604339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27762800000005 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:125.89, Y:98.51, Z:-8.10 [[-6.94641557e-01 4.60289886e-01 -5.52816722e-01 1.25885527e+02] [-3.55706873e-01 -8.87746094e-01 -2.92197695e-01 9.85131650e+01] [-6.25256529e-01 -6.33195393e-03 7.80393605e-01 -8.10253212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:98.52, Z:-8.10 [[-6.93397603e-01 4.60722466e-01 -5.54016763e-01 1.25876075e+02] [-3.56170808e-01 -8.87528122e-01 -2.92294695e-01 9.85152968e+01] [-6.26372189e-01 -5.35184257e-03 7.79505765e-01 -8.10395457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:98.51, Z:-8.11 [[-6.92596658e-01 4.59520788e-01 -5.56013053e-01 1.25870984e+02] [-3.54199301e-01 -8.88147693e-01 -2.92808010e-01 9.85131491e+01] [-6.28373078e-01 -5.85841456e-03 7.77890066e-01 -8.10718910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:98.51, Z:-8.11 [[-6.91519150e-01 4.58529534e-01 -5.58168372e-01 1.25864323e+02] [-3.52424780e-01 -8.88657679e-01 -2.93401267e-01 9.85090284e+01] [-6.30553757e-01 -6.18022889e-03 7.76120973e-01 -8.11202448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:98.51, Z:-8.12 [[-6.91786725e-01 4.57830830e-01 -5.58410295e-01 1.25860734e+02] [-3.51898928e-01 -8.89018071e-01 -2.92940291e-01 9.85068445e+01] [-6.30553940e-01 -6.14822042e-03 7.76121078e-01 -8.11576746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:98.51, Z:-8.11 [[-6.87507972e-01 4.59147228e-01 -5.62598091e-01 1.25877338e+02] [-3.54901489e-01 -8.88359978e-01 -2.91309943e-01 9.85094778e+01] [-6.33543780e-01 -6.11007756e-04 7.73706601e-01 -8.10859390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:98.50, Z:-8.12 [[-6.92271762e-01 4.61993936e-01 -5.54365774e-01 1.25851211e+02] [-3.51353659e-01 -8.86786507e-01 -3.00267043e-01 9.85023008e+01] [-6.30325641e-01 -1.30879515e-02 7.76220518e-01 -8.12073165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:98.50, Z:-8.12 [[-6.92283632e-01 4.56763998e-01 -5.58668079e-01 1.25859154e+02] [-3.51930780e-01 -8.89573932e-01 -2.91209455e-01 9.84976765e+01] [-6.29990555e-01 -4.98704635e-03 7.76586782e-01 -8.12351937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:98.49, Z:-8.14 [[-6.91889356e-01 4.55883197e-01 -5.59874655e-01 1.25848176e+02] [-3.51929307e-01 -8.90032819e-01 -2.89805700e-01 9.84903116e+01] [-6.30424366e-01 -3.47717986e-03 7.76242892e-01 -8.13557496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:98.49, Z:-8.13 [[-6.91635333e-01 4.57746897e-01 -5.58666577e-01 1.25848545e+02] [-3.51298236e-01 -8.89056802e-01 -2.93543103e-01 9.84921965e+01] [-6.31054765e-01 -6.76619854e-03 7.75708774e-01 -8.13204261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:98.49, Z:-8.13 [[-6.91445064e-01 4.55086503e-01 -5.61070404e-01 1.25847572e+02] [-3.50067972e-01 -8.90434959e-01 -2.90822968e-01 9.84909636e+01] [-6.31946309e-01 -4.67532759e-03 7.74998067e-01 -8.13434551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:98.49, Z:-8.14 [[-6.91301019e-01 4.54184284e-01 -5.61978236e-01 1.25838520e+02] [-3.48955081e-01 -8.90894323e-01 -2.90753603e-01 9.84864418e+01] [-6.32718937e-01 -4.89310072e-03 7.74366066e-01 -8.14262599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:98.49, Z:-8.14 [[-6.91812995e-01 4.52854550e-01 -5.62421138e-01 1.25838248e+02] [-3.47491877e-01 -8.91567474e-01 -2.90442482e-01 9.84864492e+01] [-6.32964593e-01 -5.49510577e-03 7.74161242e-01 -8.14255437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:98.48, Z:-8.15 [[-6.92518932e-01 4.51524002e-01 -5.62622079e-01 1.25834204e+02] [-3.46132137e-01 -8.92238168e-01 -2.90006198e-01 9.84838993e+01] [-6.32937652e-01 -6.09319992e-03 7.74178791e-01 -8.14688010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:98.48, Z:-8.15 [[-6.93893293e-01 4.49972052e-01 -5.62171905e-01 1.25831645e+02] [-3.44805763e-01 -8.93016547e-01 -2.89189268e-01 9.84814740e+01] [-6.32155901e-01 -6.82638088e-03 7.74811149e-01 -8.15141629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:98.48, Z:-8.16 [[-6.94637499e-01 4.49098236e-01 -5.61951528e-01 1.25828143e+02] [-3.44214410e-01 -8.93454980e-01 -2.88538798e-01 9.84797593e+01] [-6.31660657e-01 -6.99805552e-03 7.75213417e-01 -8.15580123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:98.48, Z:-8.16 [[-6.95575331e-01 4.48099994e-01 -5.61588243e-01 1.25822939e+02] [-3.43523653e-01 -8.93953809e-01 -2.87816065e-01 9.84777303e+01] [-6.31004326e-01 -7.27891001e-03 7.75745163e-01 -8.16047032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:98.48, Z:-8.16 [[-6.96291345e-01 4.47404022e-01 -5.61255738e-01 1.25819918e+02] [-3.43207492e-01 -8.94302282e-01 -2.87109816e-01 9.84770058e+01] [-6.30386374e-01 -7.28490576e-03 7.76247351e-01 -8.16323624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:98.47, Z:-8.17 [[-6.97757881e-01 4.46235245e-01 -5.60364208e-01 1.25808719e+02] [-3.42521196e-01 -8.94882522e-01 -2.86119732e-01 9.84734239e+01] [-6.29136845e-01 -7.70567949e-03 7.77256363e-01 -8.17236198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:98.47, Z:-8.17 [[-6.98430829e-01 4.45215724e-01 -5.60336806e-01 1.25806537e+02] [-3.41656622e-01 -8.95387511e-01 -2.85573033e-01 9.84728129e+01] [-6.28860183e-01 -8.01022989e-03 7.77477142e-01 -8.17428106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:98.47, Z:-8.18 [[-6.98262155e-01 4.44521744e-01 -5.61097480e-01 1.25803796e+02] [-3.41135177e-01 -8.95735238e-01 -2.85105550e-01 9.84713335e+01] [-6.29330401e-01 -7.66832726e-03 7.77100021e-01 -8.17701467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:98.47, Z:-8.18 [[-6.98005912e-01 4.44363540e-01 -5.61541443e-01 1.25800426e+02] [-3.41178527e-01 -8.95817597e-01 -2.84794742e-01 9.84682405e+01] [-6.29591106e-01 -7.20253130e-03 7.76893277e-01 -8.18121721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:98.47, Z:-8.18 [[-6.97437262e-01 4.44498961e-01 -5.62140498e-01 1.25799747e+02] [-3.41534275e-01 -8.95755972e-01 -2.84562080e-01 9.84659179e+01] [-6.30028257e-01 -6.47395023e-03 7.76545223e-01 -8.18326135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:98.46, Z:-8.19 [[-6.96588760e-01 4.44970339e-01 -5.62819240e-01 1.25798204e+02] [-3.42289576e-01 -8.95528775e-01 -2.84369582e-01 9.84633733e+01] [-6.30556854e-01 -5.44149536e-03 7.76123987e-01 -8.18583770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:98.46, Z:-8.19 [[-6.94219172e-01 4.47440311e-01 -5.63788001e-01 1.25795466e+02] [-3.45537883e-01 -8.94310191e-01 -2.84276016e-01 9.84607664e+01] [-6.31397904e-01 -2.53974805e-03 7.75454858e-01 -8.18787884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:98.46, Z:-8.19 [[-6.93019740e-01 4.48474501e-01 -5.64441549e-01 1.25792933e+02] [-3.47036334e-01 -8.93795084e-01 -2.84070645e-01 9.84597433e+01] [-6.31893522e-01 -9.84838475e-04 7.75054583e-01 -8.18980362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:98.46, Z:-8.19 [[-6.91765290e-01 4.49428499e-01 -5.65221026e-01 1.25789416e+02] [-3.48383102e-01 -8.93316166e-01 -2.83928585e-01 9.84585221e+01] [-6.32526678e-01 5.01514457e-04 7.74538411e-01 -8.19231505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.46, Z:-8.20 [[-6.90311549e-01 4.50534148e-01 -5.66117433e-01 1.25783599e+02] [-3.49920610e-01 -8.92756517e-01 -2.83798112e-01 9.84559959e+01] [-6.33265768e-01 2.18704340e-03 7.73931317e-01 -8.19728646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.46, Z:-8.20 [[-6.87476221e-01 4.53381359e-01 -5.67293389e-01 1.25784880e+02] [-3.53611406e-01 -8.91299702e-01 -2.83802421e-01 9.84573750e+01] [-6.34299156e-01 5.49399682e-03 7.73068171e-01 -8.19597164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.46, Z:-8.20 [[-6.86182641e-01 4.54439535e-01 -5.68012405e-01 1.25782612e+02] [-3.55134757e-01 -8.90749290e-01 -2.83628290e-01 9.84559906e+01] [-6.34848554e-01 7.10013840e-03 7.72603974e-01 -8.19951608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.45, Z:-8.20 [[-6.84146174e-01 4.57739300e-01 -5.67819290e-01 1.25782072e+02] [-3.59970376e-01 -8.89020674e-01 -2.82955067e-01 9.84545498e+01] [-6.34322742e-01 1.08154969e-02 7.72992680e-01 -8.20196825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.45, Z:-8.21 [[-6.83575756e-01 4.58983836e-01 -5.67501563e-01 1.25776842e+02] [-3.62144567e-01 -8.88355750e-01 -2.82268268e-01 9.84507745e+01] [-6.33699849e-01 1.25658625e-02 7.73476956e-01 -8.20784191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.45, Z:-8.21 [[-6.83319635e-01 4.59725983e-01 -5.67209218e-01 1.25775297e+02] [-3.63653529e-01 -8.87952843e-01 -2.81595206e-01 9.84487670e+01] [-6.33111670e-01 1.38481004e-02 7.73936589e-01 -8.21016218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:98.45, Z:-8.21 [[-6.82882160e-01 4.61439203e-01 -5.66344257e-01 1.25775535e+02] [-3.66675450e-01 -8.87026604e-01 -2.80593868e-01 9.84476375e+01] [-6.31839433e-01 1.60519885e-02 7.74933071e-01 -8.21043327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:98.44, Z:-8.22 [[-6.83123539e-01 4.61836146e-01 -5.65729268e-01 1.25769992e+02] [-3.67885782e-01 -8.86801550e-01 -2.79719614e-01 9.84438956e+01] [-6.30874220e-01 1.70407013e-02 7.75697965e-01 -8.21630598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:98.44, Z:-8.22 [[-6.83410187e-01 4.62122925e-01 -5.65148581e-01 1.25770290e+02] [-3.68898345e-01 -8.86635770e-01 -2.78910421e-01 9.84426494e+01] [-6.29971847e-01 1.78721530e-02 7.76412299e-01 -8.21687589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:98.44, Z:-8.22 [[-6.83178726e-01 4.62967295e-01 -5.64737206e-01 1.25766652e+02] [-3.70567990e-01 -8.86166901e-01 -2.78186249e-01 9.84377176e+01] [-6.29242555e-01 1.92226046e-02 7.76971234e-01 -8.22210548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:98.43, Z:-8.23 [[-6.83101571e-01 4.58655118e-01 -5.68337687e-01 1.25766281e+02] [-3.71066879e-01 -8.88237048e-01 -2.70821561e-01 9.84313229e+01] [-6.29032285e-01 2.58926581e-02 7.76947846e-01 -8.22896053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:98.24, Z:-7.69 [[-7.11232538e-01 5.86113773e-01 3.88096537e-01 1.25205097e+02] [-3.53697346e-01 1.78736065e-01 -9.18123961e-01 9.82395149e+01] [-6.07491946e-01 -7.90268350e-01 8.01839808e-02 -7.69196006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:97.50, Z:-8.33 [[-7.15568164e-01 -5.89725507e-01 -3.74414250e-01 1.25911608e+02] [-3.39777646e-01 -1.74474895e-01 9.24180536e-01 9.74996283e+01] [-6.10338721e-01 7.88531761e-01 -7.55268644e-02 -8.32766291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:98.14, Z:-7.87 [[-7.12025172e-01 5.85304104e-01 3.87865003e-01 1.25007351e+02] [-3.53497409e-01 1.78469718e-01 -9.18252766e-01 9.81437419e+01] [-6.06679270e-01 -7.90928357e-01 7.98285527e-02 -7.86821021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:98.12, Z:-7.96 [[-7.49166053e-01 5.41457210e-01 3.81542022e-01 1.24952721e+02] [-3.60888103e-01 1.49359070e-01 -9.20571369e-01 9.81192649e+01] [-5.55436767e-01 -8.27354795e-01 8.35107206e-02 -7.96058331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:97.84, Z:-7.89 [[ -0.77586112 0.24091307 0.58309554 124.87076415] [ -0.39065928 0.54227678 -0.74385565 97.83759368] [ -0.49540372 -0.80492036 -0.32661654 -7.88752931] [ 0. 0. 0. 1. ]] SLAMing on 272.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:98.15, Z:-8.78 [[-7.79589412e-01 4.68875205e-01 -4.15206444e-01 1.25196168e+02] [-4.18659150e-01 -8.83217584e-01 -2.11308342e-01 9.81536943e+01] [-4.65794874e-01 9.09623068e-03 8.84845972e-01 -8.78136223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:98.15, Z:-8.78 [[-7.80561077e-01 4.65792291e-01 -4.16847630e-01 1.25196094e+02] [-4.15935770e-01 -8.84842499e-01 -2.09883746e-01 9.81508273e+01] [-4.66606730e-01 9.55475739e-03 8.84413289e-01 -8.78251726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:98.14, Z:-8.79 [[-7.82297675e-01 4.61573771e-01 -4.18282203e-01 1.25191506e+02] [-4.10952363e-01 -8.87071108e-01 -2.10292662e-01 9.81439606e+01] [-4.68111634e-01 7.38259944e-03 8.83638498e-01 -8.78662878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:98.14, Z:-8.79 [[-7.84082434e-01 4.58803193e-01 -4.17988477e-01 1.25186965e+02] [-4.08068233e-01 -8.88517220e-01 -2.09803401e-01 9.81390207e+01] [-4.67648430e-01 6.06465820e-03 8.83893753e-01 -8.79080844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:98.14, Z:-8.79 [[-7.85997347e-01 4.55953174e-01 -4.17510328e-01 1.25184616e+02] [-4.05112726e-01 -8.89991647e-01 -2.09281024e-01 9.81358415e+01] [-4.67003051e-01 4.64441743e-03 8.84243507e-01 -8.79388211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:98.13, Z:-8.80 [[-7.87768921e-01 4.53228486e-01 -4.17137947e-01 1.25179423e+02] [-4.02289900e-01 -8.91388129e-01 -2.08782281e-01 9.81322346e+01] [-4.66457891e-01 3.33819040e-03 8.84537106e-01 -8.79811808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:98.13, Z:-8.80 [[-7.89931255e-01 4.49421702e-01 -4.17167527e-01 1.25174335e+02] [-3.98125007e-01 -8.93318672e-01 -2.08514339e-01 9.81304678e+01] [-4.66374410e-01 1.37283155e-03 8.84586358e-01 -8.80001568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:98.13, Z:-8.80 [[-7.90577392e-01 4.47972459e-01 -4.17502172e-01 1.25169999e+02] [-3.96563577e-01 -8.94046967e-01 -2.08368303e-01 9.81282311e+01] [-4.66609812e-01 8.34885042e-04 8.84462880e-01 -8.80272993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:98.13, Z:-8.81 [[-7.90915785e-01 4.46705344e-01 -4.18218313e-01 1.25165639e+02] [-3.95092422e-01 -8.94681058e-01 -2.08441318e-01 9.81258328e+01] [-4.67283853e-01 3.75357795e-04 8.84107267e-01 -8.80584122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.16, Y:98.12, Z:-8.81 [[-7.91502473e-01 4.45258783e-01 -4.18650752e-01 1.25163189e+02] [-3.93508363e-01 -8.95401916e-01 -2.08342454e-01 9.81245011e+01] [-4.67626993e-01 -1.60995315e-04 8.83925885e-01 -8.80882034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:98.12, Z:-8.81 [[-7.92076320e-01 4.44378693e-01 -4.18500514e-01 1.25156141e+02] [-3.92702737e-01 -8.95838949e-01 -2.07983503e-01 9.81215973e+01] [-4.67332498e-01 -3.92510476e-04 8.84081547e-01 -8.81360100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:98.12, Z:-8.81 [[-7.92542892e-01 4.43611266e-01 -4.18431366e-01 1.25156326e+02] [-3.92003431e-01 -8.96219133e-01 -2.07664574e-01 9.81226640e+01] [-4.67128541e-01 -5.56551189e-04 8.84189242e-01 -8.81400166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:98.12, Z:-8.82 [[-7.92960345e-01 4.43030254e-01 -4.18256005e-01 1.25151249e+02] [-3.91542721e-01 -8.96506454e-01 -2.07293214e-01 9.81227342e+01] [-4.66806373e-01 -6.10204393e-04 8.84359338e-01 -8.81718540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:98.12, Z:-8.82 [[-7.93234001e-01 4.42988747e-01 -4.17780791e-01 1.25148508e+02] [-3.91769570e-01 -8.96527105e-01 -2.06774645e-01 9.81223542e+01] [-4.66150644e-01 -3.46878252e-04 8.84705294e-01 -8.81897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:98.12, Z:-8.82 [[-7.92730879e-01 4.44222808e-01 -4.17425264e-01 1.25145278e+02] [-3.93421451e-01 -8.95916076e-01 -2.06286082e-01 9.81234693e+01] [-4.65614986e-01 6.94706176e-04 8.84987120e-01 -8.82148818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:98.12, Z:-8.82 [[-7.92377757e-01 4.44803619e-01 -4.17477223e-01 1.25141939e+02] [-3.94213099e-01 -8.95627151e-01 -2.06029220e-01 9.81236213e+01] [-4.65546478e-01 1.32201846e-03 8.85022445e-01 -8.82345411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:98.12, Z:-8.83 [[-7.92027156e-01 4.45516910e-01 -4.17381919e-01 1.25136113e+02] [-3.95207694e-01 -8.95271164e-01 -2.05670665e-01 9.81222343e+01] [-4.65299755e-01 2.05579383e-03 8.85150785e-01 -8.82700438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:98.13, Z:-8.83 [[-7.90873517e-01 4.47549308e-01 -4.17395134e-01 1.25136185e+02] [-3.97665762e-01 -8.94252148e-01 -2.05365618e-01 9.81254727e+01] [-4.65167736e-01 3.56552543e-03 8.85215378e-01 -8.82732769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:98.12, Z:-8.83 [[-7.90376689e-01 4.48697821e-01 -4.17103051e-01 1.25131508e+02] [-3.99201393e-01 -8.93671950e-01 -2.04911427e-01 9.81249449e+01] [-4.64696608e-01 4.55090383e-03 8.85458272e-01 -8.82988897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:98.13, Z:-8.83 [[-7.89811328e-01 4.49808964e-01 -4.16977173e-01 1.25128821e+02] [-4.00651873e-01 -8.93107767e-01 -2.04539954e-01 9.81255656e+01] [-4.64409456e-01 5.51471314e-03 8.85603435e-01 -8.83120499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:98.13, Z:-8.83 [[-7.89338618e-01 4.50945490e-01 -4.16644586e-01 1.25126005e+02] [-4.02182013e-01 -8.92527907e-01 -2.04067549e-01 9.81258210e+01] [-4.63890261e-01 6.48856151e-03 8.85868909e-01 -8.83261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:98.13, Z:-8.83 [[-7.88407204e-01 4.53132154e-01 -4.16035254e-01 1.25122911e+02] [-4.04950495e-01 -8.91407095e-01 -2.03490758e-01 9.81269314e+01] [-4.63064983e-01 8.04010214e-03 8.86287864e-01 -8.83476771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:98.13, Z:-8.84 [[-7.88588735e-01 4.52760630e-01 -4.16095684e-01 1.25119945e+02] [-4.04676376e-01 -8.91595013e-01 -2.03212607e-01 9.81252620e+01] [-4.62995505e-01 8.13292069e-03 8.86323315e-01 -8.83640937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:98.13, Z:-8.83 [[-7.84604118e-01 4.54327482e-01 -4.21880217e-01 1.25144673e+02] [-4.09272835e-01 -8.90666679e-01 -1.98011650e-01 9.81265199e+01] [-4.65716786e-01 1.73033566e-02 8.84764640e-01 -8.83126860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:98.13, Z:-8.83 [[-7.84958838e-01 4.60759471e-01 -4.14174278e-01 1.25131727e+02] [-4.07648992e-01 -8.87525009e-01 -2.14759533e-01 9.81290223e+01] [-4.66542519e-01 2.60333582e-04 8.84498734e-01 -8.82942469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:98.13, Z:-8.83 [[-7.85257229e-01 4.58118626e-01 -4.16531402e-01 1.25130586e+02] [-4.07206147e-01 -8.88878370e-01 -2.09948556e-01 9.81256939e+01] [-4.66427098e-01 4.75052606e-03 8.84546887e-01 -8.83324911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:98.12, Z:-8.84 [[-7.90937138e-01 4.51615726e-01 -4.12870052e-01 1.25102100e+02] [-3.99538155e-01 -8.92211171e-01 -2.10543319e-01 9.81175585e+01] [-4.63451947e-01 -1.56919110e-03 8.86120664e-01 -8.84414991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:125.10, Y:98.11, Z:-8.85 [[-7.91172037e-01 4.47286102e-01 -4.17111437e-01 1.25097839e+02] [-3.99134993e-01 -8.94366036e-01 -2.01991710e-01 9.81105416e+01] [-4.63398387e-01 6.67357768e-03 8.86124934e-01 -8.85407256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:98.12, Z:-8.84 [[-7.86522157e-01 4.52427041e-01 -4.20348271e-01 1.25121194e+02] [-4.05035500e-01 -8.91727919e-01 -2.01909786e-01 9.81166434e+01] [-4.66185736e-01 1.14494515e-02 8.84612780e-01 -8.84218972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:98.11, Z:-8.85 [[-7.90583088e-01 4.49323681e-01 -4.16036790e-01 1.25091754e+02] [-3.97993004e-01 -8.93368758e-01 -2.08551749e-01 9.81108051e+01] [-4.65381510e-01 7.02246607e-04 8.85109913e-01 -8.85040028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:98.11, Z:-8.85 [[-7.90565080e-01 4.45931863e-01 -4.19704214e-01 1.25090620e+02] [-3.97457454e-01 -8.95040514e-01 -2.02311764e-01 9.81059172e+01] [-4.65869537e-01 6.87395272e-03 8.84826719e-01 -8.85480891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:98.10, Z:-8.86 [[-7.90249368e-01 4.45723517e-01 -4.20519301e-01 1.25087644e+02] [-3.97169668e-01 -8.95142901e-01 -2.02423914e-01 9.81025677e+01] [-4.66649966e-01 7.05214114e-03 8.84413974e-01 -8.85701427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:98.10, Z:-8.86 [[-7.90380578e-01 4.45209854e-01 -4.20816738e-01 1.25084476e+02] [-3.96663032e-01 -8.95398590e-01 -2.02286440e-01 9.81009009e+01] [-4.66858630e-01 7.03916969e-03 8.84303946e-01 -8.85900263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:98.10, Z:-8.86 [[-7.90778739e-01 4.44214204e-01 -4.21120798e-01 1.25080470e+02] [-3.95608746e-01 -8.95895246e-01 -2.02151994e-01 9.80990747e+01] [-4.67078908e-01 6.74157204e-03 8.84189937e-01 -8.86109295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:98.10, Z:-8.86 [[-7.91365711e-01 4.42942490e-01 -4.21357641e-01 1.25077503e+02] [-3.94273727e-01 -8.96527825e-01 -2.01955655e-01 9.80976734e+01] [-4.67213590e-01 6.30946679e-03 8.84121967e-01 -8.86277607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:98.10, Z:-8.86 [[-7.92097495e-01 4.41569667e-01 -4.21423525e-01 1.25074322e+02] [-3.92850620e-01 -8.97208316e-01 -2.01706786e-01 9.80961920e+01] [-4.67172290e-01 5.78505319e-03 8.84147377e-01 -8.86453346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:98.10, Z:-8.85 [[-7.93632116e-01 4.47103567e-01 -4.12609337e-01 1.25079031e+02] [-3.95964400e-01 -8.94481079e-01 -2.07643427e-01 9.81013750e+01] [-4.61909362e-01 -1.41388379e-03 8.86926007e-01 -8.85364289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:98.09, Z:-8.88 [[-7.94551802e-01 4.32923767e-01 -4.25751626e-01 1.25062009e+02] [-3.87904663e-01 -9.01349184e-01 -1.92612618e-01 9.80850203e+01] [-4.67137461e-01 1.21103380e-02 8.84101766e-01 -8.87802538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:97.85, Z:-8.13 [[ -0.81516288 0.30885749 0.49001687 124.60241395] [ -0.40170666 0.30803253 -0.86240809 97.85431397] [ -0.41730234 -0.8998461 -0.12702658 -8.13052929] [ 0. 0. 0. 1. ]] SLAMing on 273.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:97.27, Z:-9.01 [[ -0.80025029 -0.3506389 -0.48646874 125.19147288] [ -0.3788438 -0.33322437 0.86338803 97.26568151] [ -0.46484066 0.87522219 0.13382552 -9.01225098] [ 0. 0. 0. 1. ]] SLAMing on 273.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:97.99, Z:-8.99 [[-7.96122231e-01 4.34469991e-01 -4.21218731e-01 1.24840944e+02] [-3.83119074e-01 -9.00684600e-01 -2.04907361e-01 9.79872164e+01] [-4.68411324e-01 -1.75437515e-03 8.83508774e-01 -8.98964877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:97.98, Z:-8.99 [[-7.96731415e-01 4.31506236e-01 -4.23109231e-01 1.24836438e+02] [-3.82020209e-01 -9.02108216e-01 -2.00652251e-01 9.79833659e+01] [-4.68273011e-01 1.77032543e-03 8.83582058e-01 -8.99472244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:97.98, Z:-9.00 [[-7.97744683e-01 4.29760324e-01 -4.22976932e-01 1.24832900e+02] [-3.80226107e-01 -9.02942411e-01 -2.00307538e-01 9.79827508e+01] [-4.68008043e-01 1.03259875e-03 8.83723602e-01 -8.99704230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:97.98, Z:-9.00 [[-7.97990609e-01 4.29091351e-01 -4.23192156e-01 1.24832270e+02] [-3.79564880e-01 -9.03260621e-01 -2.00126843e-01 9.79832917e+01] [-4.68125507e-01 9.29538870e-04 8.83661500e-01 -8.99718539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:97.98, Z:-9.00 [[-7.98087520e-01 4.28726041e-01 -4.23379608e-01 1.24829009e+02] [-3.79254185e-01 -9.03433990e-01 -1.99933214e-01 9.79827183e+01] [-4.68212104e-01 1.00428515e-03 8.83615537e-01 -8.99902868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:97.98, Z:-9.00 [[-7.97889608e-01 4.29843331e-01 -4.22619077e-01 1.24825833e+02] [-3.80855736e-01 -9.02901400e-01 -1.99293680e-01 9.79821835e+01] [-4.67248415e-01 1.94254345e-03 8.84123942e-01 -9.00139022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:97.98, Z:-9.00 [[-7.97847363e-01 4.30621750e-01 -4.21905789e-01 1.24822147e+02] [-3.82074948e-01 -9.02528433e-01 -1.98648337e-01 9.79808669e+01] [-4.66324265e-01 2.70858054e-03 8.84609713e-01 -9.00383603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:97.98, Z:-9.00 [[-7.96810622e-01 4.33142156e-01 -4.21284591e-01 1.24820761e+02] [-3.85224040e-01 -9.01314589e-01 -1.98076880e-01 9.79812717e+01] [-4.65505395e-01 4.45918975e-03 8.85033809e-01 -9.00400029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:97.98, Z:-9.01 [[-7.96515532e-01 4.33712286e-01 -4.21256050e-01 1.24818314e+02] [-3.86038029e-01 -9.01036948e-01 -1.97755045e-01 9.79794353e+01] [-4.65336058e-01 5.10589029e-03 8.85119361e-01 -9.00534762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:97.98, Z:-9.01 [[-7.96002383e-01 4.34474569e-01 -4.21440452e-01 1.24814857e+02] [-3.87002806e-01 -9.00665179e-01 -1.97562810e-01 9.79771009e+01] [-4.65412757e-01 5.83817011e-03 8.85074506e-01 -9.00732789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.067628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.81, Y:97.98, Z:-9.01 [[-7.95786929e-01 4.35522131e-01 -4.20765537e-01 1.24814380e+02] [-3.88494509e-01 -9.00152941e-01 -1.96968779e-01 9.79763587e+01] [-4.64537598e-01 6.71992126e-03 8.85527901e-01 -9.00818361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:97.97, Z:-9.01 [[-7.95046140e-01 4.37221774e-01 -4.20403087e-01 1.24811647e+02] [-3.90647741e-01 -8.99318273e-01 -1.96522231e-01 9.79735109e+01] [-4.63999977e-01 7.98527572e-03 8.85799219e-01 -9.00970385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:97.97, Z:-9.01 [[-7.95014516e-01 4.37684455e-01 -4.19981235e-01 1.24810754e+02] [-3.91429662e-01 -8.99087947e-01 -1.96019601e-01 9.79720455e+01] [-4.63394799e-01 8.55468469e-03 8.86110647e-01 -9.01071027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:97.97, Z:-9.01 [[-7.94735939e-01 4.38810056e-01 -4.19333426e-01 1.24807507e+02] [-3.92996514e-01 -8.98529924e-01 -1.95442357e-01 9.79690606e+01] [-4.62545703e-01 9.47150974e-03 8.86544846e-01 -9.01409426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:97.97, Z:-9.02 [[-7.94995047e-01 4.38795865e-01 -4.18856854e-01 1.24806372e+02] [-3.93248766e-01 -8.98533797e-01 -1.94916455e-01 9.79675522e+01] [-4.61885574e-01 9.75732534e-03 8.86885850e-01 -9.01535426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:97.96, Z:-9.02 [[-7.95267370e-01 4.38323686e-01 -4.18834283e-01 1.24798644e+02] [-3.92863419e-01 -8.98764191e-01 -1.94631095e-01 9.79632763e+01] [-4.61744675e-01 9.76090882e-03 8.86959176e-01 -9.02035638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:97.96, Z:-9.02 [[-7.95740252e-01 4.37697004e-01 -4.18591429e-01 1.24798675e+02] [-3.92353974e-01 -8.99070547e-01 -1.94243430e-01 9.79625026e+01] [-4.61362993e-01 9.66869494e-03 8.87158782e-01 -9.01979212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:97.96, Z:-9.02 [[-7.96181608e-01 4.36588530e-01 -4.18909659e-01 1.24794898e+02] [-3.91171585e-01 -8.99613088e-01 -1.94116158e-01 9.79596929e+01] [-4.61605500e-01 9.31384033e-03 8.87036423e-01 -9.02163361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:97.96, Z:-9.02 [[-7.97653443e-01 4.33491980e-01 -4.19325278e-01 1.24792379e+02] [-3.87735744e-01 -9.01123328e-01 -1.94004484e-01 9.79562894e+01] [-4.61963177e-01 7.83905425e-03 8.86864461e-01 -9.02182226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:97.95, Z:-9.03 [[-7.98607720e-01 4.31233702e-01 -4.19837116e-01 1.24784989e+02] [-3.85208957e-01 -9.02214475e-01 -1.93966751e-01 9.79514225e+01] [-4.62428123e-01 6.82167244e-03 8.86630530e-01 -9.02628304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:97.94, Z:-9.03 [[-8.00701975e-01 4.27343195e-01 -4.19826323e-01 1.24777342e+02] [-3.80990852e-01 -9.04076147e-01 -1.93629264e-01 9.79447370e+01] [-4.62301112e-01 4.91065441e-03 8.86709404e-01 -9.03121747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:97.94, Z:-9.04 [[-7.93803919e-01 4.25825570e-01 -4.34221053e-01 1.24793662e+02] [-3.84384038e-01 -9.04572078e-01 -1.84386188e-01 9.79384463e+01] [-4.71300594e-01 2.05411629e-02 8.81733413e-01 -9.03953119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:97.95, Z:-9.03 [[-8.02503141e-01 4.31471917e-01 -4.12093063e-01 1.24765151e+02] [-3.76022350e-01 -9.01996651e-01 -2.12153796e-01 9.79462321e+01] [-4.63244968e-01 -1.52978854e-02 8.86098231e-01 -9.02863734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:124.77, Y:97.94, Z:-9.04 [[-8.03284799e-01 4.21771850e-01 -4.20525907e-01 1.24768386e+02] [-3.75071701e-01 -9.06697814e-01 -1.92925614e-01 9.79374110e+01] [-4.62660513e-01 2.75315444e-03 8.86531257e-01 -9.04053874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48762800000003 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:124.77, Y:97.94, Z:-9.04 [[-8.03828822e-01 4.20868049e-01 -4.20391853e-01 1.24765302e+02] [-3.74257897e-01 -9.07118216e-01 -1.92529396e-01 9.79363028e+01] [-4.62374579e-01 2.57429337e-03 8.86680958e-01 -9.04269878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:97.93, Z:-9.04 [[-8.04081401e-01 4.19039582e-01 -4.21733244e-01 1.24757941e+02] [-3.72021732e-01 -9.07966155e-01 -1.92865996e-01 9.79348684e+01] [-4.63737998e-01 1.81397131e-03 8.85970529e-01 -9.04315701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:97.93, Z:-9.04 [[-8.04607846e-01 4.18239975e-01 -4.21522879e-01 1.24755508e+02] [-3.71328888e-01 -9.08335042e-01 -1.92463784e-01 9.79342343e+01] [-4.63380050e-01 1.66575121e-03 8.86158087e-01 -9.04372376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:97.93, Z:-9.05 [[-8.05534435e-01 4.16608987e-01 -4.21368278e-01 1.24748786e+02] [-3.69669264e-01 -9.09085216e-01 -1.92116384e-01 9.79320904e+01] [-4.63097084e-01 1.01053842e-03 8.86306984e-01 -9.04673438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:97.93, Z:-9.05 [[-8.05911203e-01 4.15563731e-01 -4.21679877e-01 1.24746413e+02] [-3.68560668e-01 -9.09563798e-01 -1.91981071e-01 9.79311984e+01] [-4.63325121e-01 6.94921315e-04 8.86188101e-01 -9.04848921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:97.93, Z:-9.05 [[-8.06496979e-01 4.13922624e-01 -4.22173761e-01 1.24742034e+02] [-3.66736383e-01 -9.10312067e-01 -1.91928021e-01 9.79299956e+01] [-4.63753219e-01 3.71086666e-05 8.85964418e-01 -9.05074245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:97.93, Z:-9.05 [[-8.07938776e-01 4.11130921e-01 -4.22144879e-01 1.24738292e+02] [-3.63738019e-01 -9.11575408e-01 -1.91637495e-01 9.79296321e+01] [-4.63604991e-01 -1.28122108e-03 8.86041066e-01 -9.05275717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:97.93, Z:-9.06 [[-8.08939012e-01 4.09601393e-01 -4.21715987e-01 1.24733505e+02] [-3.62260132e-01 -9.12262681e-01 -1.91165888e-01 9.79279399e+01] [-4.63017571e-01 -1.87065585e-03 8.86347127e-01 -9.05574663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:97.93, Z:-9.06 [[-8.09633038e-01 4.08374732e-01 -4.21573744e-01 1.24729180e+02] [-3.61055703e-01 -9.12811510e-01 -1.90824335e-01 9.79266451e+01] [-4.62745202e-01 -2.28608157e-03 8.86488382e-01 -9.05875358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:97.93, Z:-9.06 [[-8.10417318e-01 4.07340164e-01 -4.21067408e-01 1.24725260e+02] [-3.60154943e-01 -9.13272847e-01 -1.90318480e-01 9.79255947e+01] [-4.62073792e-01 -2.58788426e-03 8.86837704e-01 -9.06096627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:97.93, Z:-9.06 [[-8.11443121e-01 4.05307816e-01 -4.21053009e-01 1.24720572e+02] [-3.58012481e-01 -9.14173724e-01 -1.90035432e-01 9.79251554e+01] [-4.61938443e-01 -3.46071153e-03 8.86905236e-01 -9.06336027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:97.92, Z:-9.07 [[-8.11857202e-01 4.03763770e-01 -4.21737717e-01 1.24716974e+02] [-3.56268533e-01 -9.14854397e-01 -1.90037274e-01 9.79247289e+01] [-4.62558771e-01 -4.03125188e-03 8.86579456e-01 -9.06512995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:97.92, Z:-9.07 [[-8.12012411e-01 4.01851800e-01 -4.23262301e-01 1.24707302e+02] [-3.53891469e-01 -9.15691849e-01 -1.90444914e-01 9.79229939e+01] [-4.64108471e-01 -4.85471680e-03 8.85765070e-01 -9.06923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:97.92, Z:-9.07 [[-8.12491325e-01 4.00845713e-01 -4.23297249e-01 1.24704874e+02] [-3.52894012e-01 -9.16131139e-01 -1.90182943e-01 9.79229963e+01] [-4.64029809e-01 -5.14292710e-03 8.85804655e-01 -9.07042351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:97.92, Z:-9.07 [[-8.12565467e-01 4.00527977e-01 -4.23455667e-01 1.24701648e+02] [-3.52690038e-01 -9.16271178e-01 -1.89886455e-01 9.79220662e+01] [-4.64055060e-01 -4.94658023e-03 8.85792545e-01 -9.07292839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:97.92, Z:-9.08 [[-8.12860672e-01 4.01155038e-01 -4.22293931e-01 1.24692133e+02] [-3.53820949e-01 -9.16000144e-01 -1.89088528e-01 9.79208075e+01] [-4.62675117e-01 -4.28618839e-03 8.86517549e-01 -9.07821101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:97.92, Z:-9.08 [[-8.12993237e-01 4.01230478e-01 -4.21966942e-01 1.24686632e+02] [-3.54128658e-01 -9.15968602e-01 -1.88664819e-01 9.79194256e+01] [-4.62206545e-01 -3.95263502e-03 8.86763489e-01 -9.08094158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:97.92, Z:-9.08 [[-8.13072410e-01 4.00908362e-01 -4.22120529e-01 1.24691229e+02] [-3.53889882e-01 -9.16110201e-01 -1.88425189e-01 9.79207862e+01] [-4.62250157e-01 -3.81913833e-03 8.86741342e-01 -9.07875747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:97.92, Z:-9.08 [[-8.13505913e-01 4.00486296e-01 -4.21685732e-01 1.24688188e+02] [-3.53662069e-01 -9.16295004e-01 -1.87953733e-01 9.79163246e+01] [-4.61661423e-01 -3.76722441e-03 8.87048216e-01 -9.08199048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:97.91, Z:-9.09 [[-8.13747095e-01 4.00174186e-01 -4.21516650e-01 1.24682533e+02] [-3.53494092e-01 -9.16431801e-01 -1.87602456e-01 9.79121398e+01] [-4.61364923e-01 -3.65730824e-03 8.87202926e-01 -9.08577179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:97.91, Z:-9.08 [[-8.13169079e-01 4.00631059e-01 -4.22197587e-01 1.24684818e+02] [-3.54007687e-01 -9.16234258e-01 -1.87598884e-01 9.79108999e+01] [-4.61989833e-01 -3.08842044e-03 8.86879843e-01 -9.08408058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:97.91, Z:-9.09 [[-8.12570550e-01 4.00958374e-01 -4.23038396e-01 1.24681032e+02] [-3.54338938e-01 -9.16092606e-01 -1.87665274e-01 9.79084240e+01] [-4.62788309e-01 -2.59229895e-03 8.86465036e-01 -9.08551175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:97.91, Z:-9.09 [[-8.11996202e-01 4.01191572e-01 -4.23919203e-01 1.24677439e+02] [-3.54540165e-01 -9.15991580e-01 -1.87778317e-01 9.79066015e+01] [-4.63641499e-01 -2.17889606e-03 8.86020210e-01 -9.08719566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:97.91, Z:-9.09 [[-8.10571421e-01 4.02578553e-01 -4.25328672e-01 1.24675294e+02] [-3.55921081e-01 -9.15384776e-01 -1.88124684e-01 9.79052597e+01] [-4.65074354e-01 -1.10505141e-03 8.85270933e-01 -9.08791667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:97.90, Z:-9.09 [[-8.10765528e-01 4.02044584e-01 -4.25463761e-01 1.24672214e+02] [-3.55478607e-01 -9.15619508e-01 -1.87818732e-01 9.79036775e+01] [-4.65074423e-01 -1.03368827e-03 8.85270982e-01 -9.08991821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:97.90, Z:-9.09 [[-8.10081833e-01 4.02690143e-01 -4.26154986e-01 1.24668894e+02] [-3.56192940e-01 -9.15336280e-01 -1.87845903e-01 9.79018387e+01] [-4.65718813e-01 -3.77156408e-04 8.84932678e-01 -9.09195361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:97.90, Z:-9.09 [[-8.09800228e-01 4.03058763e-01 -4.26341676e-01 1.24666760e+02] [-3.56711981e-01 -9.15174092e-01 -1.87651122e-01 9.79003618e+01] [-4.65811285e-01 1.21262946e-04 8.84884078e-01 -9.09325289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:97.90, Z:-9.10 [[-8.09764434e-01 4.03265212e-01 -4.26214418e-01 1.24663432e+02] [-3.57151077e-01 -9.15082961e-01 -1.87259935e-01 9.78981757e+01] [-4.65536969e-01 5.86503067e-04 8.85028241e-01 -9.09542867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:97.90, Z:-9.10 [[-8.09430230e-01 4.03931477e-01 -4.26218330e-01 1.24659862e+02] [-3.58048615e-01 -9.14788383e-01 -1.86985035e-01 9.78956458e+01] [-4.65428718e-01 1.25554330e-03 8.85084477e-01 -9.09848689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:97.89, Z:-9.10 [[-8.09240610e-01 4.03854577e-01 -4.26651047e-01 1.24657375e+02] [-3.58008451e-01 -9.14821967e-01 -1.86897611e-01 9.78943672e+01] [-4.65789205e-01 1.49954407e-03 8.84894439e-01 -9.10007522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:97.89, Z:-9.10 [[-8.08463043e-01 4.04652342e-01 -4.27368682e-01 1.24656689e+02] [-3.58893004e-01 -9.14467834e-01 -1.86934194e-01 9.78934366e+01] [-4.66458272e-01 2.25024264e-03 8.84540342e-01 -9.09996169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:97.89, Z:-9.11 [[-8.08112531e-01 4.04924254e-01 -4.27773872e-01 1.24643165e+02] [-3.59254856e-01 -9.14346255e-01 -1.86833816e-01 9.78873142e+01] [-4.66786981e-01 2.69709281e-03 8.84365671e-01 -9.10811930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:97.89, Z:-9.10 [[-8.07778573e-01 4.05500579e-01 -4.27858688e-01 1.24652084e+02] [-3.60019383e-01 -9.14088872e-01 -1.86621484e-01 9.78910640e+01] [-4.66775985e-01 3.28858512e-03 8.84369473e-01 -9.10285482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:97.89, Z:-9.10 [[-8.06507363e-01 4.07937029e-01 -4.27940714e-01 1.24648798e+02] [-3.62905276e-01 -9.12996453e-01 -1.86379282e-01 9.78899427e+01] [-4.66739365e-01 4.98567958e-03 8.84380861e-01 -9.10496263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:97.89, Z:-9.11 [[-8.05897316e-01 4.08862274e-01 -4.28206910e-01 1.24646966e+02] [-3.64039499e-01 -9.12577598e-01 -1.86218613e-01 9.78891181e+01] [-4.66909799e-01 5.81114804e-03 8.84285853e-01 -9.10611584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:97.89, Z:-9.11 [[-8.05141215e-01 4.09628510e-01 -4.28896382e-01 1.24646617e+02] [-3.64900791e-01 -9.12228880e-01 -1.86241466e-01 9.78890081e+01] [-4.67541481e-01 6.55394898e-03 8.83946836e-01 -9.10630746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:97.89, Z:-9.11 [[-8.04631216e-01 4.10330785e-01 -4.29182075e-01 1.24644144e+02] [-3.65779644e-01 -9.11907914e-01 -1.86089252e-01 9.78875843e+01] [-4.67732679e-01 7.25284562e-03 8.83840222e-01 -9.10755611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:97.88, Z:-9.11 [[-8.03949582e-01 4.11183624e-01 -4.29642988e-01 1.24640565e+02] [-3.66791107e-01 -9.11517045e-01 -1.86013334e-01 9.78842882e+01] [-4.68112544e-01 8.04388499e-03 8.83632244e-01 -9.11068094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:97.88, Z:-9.11 [[-8.03941852e-01 4.10659789e-01 -4.30158153e-01 1.24635616e+02] [-3.66276101e-01 -9.11752451e-01 -1.85874385e-01 9.78811052e+01] [-4.68528885e-01 8.12445370e-03 8.83410820e-01 -9.11458086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:97.88, Z:-9.12 [[-8.04167444e-01 4.10214814e-01 -4.30161049e-01 1.24631853e+02] [-3.66050756e-01 -9.11950149e-01 -1.85347698e-01 9.78780913e+01] [-4.68317805e-01 8.41019293e-03 8.83520063e-01 -9.11738801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:97.88, Z:-9.12 [[-8.04204185e-01 4.09729943e-01 -4.30554297e-01 1.24630050e+02] [-3.65576715e-01 -9.12167715e-01 -1.85212648e-01 9.78766648e+01] [-4.68624897e-01 8.45183888e-03 8.83356821e-01 -9.11928888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:97.87, Z:-9.12 [[-8.04267507e-01 4.09367562e-01 -4.30780658e-01 1.24627461e+02] [-3.65262723e-01 -9.12329667e-01 -1.85034379e-01 9.78741275e+01] [-4.68761048e-01 8.53097734e-03 8.83283818e-01 -9.12244713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:97.87, Z:-9.12 [[-8.04856961e-01 4.08915912e-01 -4.30108183e-01 1.24625175e+02] [-3.65041788e-01 -9.12532156e-01 -1.84471020e-01 9.78719281e+01] [-4.67920682e-01 8.53467584e-03 8.83729254e-01 -9.12476437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:97.87, Z:-9.13 [[-8.05317543e-01 4.07943416e-01 -4.30169530e-01 1.24619690e+02] [-3.64071363e-01 -9.12969896e-01 -1.84222723e-01 9.78686290e+01] [-4.67884278e-01 8.25461674e-03 8.83751189e-01 -9.12888764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:97.87, Z:-9.13 [[-8.06368015e-01 4.05643924e-01 -4.30376151e-01 1.24615854e+02] [-3.61595958e-01 -9.14002291e-01 -1.83978737e-01 9.78652701e+01] [-4.67994645e-01 7.26770782e-03 8.83701416e-01 -9.13207964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:97.86, Z:-9.13 [[-8.07474403e-01 4.03627815e-01 -4.30197251e-01 1.24612838e+02] [-3.59510741e-01 -9.14900819e-01 -1.83598797e-01 9.78627228e+01] [-4.67693399e-01 6.40920348e-03 8.83867528e-01 -9.13455813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:97.86, Z:-9.14 [[-8.08740504e-01 4.01107189e-01 -4.30176499e-01 1.24607792e+02] [-3.56805304e-01 -9.16016166e-01 -1.83314915e-01 9.78595973e+01] [-4.67577558e-01 5.23505986e-03 8.83936548e-01 -9.13793628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:97.86, Z:-9.14 [[-8.11235967e-01 3.95956009e-01 -4.30249980e-01 1.24602507e+02] [-3.51102018e-01 -9.18265946e-01 -1.83071092e-01 9.78566939e+01] [-4.67572004e-01 2.54778181e-03 8.83951317e-01 -9.14101430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:97.85, Z:-9.14 [[-8.12714019e-01 3.93024306e-01 -4.30148599e-01 1.24597310e+02] [-3.47967686e-01 -9.19527331e-01 -1.82723772e-01 9.78538681e+01] [-4.67348277e-01 1.17564195e-03 8.84072512e-01 -9.14443390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:97.85, Z:-9.15 [[-8.14138066e-01 3.90455570e-01 -4.29794901e-01 1.24594283e+02] [-3.45286799e-01 -9.20621772e-01 -1.82298049e-01 9.78512268e+01] [-4.66857832e-01 -1.32751563e-05 8.84332383e-01 -9.14749377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:97.85, Z:-9.15 [[-8.16548501e-01 3.86203989e-01 -4.29062962e-01 1.24589423e+02] [-3.40791252e-01 -9.22410879e-01 -1.81712668e-01 9.78471261e+01] [-4.65950501e-01 -2.15630253e-03 8.84808161e-01 -9.15312754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:97.84, Z:-9.16 [[-8.17350329e-01 3.84367793e-01 -4.29185088e-01 1.24584647e+02] [-3.38834841e-01 -9.23175439e-01 -1.81488453e-01 9.78448362e+01] [-4.65971448e-01 -2.91678601e-03 8.84794949e-01 -9.15653830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:97.84, Z:-9.16 [[-8.18066836e-01 3.82920350e-01 -4.29113806e-01 1.24579829e+02] [-3.37361930e-01 -9.23774912e-01 -1.81181787e-01 9.78431430e+01] [-4.65782761e-01 -3.45214947e-03 8.84892367e-01 -9.15912336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:97.84, Z:-9.16 [[-8.18144534e-01 3.81945682e-01 -4.29833710e-01 1.24576849e+02] [-3.36228686e-01 -9.24177142e-01 -1.81237082e-01 9.78441840e+01] [-4.66465211e-01 -3.75570418e-03 8.84531572e-01 -9.15943633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:97.84, Z:-9.16 [[-8.18049303e-01 3.81682135e-01 -4.30248866e-01 1.24573794e+02] [-3.35998359e-01 -9.24286675e-01 -1.81105620e-01 9.78441805e+01] [-4.66798073e-01 -3.59041363e-03 8.84356641e-01 -9.15976853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:97.84, Z:-9.16 [[-8.17801428e-01 3.81407096e-01 -4.30963399e-01 1.24566809e+02] [-3.35671839e-01 -9.24400680e-01 -1.81129232e-01 9.78422351e+01] [-4.67466834e-01 -3.46546788e-03 8.84003818e-01 -9.16318671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:97.84, Z:-9.16 [[-8.17455989e-01 3.81740089e-01 -4.31323789e-01 1.24565038e+02] [-3.36159737e-01 -9.24265174e-01 -1.80915778e-01 9.78423966e+01] [-4.67720362e-01 -2.89699476e-03 8.83871750e-01 -9.16401749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:97.84, Z:-9.17 [[-8.17484157e-01 3.81875697e-01 -4.31150327e-01 1.24561142e+02] [-3.36498538e-01 -9.24210235e-01 -1.80566265e-01 9.78408596e+01] [-4.67427413e-01 -2.52860644e-03 8.84027839e-01 -9.16727744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:97.84, Z:-9.17 [[-8.17531830e-01 3.81989657e-01 -4.30958942e-01 1.24553167e+02] [-3.36831629e-01 -9.24164114e-01 -1.80180863e-01 9.78380042e+01] [-4.67104015e-01 -2.14298833e-03 8.84199778e-01 -9.17288844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:97.84, Z:-9.18 [[-8.17158864e-01 3.81488517e-01 -4.32108670e-01 1.24549571e+02] [-3.38832795e-01 -9.24368206e-01 -1.75316163e-01 9.78365168e+01] [-4.66308619e-01 3.15143201e-03 8.84616493e-01 -9.17759720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:97.72, Z:-8.51 [[-8.42412425e-01 4.04569686e-01 3.55899810e-01 1.24097960e+02] [-3.50599079e-01 9.00144688e-02 -9.32189724e-01 9.77238345e+01] [-4.09171836e-01 -9.10066352e-01 6.60124523e-02 -8.51116792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:97.69, Z:-8.58 [[-8.67246423e-01 3.48823705e-01 3.55254367e-01 1.24025639e+02] [-3.55807004e-01 6.48833876e-02 -9.32304415e-01 9.76928226e+01] [-3.48259987e-01 -9.34939661e-01 6.78440313e-02 -8.57897497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:97.65, Z:-8.64 [[-8.84587263e-01 2.90718171e-01 3.64675637e-01 1.23950138e+02] [-3.68518756e-01 4.35171799e-02 -9.28601196e-01 9.76526676e+01] [-2.85830896e-01 -9.55818602e-01 6.86403556e-02 -8.63692451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:97.67, Z:-9.46 [[-8.90492640e-01 3.73632243e-01 -2.59657091e-01 1.24154511e+02] [-3.59846942e-01 -9.27569020e-01 -1.00627486e-01 9.76736465e+01] [-2.78447547e-01 3.82877485e-03 9.60443806e-01 -9.45625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:97.60, Z:-8.66 [[-9.04441441e-01 2.08800814e-01 3.72005242e-01 1.23873608e+02] [-3.62348484e-01 8.42124247e-02 -9.28230490e-01 9.75978241e+01] [-2.25142745e-01 -9.74325658e-01 -5.06548366e-04 -8.66170623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:97.57, Z:-8.71 [[-9.16861155e-01 1.48284573e-01 3.70644450e-01 1.23803542e+02] [-3.65771448e-01 5.99085249e-02 -9.28774578e-01 9.75694165e+01] [-1.59927704e-01 -9.87128489e-01 -6.89536403e-04 -8.70819002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:96.75, Z:-9.53 [[-9.10024919e-01 -1.93131647e-01 -3.66817140e-01 1.24180517e+02] [-3.58534058e-01 -7.75231752e-02 9.30292151e-01 9.67480784e+01] [-2.08105684e-01 9.78105477e-01 1.30374819e-03 -9.52548556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:96.72, Z:-9.51 [[-8.94770963e-01 -2.54413117e-01 -3.66958975e-01 1.24097182e+02] [-3.52559067e-01 -1.01798467e-01 9.30236086e-01 9.67151926e+01] [-2.74020123e-01 9.61722953e-01 1.39066149e-03 -9.51386818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:97.44, Z:-8.76 [[-9.05390406e-01 2.09412229e-01 3.69343650e-01 1.23469985e+02] [-3.59645741e-01 8.40853046e-02 -9.29292528e-01 9.74376321e+01] [-2.25661593e-01 -9.74205410e-01 -8.15811953e-04 -8.75884565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:96.63, Z:-9.57 [[-8.94714745e-01 -2.54478288e-01 -3.67050849e-01 1.23890774e+02] [-3.52587580e-01 -1.02033193e-01 9.30199562e-01 9.66335200e+01] [-2.74166962e-01 9.61680835e-01 1.56471822e-03 -9.57011614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58762800000005 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:123.04, Y:97.23, Z:-9.77 [[-8.88968510e-01 3.75040143e-01 -2.62830515e-01 1.23039735e+02] [-3.61335784e-01 -9.26992066e-01 -1.00608953e-01 9.72321507e+01] [-2.81374198e-01 5.53187923e-03 9.59582179e-01 -9.77212468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:97.44, Z:-9.61 [[-8.90847953e-01 3.73026469e-01 -2.59309040e-01 1.23553444e+02] [-3.57240967e-01 -9.27815687e-01 -1.07410159e-01 9.74368957e+01] [-2.80657828e-01 -3.05030761e-03 9.59803042e-01 -9.60548211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:97.43, Z:-9.61 [[-8.90894408e-01 3.71615602e-01 -2.61168525e-01 1.23548712e+02] [-3.57300471e-01 -9.28383869e-01 -1.02175171e-01 9.74307251e+01] [-2.80434533e-01 2.28834869e-03 9.59870427e-01 -9.60925803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:97.43, Z:-9.61 [[-8.90815272e-01 3.71943190e-01 -2.60972057e-01 1.23551692e+02] [-3.57698762e-01 -9.28252114e-01 -1.01978471e-01 9.74301472e+01] [-2.80178061e-01 2.50540196e-03 9.59944778e-01 -9.60855404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:97.43, Z:-9.61 [[-8.90769927e-01 3.71891887e-01 -2.61199849e-01 1.23551761e+02] [-3.57655012e-01 -9.28272387e-01 -1.01947382e-01 9.74290453e+01] [-2.80378012e-01 2.60777314e-03 9.59886123e-01 -9.60904829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:97.43, Z:-9.60 [[-8.94731934e-01 3.73922941e-01 -2.44205651e-01 1.23538921e+02] [-3.56290985e-01 -9.27331034e-01 -1.14515880e-01 9.74329726e+01] [-2.69279594e-01 -1.54527430e-02 9.62938063e-01 -9.59630006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:96.48, Z:-9.43 [[ -0.87236015 -0.4054173 -0.27317499 123.76271735] [ -0.355951 0.14373288 0.92338494 96.48478 ] [ -0.335092 0.90276114 -0.26969553 -9.4331229 ] [ 0. 0. 0. 1. ]] SLAMing on 276.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:97.38, Z:-9.62 [[-8.66676479e-01 3.84548526e-01 -3.17796022e-01 1.23410563e+02] [-3.61459908e-01 -9.23104096e-01 -1.31246195e-01 9.73801298e+01] [-3.43829340e-01 1.12253016e-03 9.39031482e-01 -9.62326291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:97.37, Z:-9.63 [[-8.67542888e-01 3.81448664e-01 -3.19164932e-01 1.23406714e+02] [-3.58918157e-01 -9.24386680e-01 -1.29178256e-01 9.73749416e+01] [-3.44306685e-01 2.48641211e-03 9.38853942e-01 -9.62559689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:97.37, Z:-9.63 [[-8.68159860e-01 3.79633694e-01 -3.19650929e-01 1.23407058e+02] [-3.56968954e-01 -9.25134896e-01 -1.29223028e-01 9.73736404e+01] [-3.44777644e-01 1.91921221e-03 9.38682424e-01 -9.62543759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:96.46, Z:-8.84 [[-8.40318176e-01 -4.40663170e-01 3.15723508e-01 1.23270246e+02] [-4.18622099e-01 8.97534054e-01 1.38521338e-01 9.64606526e+01] [-3.44413851e-01 -1.57668398e-02 -9.38685520e-01 -8.84429031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:96.43, Z:-9.34 [[ -0.80495428 -0.54763813 -0.2283442 123.58654343] [ -0.43613965 0.28519333 0.85349105 96.42675806] [ -0.402282 0.78661124 -0.46841429 -9.33743039] [ 0. 0. 0. 1. ]] SLAMing on 276.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:96.83, Z:-8.74 [[-7.96812465e-01 -1.19768582e-01 5.92237606e-01 1.22931538e+02] [-4.90268211e-01 7.01050990e-01 -5.17846108e-01 9.68328876e+01] [-3.53167066e-01 -7.02981505e-01 -6.17324896e-01 -8.73751711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:97.31, Z:-9.73 [[-7.95281982e-01 5.27242908e-01 -2.99234832e-01 1.23064514e+02] [-4.93773380e-01 -8.49714288e-01 -1.84860699e-01 9.73050906e+01] [-3.51730605e-01 7.37810930e-04 9.36100976e-01 -9.72634839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:97.31, Z:-9.72 [[-7.95440927e-01 5.27341343e-01 -2.98638308e-01 1.23069312e+02] [-4.94095870e-01 -8.49652966e-01 -1.84279972e-01 9.73092455e+01] [-3.50917372e-01 9.72123359e-04 9.36405923e-01 -9.72410282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:97.31, Z:-9.73 [[-7.95644678e-01 5.27360878e-01 -2.98060481e-01 1.23065533e+02] [-4.94336717e-01 -8.49640564e-01 -1.83690287e-01 9.73071447e+01] [-3.50115347e-01 1.19004070e-03 9.36705839e-01 -9.72598347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:97.30, Z:-9.73 [[-7.95853288e-01 5.27186951e-01 -2.97811119e-01 1.23061339e+02] [-4.94294694e-01 -8.49748297e-01 -1.83304627e-01 9.73045060e+01] [-3.49700298e-01 1.32286566e-03 9.36860689e-01 -9.72867721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:97.30, Z:-9.73 [[-7.96149147e-01 5.26881364e-01 -2.97561026e-01 1.23056504e+02] [-4.94111961e-01 -8.49937688e-01 -1.82918823e-01 9.73015804e+01] [-3.49284850e-01 1.39779705e-03 9.37015549e-01 -9.73169635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:97.30, Z:-9.73 [[-7.96402784e-01 5.26444887e-01 -2.97654811e-01 1.23053408e+02] [-4.93703076e-01 -8.50208108e-01 -1.82766095e-01 9.72995216e+01] [-3.49284810e-01 1.39766906e-03 9.37015565e-01 -9.73317108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:97.30, Z:-9.74 [[-7.96894873e-01 5.26112661e-01 -2.96924282e-01 1.23046619e+02] [-4.93592132e-01 -8.50413663e-01 -1.82108232e-01 9.72970247e+01] [-3.48317913e-01 1.43837317e-03 9.37375358e-01 -9.73646076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:97.30, Z:-9.74 [[-7.97040263e-01 5.26093245e-01 -2.96568234e-01 1.23045673e+02] [-4.93729647e-01 -8.50425352e-01 -1.81680368e-01 9.72976290e+01] [-3.47789960e-01 1.61796081e-03 9.37571078e-01 -9.73671780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:97.30, Z:-9.74 [[-7.97067708e-01 5.26404432e-01 -2.95941621e-01 1.23042199e+02] [-4.94279885e-01 -8.50232095e-01 -1.81087769e-01 9.72984280e+01] [-3.46944468e-01 1.93877678e-03 9.37883669e-01 -9.73795553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:97.30, Z:-9.74 [[-7.97245181e-01 5.26210557e-01 -2.95808334e-01 1.23038030e+02] [-4.94180056e-01 -8.50351855e-01 -1.80797662e-01 9.72977864e+01] [-3.46678804e-01 2.04251428e-03 9.37981682e-01 -9.73926091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:97.30, Z:-9.74 [[-7.97106381e-01 5.26359977e-01 -2.95916527e-01 1.23036104e+02] [-4.94392241e-01 -8.50258724e-01 -1.80655514e-01 9.72984732e+01] [-3.46695441e-01 2.29717201e-03 9.37974943e-01 -9.73962707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:96.25, Z:-9.03 [[-7.58788515e-01 -5.77232794e-01 3.01732151e-01 1.22888935e+02] [-5.45566613e-01 8.16317729e-01 1.89690370e-01 9.62503048e+01] [-3.55804807e-01 -2.06801137e-02 -9.34331457e-01 -9.02621032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:96.36, Z:-9.35 [[ -0.71980745 -0.64373713 -0.25976862 123.35001081] [ -0.57031752 0.33507231 0.74997631 96.35842471] [ -0.39574633 0.68798914 -0.60832211 -9.34877919] [ 0. 0. 0. 1. ]] SLAMing on 277.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:97.27, Z:-9.76 [[-7.10325410e-01 6.33430814e-01 -3.06925424e-01 1.22828065e+02] [-5.82861678e-01 -7.73794551e-01 -2.48020680e-01 9.72672276e+01] [-3.94601162e-01 2.71967610e-03 9.18848478e-01 -9.75780117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:97.26, Z:-9.76 [[-7.12795479e-01 6.30502950e-01 -3.07227335e-01 1.22821915e+02] [-5.79837238e-01 -7.76185151e-01 -2.47639636e-01 9.72607271e+01] [-3.94602816e-01 1.62543615e-03 9.18850355e-01 -9.76108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:97.26, Z:-9.76 [[-7.14648356e-01 6.28530052e-01 -3.06965308e-01 1.22819602e+02] [-5.77928968e-01 -7.77784859e-01 -2.47080597e-01 9.72569964e+01] [-3.94050549e-01 8.28401137e-04 9.19088395e-01 -9.76311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:97.25, Z:-9.77 [[-7.16426632e-01 6.26557863e-01 -3.06851960e-01 1.22812934e+02] [-5.75958994e-01 -7.79374906e-01 -2.46669807e-01 9.72499523e+01] [-3.93705625e-01 1.33274704e-05 9.19236575e-01 -9.76810584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:97.25, Z:-9.77 [[-7.19281961e-01 6.23527313e-01 -3.06344823e-01 1.22810761e+02] [-5.72974737e-01 -7.81800358e-01 -2.45943388e-01 9.72467607e+01] [-3.92852912e-01 -1.37479788e-03 9.19600293e-01 -9.76962832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:97.24, Z:-9.77 [[-7.20415294e-01 6.22163708e-01 -3.06454115e-01 1.22806065e+02] [-5.71590278e-01 -7.82884983e-01 -2.45714586e-01 9.72418259e+01] [-3.92793023e-01 -1.85035308e-03 9.19625042e-01 -9.77305874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:97.24, Z:-9.78 [[-7.20960350e-01 6.21495142e-01 -3.06528893e-01 1.22800883e+02] [-5.71067183e-01 -7.83416044e-01 -2.45237792e-01 9.72366048e+01] [-3.92553749e-01 -1.75813337e-03 9.19727385e-01 -9.77724902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:97.23, Z:-9.78 [[-7.21183995e-01 6.21360820e-01 -3.06275002e-01 1.22796684e+02] [-5.71143902e-01 -7.83523006e-01 -2.44716861e-01 9.72327704e+01] [-3.92030980e-01 -1.55878422e-03 9.19950695e-01 -9.78062452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:97.23, Z:-9.78 [[-7.20789129e-01 6.22209449e-01 -3.05480659e-01 1.22794035e+02] [-5.72483580e-01 -7.82850408e-01 -2.43737134e-01 9.72312903e+01] [-3.90801206e-01 -8.00415270e-04 9.20474756e-01 -9.78232085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:97.23, Z:-9.78 [[-7.20566451e-01 6.22482944e-01 -3.05448807e-01 1.22790984e+02] [-5.72926000e-01 -7.82633272e-01 -2.43394660e-01 9.72290259e+01] [-3.90563424e-01 -3.82463055e-04 9.20575942e-01 -9.78447940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66762800000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.79, Y:97.23, Z:-9.79 [[-7.19476176e-01 6.23861339e-01 -3.05206587e-01 1.22787981e+02] [-5.74638878e-01 -7.81534790e-01 -2.42885841e-01 9.72285712e+01] [-3.90056652e-01 6.32995053e-04 9.20790643e-01 -9.78730860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:97.22, Z:-9.79 [[-7.19530161e-01 6.23774929e-01 -3.05255935e-01 1.22781548e+02] [-5.74662053e-01 -7.81603549e-01 -2.42609597e-01 9.72244748e+01] [-3.89922907e-01 8.54079751e-04 9.20847109e-01 -9.78903014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.78, Y:97.22, Z:-9.79 [[-7.19445254e-01 6.23825109e-01 -3.05353501e-01 1.22776217e+02] [-5.74817360e-01 -7.81563121e-01 -2.42371802e-01 9.72202584e+01] [-3.89850651e-01 1.14925089e-03 9.20877380e-01 -9.79228611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:97.21, Z:-9.80 [[-7.19238977e-01 6.23570833e-01 -3.06357161e-01 1.22771728e+02] [-5.74337536e-01 -7.81765805e-01 -2.42855144e-01 9.72143832e+01] [-3.90936937e-01 1.28153154e-03 9.20416574e-01 -9.79647460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.77, Y:97.21, Z:-9.80 [[-7.19770979e-01 6.22675129e-01 -3.06929018e-01 1.22771524e+02] [-5.73399313e-01 -7.82479468e-01 -2.42773783e-01 9.72131452e+01] [-3.91334851e-01 1.25136417e-03 9.20247504e-01 -9.79666154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:97.21, Z:-9.80 [[-7.19968990e-01 6.22103269e-01 -3.07623434e-01 1.22767593e+02] [-5.72679792e-01 -7.82934258e-01 -2.43005769e-01 9.72089176e+01] [-3.92023608e-01 1.21310669e-03 9.19954357e-01 -9.79899755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:97.21, Z:-9.80 [[-7.20394211e-01 6.21171842e-01 -3.08508871e-01 1.22763952e+02] [-5.71505074e-01 -7.83673774e-01 -2.43387277e-01 9.72050475e+01] [-3.92955634e-01 9.79599878e-04 9.19556910e-01 -9.80069189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.76, Y:97.20, Z:-9.80 [[-7.20772601e-01 6.20425487e-01 -3.09126305e-01 1.22760984e+02] [-5.70609539e-01 -7.84264968e-01 -2.43584102e-01 9.72019514e+01] [-3.93562716e-01 8.21671470e-04 9.19297402e-01 -9.80278740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.76, Y:97.20, Z:-9.81 [[-7.21165463e-01 6.19711494e-01 -3.09641792e-01 1.22756689e+02] [-5.69783346e-01 -7.84829409e-01 -2.43700098e-01 9.71978034e+01] [-3.94039736e-01 6.80642374e-04 9.19093152e-01 -9.80542381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:97.19, Z:-9.81 [[-7.21258125e-01 6.19226008e-01 -3.10396308e-01 1.22749259e+02] [-5.69137481e-01 -7.85212504e-01 -2.43975104e-01 9.71911477e+01] [-3.94802792e-01 6.89146565e-04 9.18765629e-01 -9.81017950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:97.19, Z:-9.81 [[-7.20481537e-01 6.19596662e-01 -3.11458394e-01 1.22750512e+02] [-5.69320988e-01 -7.84919492e-01 -2.44489273e-01 9.71912881e+01] [-3.95954501e-01 1.16979352e-03 9.18269386e-01 -9.80988706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.997628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.75, Y:97.19, Z:-9.81 [[-7.19802156e-01 6.19936648e-01 -3.12351419e-01 1.22749562e+02] [-5.69528915e-01 -7.84650162e-01 -2.44869227e-01 9.71900013e+01] [-3.96889999e-01 1.63576723e-03 9.17864725e-01 -9.81106921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:97.19, Z:-9.81 [[-7.18819923e-01 6.20650039e-01 -3.13195542e-01 1.22745470e+02] [-5.70148924e-01 -7.84084373e-01 -2.45238456e-01 9.71866119e+01] [-3.97778987e-01 2.28581279e-03 9.17478421e-01 -9.81351537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:97.18, Z:-9.82 [[-7.18872501e-01 6.20470295e-01 -3.13430917e-01 1.22740073e+02] [-5.70011998e-01 -7.84226087e-01 -2.45103584e-01 9.71825094e+01] [-3.97880195e-01 2.46115679e-03 9.17434081e-01 -9.81665735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.74, Y:97.18, Z:-9.82 [[-7.19004942e-01 6.20130366e-01 -3.13799654e-01 1.22737052e+02] [-5.69655819e-01 -7.84494633e-01 -2.45072275e-01 9.71805941e+01] [-3.98150904e-01 2.54962239e-03 9.17316389e-01 -9.81830777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:97.18, Z:-9.82 [[-7.20013722e-01 6.19155482e-01 -3.13411439e-01 1.22732836e+02] [-5.68848513e-01 -7.85265180e-01 -2.44478971e-01 9.71779365e+01] [-3.97481585e-01 2.25541697e-03 9.17607379e-01 -9.82071723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:97.17, Z:-9.83 [[-7.22274373e-01 6.16980274e-01 -3.12498115e-01 1.22725254e+02] [-5.67012128e-01 -7.86977174e-01 -2.43236868e-01 9.71729318e+01] [-3.96001232e-01 1.50646515e-03 9.18248743e-01 -9.82565074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.177628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.72, Y:97.17, Z:-9.83 [[-7.24051443e-01 6.15214627e-01 -3.11866110e-01 1.22722134e+02] [-5.65447789e-01 -7.88359226e-01 -2.42401587e-01 9.71705349e+01] [-3.94991527e-01 8.32783884e-04 9.18684385e-01 -9.82873544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:97.17, Z:-9.83 [[-7.26178354e-01 6.13155625e-01 -3.10974562e-01 1.22715587e+02] [-5.63627110e-01 -7.89962137e-01 -2.41421420e-01 9.71650880e+01] [-3.93687031e-01 -4.13158542e-05 9.19244537e-01 -9.83345075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.71, Y:97.16, Z:-9.84 [[-7.29896328e-01 6.08998935e-01 -3.10437832e-01 1.22713137e+02] [-5.59409312e-01 -7.93168422e-01 -2.40717833e-01 9.71624849e+01] [-3.92826389e-01 -2.03724809e-03 9.19610395e-01 -9.83647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:97.16, Z:-9.84 [[-7.31709063e-01 6.06613085e-01 -3.10841458e-01 1.22707940e+02] [-5.56816988e-01 -7.94991355e-01 -2.40714743e-01 9.71576233e+01] [-3.93136985e-01 -3.05135487e-03 9.19474850e-01 -9.83959489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:97.15, Z:-9.84 [[-7.34435582e-01 6.03044118e-01 -3.11355372e-01 1.22702315e+02] [-5.52902906e-01 -7.97693991e-01 -2.40795916e-01 9.71517082e+01] [-3.93576870e-01 -4.69979910e-03 9.19279696e-01 -9.84207946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:97.15, Z:-9.84 [[-7.35676339e-01 6.01322536e-01 -3.11755565e-01 1.22699334e+02] [-5.51022215e-01 -7.98988287e-01 -2.40815773e-01 9.71478396e+01] [-3.93896996e-01 -5.37822412e-03 9.19138853e-01 -9.84408162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:97.14, Z:-9.85 [[-7.36609692e-01 6.00205381e-01 -3.11704447e-01 1.22694958e+02] [-5.49950268e-01 -7.99825448e-01 -2.40486913e-01 9.71428024e+01] [-3.93650688e-01 -5.72304671e-03 9.19242287e-01 -9.84725197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:97.14, Z:-9.85 [[-7.37183352e-01 5.99471527e-01 -3.11760477e-01 1.22692690e+02] [-5.49258266e-01 -8.00374595e-01 -2.40241265e-01 9.71397027e+01] [-3.93542963e-01 -5.86484192e-03 9.19287518e-01 -9.84906882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:97.14, Z:-9.85 [[-7.36967705e-01 5.99619997e-01 -3.11984712e-01 1.22689990e+02] [-5.49491864e-01 -8.00266032e-01 -2.40068678e-01 9.71358756e+01] [-3.93620747e-01 -5.48980156e-03 9.19256531e-01 -9.85177632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:97.13, Z:-9.85 [[-7.36542157e-01 5.99910754e-01 -3.12430373e-01 1.22686626e+02] [-5.49782078e-01 -8.00050728e-01 -2.40121845e-01 9.71324995e+01] [-3.94011824e-01 -5.09124224e-03 9.19091269e-01 -9.85415748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:97.13, Z:-9.86 [[-7.35858037e-01 6.00521622e-01 -3.12868553e-01 1.22683462e+02] [-5.50422945e-01 -7.99595740e-01 -2.40169176e-01 9.71295331e+01] [-3.94395145e-01 -4.52038790e-03 9.18929832e-01 -9.85666830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:97.13, Z:-9.86 [[-7.35333595e-01 6.01117587e-01 -3.12957108e-01 1.22679083e+02] [-5.51188736e-01 -7.99151059e-01 -2.39892816e-01 9.71271209e+01] [-3.94303795e-01 -3.90281382e-03 9.18971863e-01 -9.85893026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:97.13, Z:-9.86 [[-7.33078234e-01 6.03769526e-01 -3.13143199e-01 1.22677173e+02] [-5.54157671e-01 -7.97155946e-01 -2.39690788e-01 9.71282910e+01] [-3.94341957e-01 -2.18139386e-03 9.18961187e-01 -9.85903457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:97.13, Z:-9.86 [[-7.31631203e-01 6.05348542e-01 -3.13478749e-01 1.22673264e+02] [-5.55888057e-01 -7.95959779e-01 -2.39659130e-01 9.71262536e+01] [-3.94593781e-01 -1.08300455e-03 9.18855035e-01 -9.86163185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:97.13, Z:-9.86 [[-7.28294876e-01 6.09351026e-01 -3.13493063e-01 1.22669322e+02] [-5.60374645e-01 -7.92899424e-01 -2.39354884e-01 9.71250310e+01] [-3.94419614e-01 1.35262859e-03 9.18929453e-01 -9.86388646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:97.12, Z:-9.86 [[-7.27308762e-01 6.10237304e-01 -3.14057954e-01 1.22670154e+02] [-5.61279412e-01 -7.92215933e-01 -2.39498094e-01 9.71247842e+01] [-3.94952386e-01 2.08520158e-03 9.18699224e-01 -9.86397788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:97.12, Z:-9.87 [[-7.26705754e-01 6.10942772e-01 -3.14082277e-01 1.22667085e+02] [-5.62175096e-01 -7.91670022e-01 -2.39202294e-01 9.71216829e+01] [-3.94788436e-01 2.73955086e-03 9.18767972e-01 -9.86627895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:97.12, Z:-9.87 [[-7.25734830e-01 6.12712043e-01 -3.12878424e-01 1.22662575e+02] [-5.64423582e-01 -7.90298265e-01 -2.38442177e-01 9.71177819e+01] [-3.93363670e-01 3.55016832e-03 9.19376104e-01 -9.87018851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.83, Y:96.16, Z:-9.13 [[-6.91541427e-01 -6.86586873e-01 2.24430215e-01 1.22827107e+02] [-5.93073911e-01 7.17053966e-01 3.66192498e-01 9.61645860e+01] [-4.12351538e-01 1.20133577e-01 -9.03069284e-01 -9.12643797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:97.06, Z:-9.91 [[-6.78863150e-01 6.74678313e-01 -2.89748164e-01 1.22514193e+02] [-6.18729741e-01 -7.38104265e-01 -2.69027138e-01 9.70612002e+01] [-3.95371131e-01 -3.35680374e-03 9.18515324e-01 -9.91071992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77762800000005 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.50, Y:97.04, Z:-9.93 [[-6.80126207e-01 6.65730944e-01 -3.06970117e-01 1.22503686e+02] [-6.14852900e-01 -7.46044201e-01 -2.55683321e-01 9.70400534e+01] [-3.99229574e-01 1.48445397e-02 9.16730815e-01 -9.93491317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:96.56, Z:-9.05 [[-6.76210726e-01 -8.10580497e-02 7.32235377e-01 1.22232191e+02] [-6.38353108e-01 5.60625693e-01 -5.27450606e-01 9.65645121e+01] [-3.67755848e-01 -8.24092486e-01 -4.30844765e-01 -9.04778851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83762800000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:122.36, Y:96.94, Z:-10.03 [[-6.75340651e-01 6.93989939e-01 -2.49585596e-01 1.22359338e+02] [-6.53089705e-01 -7.19970922e-01 -2.34767353e-01 9.69419120e+01] [-3.42620552e-01 4.45384593e-03 9.39463315e-01 -1.00292104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:96.94, Z:-10.03 [[-6.75521409e-01 6.93538023e-01 -2.50351428e-01 1.22358646e+02] [-6.52685435e-01 -7.20403043e-01 -2.34565937e-01 9.69369469e+01] [-3.43034326e-01 4.94641886e-03 9.39309845e-01 -1.00309936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:96.93, Z:-10.03 [[-6.75909715e-01 6.93119476e-01 -2.50462471e-01 1.22353329e+02] [-6.52307489e-01 -7.20805663e-01 -2.34380323e-01 9.69311024e+01] [-3.42988334e-01 4.95860762e-03 9.39326575e-01 -1.00335157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:96.94, Z:-10.02 [[-6.74655114e-01 6.97209331e-01 -2.42362591e-01 1.22358788e+02] [-6.55463701e-01 -7.16866105e-01 -2.37634857e-01 9.69377238e+01] [-3.39422766e-01 -1.46169097e-03 9.40632792e-01 -1.00244647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:96.92, Z:-10.04 [[-6.77443532e-01 6.90168092e-01 -2.54437155e-01 1.22350271e+02] [-6.50891383e-01 -7.23580166e-01 -2.29721897e-01 9.69215572e+01] [-3.42652402e-01 9.98733821e-03 9.39409168e-01 -1.00386098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:96.91, Z:-10.04 [[-6.78783007e-01 6.90100994e-01 -2.51026391e-01 1.22340589e+02] [-6.49272457e-01 -7.23700734e-01 -2.33885708e-01 9.69124659e+01] [-3.43072743e-01 4.22687688e-03 9.39299328e-01 -1.00415484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:96.91, Z:-10.04 [[-6.79185271e-01 6.89647849e-01 -2.51183623e-01 1.22336848e+02] [-6.48851797e-01 -7.24132469e-01 -2.33716736e-01 9.69087927e+01] [-3.43072462e-01 4.24398062e-03 9.39299353e-01 -1.00436206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:96.90, Z:-10.05 [[-6.80038535e-01 6.88706425e-01 -2.51457851e-01 1.22334302e+02] [-6.47862066e-01 -7.25029297e-01 -2.33681967e-01 9.69043319e+01] [-3.43252582e-01 3.99726041e-03 9.39234628e-01 -1.00453546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:96.90, Z:-10.05 [[-6.81396620e-01 6.86868214e-01 -2.52805663e-01 1.22334227e+02] [-6.45565996e-01 -7.26774323e-01 -2.34613785e-01 9.68997000e+01] [-3.44881416e-01 3.33769976e-03 9.38640330e-01 -1.00466817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:96.89, Z:-10.05 [[-6.82387905e-01 6.85724814e-01 -2.53235515e-01 1.22327063e+02] [-6.44308699e-01 -7.27854746e-01 -2.34720619e-01 9.68907499e+01] [-3.45272425e-01 2.99133335e-03 9.38497738e-01 -1.00509789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:96.89, Z:-10.05 [[-6.83575046e-01 6.84427783e-01 -2.53542436e-01 1.22326923e+02] [-6.42919571e-01 -7.29076216e-01 -2.34738784e-01 9.68890940e+01] [-3.45513505e-01 2.54581943e-03 9.38410324e-01 -1.00518845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:96.89, Z:-10.05 [[-6.82745033e-01 6.86663150e-01 -2.49705706e-01 1.22326361e+02] [-6.44451717e-01 -7.26975157e-01 -2.37042412e-01 9.68868064e+01] [-3.44298134e-01 -9.16258707e-04 9.38859923e-01 -1.00515710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:96.88, Z:-10.06 [[-6.87167153e-01 6.80214497e-01 -2.55165715e-01 1.22320119e+02] [-6.39086096e-01 -7.33007019e-01 -2.32958518e-01 9.68804603e+01] [-3.45500021e-01 2.99141876e-03 9.38413974e-01 -1.00574877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:96.87, Z:-10.06 [[-6.88597893e-01 6.79392365e-01 -2.53493505e-01 1.22311737e+02] [-6.37931104e-01 -7.33774764e-01 -2.33706017e-01 9.68737667e+01] [-3.44785220e-01 7.81921116e-04 9.38681277e-01 -1.00606949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:96.87, Z:-10.06 [[-6.90366311e-01 6.77801413e-01 -2.52941895e-01 1.22310237e+02] [-6.36519435e-01 -7.35244998e-01 -2.32933040e-01 9.68721569e+01] [-3.43856607e-01 1.93308149e-04 9.39022149e-01 -1.00613460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:96.87, Z:-10.07 [[-6.93903450e-01 6.74373788e-01 -2.52424241e-01 1.22304198e+02] [-6.33141224e-01 -7.38388993e-01 -2.32193636e-01 9.68661785e+01] [-3.42972583e-01 -1.29977207e-03 9.39344515e-01 -1.00652129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:122.30, Y:96.86, Z:-10.07 [[-6.95531575e-01 6.72965595e-01 -2.51700489e-01 1.22300973e+02] [-6.32001303e-01 -7.39671734e-01 -2.31214358e-01 9.68626994e+01] [-3.41775045e-01 -1.74184930e-03 9.39780179e-01 -1.00693959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.30, Y:96.86, Z:-10.07 [[-6.98009248e-01 6.70558222e-01 -2.51266314e-01 1.22295210e+02] [-6.29692598e-01 -7.41852032e-01 -2.30527210e-01 9.68577519e+01] [-3.40984342e-01 -2.68958658e-03 9.40065128e-01 -1.00719314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:96.85, Z:-10.07 [[-7.01318231e-01 6.67171198e-01 -2.51068380e-01 1.22289281e+02] [-6.26255790e-01 -7.44892978e-01 -2.30082891e-01 9.68517185e+01] [-3.40523752e-01 -4.12829897e-03 9.40226851e-01 -1.00742238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:96.85, Z:-10.08 [[-7.02634706e-01 6.65962815e-01 -2.50595291e-01 1.22285094e+02] [-6.25226585e-01 -7.45971388e-01 -2.29387023e-01 9.68482344e+01] [-3.39700145e-01 -4.49644553e-03 9.40523043e-01 -1.00767368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:96.85, Z:-10.08 [[-7.03286791e-01 6.65370825e-01 -2.50338480e-01 1.22281583e+02] [-6.24779029e-01 -7.46499024e-01 -2.28889431e-01 9.68476949e+01] [-3.39173781e-01 -4.56868095e-03 9.40712641e-01 -1.00781561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:96.85, Z:-10.08 [[-7.03127306e-01 6.65315475e-01 -2.50932882e-01 1.22276670e+02] [-6.24616318e-01 -7.46549378e-01 -2.29169112e-01 9.68463430e+01] [-3.39803543e-01 -4.39828758e-03 9.40486155e-01 -1.00794986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:96.85, Z:-10.08 [[-7.02765176e-01 6.65456720e-01 -2.51571981e-01 1.22271141e+02] [-6.24647010e-01 -7.46424988e-01 -2.29490414e-01 9.68451596e+01] [-3.40495551e-01 -4.13418540e-03 9.40237038e-01 -1.00798048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:96.84, Z:-10.08 [[-7.00743700e-01 6.66868955e-01 -2.53464128e-01 1.22263080e+02] [-6.25627931e-01 -7.45168025e-01 -2.30898910e-01 9.68449038e+01] [-3.42852679e-01 -3.22671871e-03 9.39383643e-01 -1.00799249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:96.84, Z:-10.08 [[-6.99743425e-01 6.67508130e-01 -2.54542797e-01 1.22258744e+02] [-6.26060859e-01 -7.44597699e-01 -2.31564390e-01 9.68433135e+01] [-3.44103093e-01 -2.67637734e-03 9.38928058e-01 -1.00809693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:96.84, Z:-10.08 [[-6.98691152e-01 6.68141041e-01 -2.55769865e-01 1.22252530e+02] [-6.26438907e-01 -7.44031612e-01 -2.32360186e-01 9.68400905e+01] [-3.45550242e-01 -2.12381158e-03 9.38397847e-01 -1.00830294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:96.84, Z:-10.08 [[-6.97892191e-01 6.68609448e-01 -2.56725331e-01 1.22249356e+02] [-6.26723714e-01 -7.43611878e-01 -2.32935103e-01 9.68396005e+01] [-3.46646616e-01 -1.66773630e-03 9.37994319e-01 -1.00840844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:96.84, Z:-10.09 [[-6.96956360e-01 6.69313438e-01 -2.57432230e-01 1.22245083e+02] [-6.27344003e-01 -7.42979363e-01 -2.33283450e-01 9.68405103e+01] [-3.47406582e-01 -1.08981797e-03 9.37713964e-01 -1.00850208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:96.83, Z:-10.09 [[-6.97634531e-01 6.68308395e-01 -2.58205250e-01 1.22236596e+02] [-6.26120243e-01 -7.43883076e-01 -2.33690844e-01 9.68325599e+01] [-3.48252068e-01 -1.36326887e-03 9.37399935e-01 -1.00889842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:96.83, Z:-10.09 [[-6.98985012e-01 6.66776242e-01 -2.58513823e-01 1.22233991e+02] [-6.24491102e-01 -7.45255556e-01 -2.33677169e-01 9.68286888e+01] [-3.48469248e-01 -1.89725616e-03 9.37318294e-01 -1.00904755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:96.83, Z:-10.09 [[-7.00701418e-01 6.64737797e-01 -2.59116159e-01 1.22233002e+02] [-6.22973223e-01 -7.47075968e-01 -2.31909166e-01 9.68251981e+01] [-3.47738244e-01 -1.07665302e-03 9.37591038e-01 -1.00924179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:96.82, Z:-10.10 [[-7.04641382e-01 6.62285540e-01 -2.54673098e-01 1.22224229e+02] [-6.20312360e-01 -7.49230882e-01 -2.32089769e-01 9.68150055e+01] [-3.44518648e-01 -5.56318500e-03 9.38762990e-01 -1.00971827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:96.81, Z:-10.10 [[-7.06267167e-01 6.60390568e-01 -2.55090151e-01 1.22222565e+02] [-6.19334180e-01 -7.50912030e-01 -2.29251600e-01 9.68099876e+01] [-3.42945858e-01 -3.92682850e-03 9.39346964e-01 -1.01004806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:96.79, Z:-10.11 [[-7.08123449e-01 6.59874962e-01 -2.51249309e-01 1.22205446e+02] [-6.18723728e-01 -7.51342322e-01 -2.29490008e-01 9.67938278e+01] [-3.40208950e-01 -7.05334695e-03 9.40323413e-01 -1.01090085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:96.80, Z:-10.11 [[-7.09103827e-01 6.57566328e-01 -2.54515789e-01 1.22214286e+02] [-6.17788197e-01 -7.53392548e-01 -2.25249665e-01 9.67967429e+01] [-3.39866893e-01 -2.48854909e-03 9.40470256e-01 -1.01080902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:96.79, Z:-10.11 [[-7.08786636e-01 6.58405045e-01 -2.53227765e-01 1.22211003e+02] [-6.18225007e-01 -7.52653160e-01 -2.26519452e-01 9.67934823e+01] [-3.39734227e-01 -4.00222363e-03 9.40512965e-01 -1.01093065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:96.79, Z:-10.11 [[-7.07961421e-01 6.59545864e-01 -2.52566584e-01 1.22205050e+02] [-6.18996311e-01 -7.51648366e-01 -2.27746132e-01 9.67888555e+01] [-3.40050280e-01 -4.89769156e-03 9.40394502e-01 -1.01117155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:96.79, Z:-10.11 [[-7.07113185e-01 6.59713045e-01 -2.54498806e-01 1.22206896e+02] [-6.19625531e-01 -7.51513602e-01 -2.26476286e-01 9.67887547e+01] [-3.40668675e-01 -2.45040951e-03 9.40180222e-01 -1.01118931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:96.79, Z:-10.11 [[-7.04705046e-01 6.62082868e-01 -2.55023674e-01 1.22201706e+02] [-6.21901383e-01 -7.49429192e-01 -2.27144350e-01 9.67862463e+01] [-3.41510569e-01 -1.47019407e-03 9.39876784e-01 -1.01120812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:96.78, Z:-10.11 [[-7.03742909e-01 6.62850693e-01 -2.55685113e-01 1.22199291e+02] [-6.22606959e-01 -7.48751091e-01 -2.27447530e-01 9.67844617e+01] [-3.42208260e-01 -8.73255481e-04 9.39623725e-01 -1.01124253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:96.78, Z:-10.11 [[-7.02883551e-01 6.63490994e-01 -2.56387236e-01 1.22195704e+02] [-6.23164722e-01 -7.48184195e-01 -2.27785295e-01 9.67806157e+01] [-3.42958369e-01 -3.35056036e-04 9.39350544e-01 -1.01143142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:96.78, Z:-10.12 [[-7.02787877e-01 6.63390741e-01 -2.56908398e-01 1.22191509e+02] [-6.22983897e-01 -7.48273141e-01 -2.27987654e-01 9.67764106e+01] [-3.43482553e-01 -1.77164033e-04 9.39159041e-01 -1.01163670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:96.77, Z:-10.12 [[-7.03320523e-01 6.62528514e-01 -2.57674622e-01 1.22189959e+02] [-6.21921769e-01 -7.49036602e-01 -2.28380126e-01 9.67745376e+01] [-3.44316069e-01 -3.70972803e-04 9.38853720e-01 -1.01167678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:96.77, Z:-10.12 [[-7.03975935e-01 6.61610746e-01 -2.58242336e-01 1.22185747e+02] [-6.20855434e-01 -7.49847215e-01 -2.28621270e-01 9.67707350e+01] [-3.44900585e-01 -6.12714874e-04 9.38639021e-01 -1.01190488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:96.77, Z:-10.12 [[-7.04706761e-01 6.60724015e-01 -2.58519160e-01 1.22182299e+02] [-6.19916782e-01 -7.50628451e-01 -2.28604705e-01 9.67682251e+01] [-3.45096455e-01 -8.38915677e-04 9.38566851e-01 -1.01205641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:96.76, Z:-10.12 [[-7.06294262e-01 6.59370135e-01 -2.57642080e-01 1.22174512e+02] [-6.18855925e-01 -7.51817376e-01 -2.27569721e-01 9.67627090e+01] [-3.43752470e-01 -1.28786031e-03 9.39059413e-01 -1.01236829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:96.76, Z:-10.13 [[-7.07481829e-01 6.58103601e-01 -2.57622034e-01 1.22171950e+02] [-6.17607999e-01 -7.52925471e-01 -2.27296268e-01 9.67607990e+01] [-3.43554684e-01 -1.69855053e-03 9.39131138e-01 -1.01255986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:96.76, Z:-10.13 [[-7.09233508e-01 6.56495946e-01 -2.56906412e-01 1.22165603e+02] [-6.16295183e-01 -7.54326611e-01 -2.26211432e-01 9.67568204e+01] [-3.42298231e-01 -2.10654364e-03 9.39588997e-01 -1.01283400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:96.75, Z:-10.13 [[-7.09922539e-01 6.55868883e-01 -2.56604749e-01 1.22155395e+02] [-6.15828953e-01 -7.54871688e-01 -2.25662217e-01 9.67492098e+01] [-3.41708486e-01 -2.17806042e-03 9.39803472e-01 -1.01335419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:96.75, Z:-10.13 [[-7.10741953e-01 6.55315807e-01 -2.55748060e-01 1.22155267e+02] [-6.15609700e-01 -7.55351724e-01 -2.24651887e-01 9.67505852e+01] [-3.40397670e-01 -2.22853399e-03 9.40278927e-01 -1.01330227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:96.75, Z:-10.13 [[-7.11019291e-01 6.55201632e-01 -2.55269249e-01 1.22151214e+02] [-6.15743574e-01 -7.55451264e-01 -2.23949191e-01 9.67482902e+01] [-3.39575352e-01 -2.05179492e-03 9.40576616e-01 -1.01345299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:96.75, Z:-10.14 [[-7.10096406e-01 6.56182889e-01 -2.55317668e-01 1.22143947e+02] [-6.16872456e-01 -7.54600672e-01 -2.23710076e-01 9.67452439e+01] [-3.39457608e-01 -1.35728430e-03 9.40620375e-01 -1.01363442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:96.74, Z:-10.14 [[-7.09559505e-01 6.56517406e-01 -2.55949612e-01 1.22138564e+02] [-6.17129014e-01 -7.54310245e-01 -2.23981774e-01 9.67417117e+01] [-3.40113348e-01 -9.74464793e-04 9.40383943e-01 -1.01382258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:96.74, Z:-10.14 [[-7.08844606e-01 6.56908251e-01 -2.56925816e-01 1.22137787e+02] [-6.17346492e-01 -7.53970329e-01 -2.24526283e-01 9.67419723e+01] [-3.41207610e-01 -5.41992912e-04 9.39987805e-01 -1.01377491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:96.74, Z:-10.14 [[-7.06343741e-01 6.58785806e-01 -2.58997648e-01 1.22136621e+02] [-6.18789320e-01 -7.52330318e-01 -2.26050592e-01 9.67417925e+01] [-3.43770705e-01 5.95557944e-04 9.39053432e-01 -1.01376518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:96.74, Z:-10.14 [[-7.05177175e-01 6.59732734e-01 -2.59765031e-01 1.22130808e+02] [-6.19667808e-01 -7.51499171e-01 -2.26408489e-01 9.67366563e+01] [-3.44582297e-01 1.30992859e-03 9.38755200e-01 -1.01406688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:96.74, Z:-10.14 [[-7.04119471e-01 6.60706951e-01 -2.60157827e-01 1.22130034e+02] [-6.20685562e-01 -7.50641231e-01 -2.26466719e-01 9.67360052e+01] [-3.44913327e-01 2.01658117e-03 9.38632372e-01 -1.01406601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:96.73, Z:-10.14 [[-7.01084844e-01 6.63581180e-01 -2.61036510e-01 1.22128652e+02] [-6.23577351e-01 -7.48095292e-01 -2.26946515e-01 9.67343091e+01] [-3.45877620e-01 3.66769375e-03 9.38272466e-01 -1.01413403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:96.73, Z:-10.14 [[-7.00111134e-01 6.64618652e-01 -2.61010434e-01 1.22125454e+02] [-6.24796791e-01 -7.47169759e-01 -2.26641392e-01 9.67303300e+01] [-3.45649200e-01 4.40431960e-03 9.38353469e-01 -1.01437061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:122.12, Y:96.73, Z:-10.15 [[-6.99229139e-01 6.65772338e-01 -2.60433878e-01 1.22123590e+02] [-6.26322045e-01 -7.46136775e-01 -2.25833143e-01 9.67276274e+01] [-3.44672753e-01 5.20636501e-03 9.38708468e-01 -1.01481549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:122.12, Y:96.72, Z:-10.15 [[-6.99364080e-01 6.66020894e-01 -2.59434100e-01 1.22119734e+02] [-6.27000755e-01 -7.45912609e-01 -2.24687413e-01 9.67235258e+01] [-3.43161679e-01 5.52707088e-03 9.39260089e-01 -1.01507082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66762800000004 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:122.12, Y:96.72, Z:-10.15 [[-7.00295163e-01 6.65336694e-01 -2.58676957e-01 1.22117157e+02] [-6.26606963e-01 -7.46523929e-01 -2.23753743e-01 9.67209464e+01] [-3.41980114e-01 5.39511869e-03 9.39691702e-01 -1.01523281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:96.71, Z:-10.15 [[-7.03247064e-01 6.62782756e-01 -2.57220889e-01 1.22112644e+02] [-6.24434583e-01 -7.48799145e-01 -2.22219020e-01 9.67146612e+01] [-3.39889716e-01 4.34274520e-03 9.40455274e-01 -1.01530486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:96.71, Z:-10.16 [[-7.04999123e-01 6.61274770e-01 -2.56304341e-01 1.22107655e+02] [-6.23210100e-01 -7.50134047e-01 -2.21151717e-01 9.67079123e+01] [-3.38504664e-01 3.81968720e-03 9.40956961e-01 -1.01571742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:96.70, Z:-10.16 [[-7.06823243e-01 6.59665174e-01 -2.55426625e-01 1.22105458e+02] [-6.21855860e-01 -7.51552655e-01 -2.20145171e-01 9.67040741e+01] [-3.37188661e-01 3.23481984e-03 9.41431539e-01 -1.01591070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:96.70, Z:-10.16 [[-7.08561425e-01 6.57916228e-01 -2.55121428e-01 1.22096855e+02] [-6.20188262e-01 -7.53086569e-01 -2.19606783e-01 9.66956538e+01] [-3.36611387e-01 2.61841970e-03 9.41640015e-01 -1.01630073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:96.69, Z:-10.16 [[-7.10737677e-01 6.54986773e-01 -2.56601406e-01 1.22096522e+02] [-6.16712003e-01 -7.55638967e-01 -2.20626510e-01 9.66927371e+01] [-3.38405467e-01 1.44159380e-03 9.40999289e-01 -1.01628109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:96.69, Z:-10.17 [[-7.11828740e-01 6.53379505e-01 -2.57672402e-01 1.22090829e+02] [-6.14764425e-01 -7.57030011e-01 -2.21292260e-01 9.66861608e+01] [-3.39653569e-01 8.85634971e-04 9.40550195e-01 -1.01657998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:96.68, Z:-10.17 [[-7.13096106e-01 6.51665550e-01 -2.58507164e-01 1.22090521e+02] [-6.12775153e-01 -7.58506384e-01 -2.21753640e-01 9.66845933e+01] [-3.40588542e-01 2.75110103e-04 9.40212406e-01 -1.01653218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:96.68, Z:-10.17 [[-7.15114156e-01 6.48792419e-01 -2.60154073e-01 1.22084474e+02] [-6.09297851e-01 -7.60964912e-01 -2.22909244e-01 9.66773807e+01] [-3.42589949e-01 -8.94238167e-04 9.39484607e-01 -1.01675662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:96.67, Z:-10.17 [[-7.15460482e-01 6.48354790e-01 -2.60292844e-01 1.22081166e+02] [-6.08891152e-01 -7.61337834e-01 -2.22747091e-01 9.66743638e+01] [-3.42589934e-01 -8.76731425e-04 9.39484629e-01 -1.01693443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:96.67, Z:-10.17 [[-7.16310114e-01 6.46978906e-01 -2.61377344e-01 1.22078156e+02] [-6.07180650e-01 -7.62506734e-01 -2.23416963e-01 9.66706599e+01] [-3.43848047e-01 -1.33256437e-03 9.39024358e-01 -1.01710022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:96.67, Z:-10.17 [[-7.16974557e-01 6.45767064e-01 -2.62549776e-01 1.22073202e+02] [-6.05615720e-01 -7.63532558e-01 -2.24159838e-01 9.66655202e+01] [-3.45220342e-01 -1.71262901e-03 9.38520102e-01 -1.01732441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:96.66, Z:-10.17 [[-7.17220636e-01 6.44567334e-01 -2.64815993e-01 1.22070378e+02] [-6.03714582e-01 -7.64544668e-01 -2.25832137e-01 9.66611690e+01] [-3.48027674e-01 -2.09819234e-03 9.37481912e-01 -1.01746322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:96.66, Z:-10.18 [[-7.17422674e-01 6.44055649e-01 -2.65512764e-01 1.22067111e+02] [-6.03043787e-01 -7.64975648e-01 -2.26164649e-01 9.66571918e+01] [-3.48773419e-01 -2.13982409e-03 9.37204633e-01 -1.01766259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:96.65, Z:-10.18 [[-7.17658664e-01 6.43810027e-01 -2.65470697e-01 1.22060979e+02] [-6.02892326e-01 -7.65182634e-01 -2.25868059e-01 9.66504468e+01] [-3.48549689e-01 -2.04592340e-03 9.37288071e-01 -1.01804186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:96.65, Z:-10.18 [[-7.18625183e-01 6.43279705e-01 -2.64138350e-01 1.22058625e+02] [-6.02844273e-01 -7.65628421e-01 -2.24481409e-01 9.66466710e+01] [-3.46636163e-01 -2.08370196e-03 9.37997350e-01 -1.01827012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:96.64, Z:-10.18 [[-7.18929178e-01 6.43251873e-01 -2.63377799e-01 1.22055910e+02] [-6.03279080e-01 -7.65652983e-01 -2.23226035e-01 9.66436840e+01] [-3.45246562e-01 -1.59339364e-03 9.38510667e-01 -1.01848259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:96.64, Z:-10.19 [[-7.18420418e-01 6.44791152e-01 -2.60991328e-01 1.22051818e+02] [-6.05761980e-01 -7.64358546e-01 -2.20926315e-01 9.66386215e+01] [-3.41942285e-01 -6.19351710e-04 9.39720751e-01 -1.01889170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:96.64, Z:-10.19 [[-7.18496176e-01 6.45299444e-01 -2.59522392e-01 1.22049070e+02] [-6.06841762e-01 -7.63929706e-01 -2.19441293e-01 9.66351797e+01] [-3.39862209e-01 -1.78704163e-04 9.40475224e-01 -1.01914520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:96.63, Z:-10.19 [[-7.18003342e-01 6.46272493e-01 -2.58462892e-01 1.22047142e+02] [-6.08395740e-01 -7.63106376e-01 -2.17998356e-01 9.66328523e+01] [-3.38121022e-01 7.24174479e-04 9.41102359e-01 -1.01935652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.267628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.04, Y:96.63, Z:-10.20 [[-7.17134984e-01 6.47612947e-01 -2.57516769e-01 1.22043895e+02] [-6.10194189e-01 -7.61967889e-01 -2.16951579e-01 9.66302692e+01] [-3.36720161e-01 1.55166920e-03 9.41603486e-01 -1.01982176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.04, Y:96.63, Z:-10.20 [[-7.14567011e-01 6.50570289e-01 -2.57200867e-01 1.22043443e+02] [-6.13519950e-01 -7.59439559e-01 -2.16436659e-01 9.66311525e+01] [-3.36135773e-01 3.13936634e-03 9.41808307e-01 -1.01978464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:96.63, Z:-10.20 [[-7.13605948e-01 6.51320409e-01 -2.57969526e-01 1.22039400e+02] [-6.14178522e-01 -7.58793775e-01 -2.16833463e-01 9.66284591e+01] [-3.36973730e-01 3.70569300e-03 9.41506757e-01 -1.01951575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:96.63, Z:-10.20 [[-7.12155806e-01 6.52465179e-01 -2.59081645e-01 1.22034964e+02] [-6.15155934e-01 -7.57805528e-01 -2.17517722e-01 9.66250854e+01] [-3.38256242e-01 4.46910244e-03 9.41043432e-01 -1.01966322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:96.62, Z:-10.20 [[-7.09748891e-01 6.54188439e-01 -2.61331204e-01 1.22032787e+02] [-6.16412980e-01 -7.56311279e-01 -2.19153571e-01 9.66237551e+01] [-3.41015469e-01 5.54394256e-03 9.40041336e-01 -1.01958917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:96.62, Z:-10.20 [[-7.08898131e-01 6.54576480e-01 -2.62665323e-01 1.22030860e+02] [-6.16529339e-01 -7.55972083e-01 -2.19994966e-01 9.66217201e+01] [-3.42571182e-01 5.98685783e-03 9.39472800e-01 -1.01964993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.61, Z:-10.20 [[-7.07473112e-01 6.55134066e-01 -2.65105924e-01 1.22023357e+02] [-6.16903360e-01 -7.55476000e-01 -2.20649627e-01 9.66140566e+01] [-3.44836251e-01 7.44105734e-03 9.38633363e-01 -1.02004437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.61, Z:-10.20 [[-7.07481656e-01 6.55524950e-01 -2.64115025e-01 1.22023703e+02] [-6.16651273e-01 -7.55153581e-01 -2.22450615e-01 9.66145862e+01] [-3.45269335e-01 5.48713717e-03 9.38487601e-01 -1.01989132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.61, Z:-10.20 [[-7.07455391e-01 6.54998998e-01 -2.65486691e-01 1.22023544e+02] [-6.16425393e-01 -7.55598193e-01 -2.21565125e-01 9.66124829e+01] [-3.45726199e-01 6.90529595e-03 9.38310030e-01 -1.02002236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.61, Z:-10.20 [[-7.07516798e-01 6.54907954e-01 -2.65547646e-01 1.22020419e+02] [-6.16403107e-01 -7.55675617e-01 -2.21362987e-01 9.66085216e+01] [-3.45640262e-01 7.06636248e-03 9.38340490e-01 -1.02022575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.60, Z:-10.20 [[-7.07707671e-01 6.54707661e-01 -2.65532920e-01 1.22017704e+02] [-6.16286357e-01 -7.55848170e-01 -2.21098781e-01 9.66035601e+01] [-3.45457637e-01 7.17101295e-03 9.38406947e-01 -1.02044706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:96.60, Z:-10.21 [[-7.08174919e-01 6.54350693e-01 -2.65166843e-01 1.22015424e+02] [-6.16115685e-01 -7.56156872e-01 -2.20518135e-01 9.66005706e+01] [-3.44803925e-01 7.20803804e-03 9.38647057e-01 -1.02059403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:96.60, Z:-10.21 [[-7.08939052e-01 6.53694773e-01 -2.64742448e-01 1.22011472e+02] [-6.15633489e-01 -7.56725208e-01 -2.19914455e-01 9.65967110e+01] [-3.44094214e-01 7.07837179e-03 9.38908445e-01 -1.02080249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.01, Y:96.59, Z:-10.21 [[-7.10043594e-01 6.53143530e-01 -2.63138032e-01 1.22009032e+02] [-6.15607718e-01 -7.57202150e-01 -2.18339282e-01 9.65911474e+01] [-3.41855573e-01 6.95939491e-03 9.39726734e-01 -1.02132833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:96.58, Z:-10.21 [[-7.11383222e-01 6.51695129e-01 -2.63110948e-01 1.22003552e+02] [-6.14230030e-01 -7.58452180e-01 -2.17880154e-01 9.65845584e+01] [-3.41548507e-01 6.61435901e-03 9.39840874e-01 -1.02136079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:96.58, Z:-10.22 [[-7.12710194e-01 6.50350897e-01 -2.62845753e-01 1.22001459e+02] [-6.12973955e-01 -7.59608768e-01 -2.17387790e-01 9.65778883e+01] [-3.41038283e-01 6.18310702e-03 9.40029073e-01 -1.02155255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:96.57, Z:-10.22 [[-7.14346907e-01 6.48516651e-01 -2.62934686e-01 1.21992758e+02] [-6.11077737e-01 -7.61180618e-01 -2.17228143e-01 9.65678605e+01] [-3.41016855e-01 5.49728106e-03 9.40041108e-01 -1.02203342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.99, Y:96.57, Z:-10.22 [[-7.14838291e-01 6.47947747e-01 -2.63001776e-01 1.21992743e+02] [-6.10726014e-01 -7.61662400e-01 -2.16527420e-01 9.65653389e+01] [-3.40617018e-01 5.83993519e-03 9.40183994e-01 -1.02233226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.807628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.98, Y:96.56, Z:-10.23 [[-7.15721830e-01 6.46408291e-01 -2.64383403e-01 1.21984489e+02] [-6.08771918e-01 -7.62972997e-01 -2.17414252e-01 9.65564887e+01] [-3.42255773e-01 5.34106506e-03 9.39591645e-01 -1.02255824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:96.56, Z:-10.22 [[-7.16925364e-01 6.44484433e-01 -2.65815421e-01 1.21984789e+02] [-6.06390698e-01 -7.64603262e-01 -2.18339583e-01 9.65554699e+01] [-3.43959800e-01 4.65481344e-03 9.38972837e-01 -1.02229097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:96.55, Z:-10.22 [[-7.18170895e-01 6.42680240e-01 -2.66819554e-01 1.21980912e+02] [-6.04261292e-01 -7.66124015e-01 -2.18911589e-01 9.65499354e+01] [-3.45107021e-01 4.01279649e-03 9.38554762e-01 -1.02249696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:96.54, Z:-10.23 [[-7.19621491e-01 6.40567684e-01 -2.67988715e-01 1.21977726e+02] [-6.01752221e-01 -7.67894955e-01 -2.19616945e-01 9.65447925e+01] [-3.46466700e-01 3.22173114e-03 9.38056739e-01 -1.02271809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:96.54, Z:-10.23 [[-7.22920317e-01 6.35930431e-01 -2.70145705e-01 1.21974856e+02] [-5.96238810e-01 -7.71745461e-01 -2.21152040e-01 9.65387433e+01] [-3.49121034e-01 1.19605083e-03 9.37076877e-01 -1.02286815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:96.53, Z:-10.23 [[-7.24872492e-01 6.33343529e-01 -2.70990489e-01 1.21971533e+02] [-5.93306387e-01 -7.73870761e-01 -2.21611319e-01 9.65346433e+01] [-3.50067711e-01 1.40438621e-04 9.36724388e-01 -1.02308242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:96.53, Z:-10.24 [[-7.20511351e-01 6.30480582e-01 -2.88717213e-01 1.21985883e+02] [-5.92586043e-01 -7.76048855e-01 -2.15847066e-01 9.65277391e+01] [-3.60146046e-01 1.55695293e-02 9.32766002e-01 -1.02437939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:96.54, Z:-10.23 [[-7.23268115e-01 6.33909797e-01 -2.73937223e-01 1.21983585e+02] [-5.90305804e-01 -7.73387818e-01 -2.31106776e-01 9.65363349e+01] [-3.58360561e-01 -5.44542965e-03 9.33567381e-01 -1.02344694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:96.48, Z:-10.26 [[-7.35608670e-01 6.26524936e-01 -2.57577928e-01 1.21901715e+02] [-5.83252142e-01 -7.79178612e-01 -2.29559642e-01 9.64767201e+01] [-3.44524053e-01 -1.86331846e-02 9.38592554e-01 -1.02628663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:96.15, Z:-9.40 [[-7.15078909e-01 -9.15158742e-02 6.93027416e-01 1.21687886e+02] [-6.38070932e-01 4.90392956e-01 -5.93616235e-01 9.61542389e+01] [-2.85530454e-01 -8.66683099e-01 -4.09063279e-01 -9.39518673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:96.43, Z:-10.34 [[-7.24730322e-01 6.46590698e-01 -2.38089121e-01 1.21852162e+02] [-6.21135719e-01 -7.62645272e-01 -1.80451122e-01 9.64292402e+01] [-2.98255559e-01 1.71072582e-02 9.54332732e-01 -1.03389305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:96.41, Z:-10.33 [[-7.34995003e-01 6.47169985e-01 -2.02369355e-01 1.21796570e+02] [-6.15952149e-01 -7.62022076e-01 -1.99813177e-01 9.64102345e+01] [-2.83523007e-01 -2.22118475e-02 9.58708161e-01 -1.03309516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:96.23, Z:-9.57 [[-7.26415497e-01 9.98221613e-02 6.79967692e-01 1.21519790e+02] [-6.52126487e-01 2.12159106e-01 -7.27818355e-01 9.62303127e+01] [-2.16913739e-01 -9.72123475e-01 -8.90189871e-02 -9.57484232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:96.17, Z:-9.63 [[-7.30812103e-01 5.01255759e-02 6.80735703e-01 1.21446361e+02] [-6.65291931e-01 1.70716773e-01 -7.26802883e-01 9.61692763e+01] [-1.52644415e-01 -9.84044313e-01 -9.14137423e-02 -9.62719428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:95.47, Z:-9.71 [[-6.85498066e-01 -7.25361383e-01 -6.27954326e-02 1.21954795e+02] [-7.01664071e-01 6.35151066e-01 3.22878699e-01 9.54691555e+01] [-1.94319154e-01 2.65394023e-01 -9.44354848e-01 -9.70700349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:96.16, Z:-10.48 [[-6.96644860e-01 7.07590582e-01 -1.18327961e-01 1.21460863e+02] [-6.97352849e-01 -7.06621889e-01 -1.19935441e-01 9.61557199e+01] [-1.68478315e-01 -1.03606782e-03 9.85704816e-01 -1.04810134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.46, Y:96.15, Z:-10.48 [[-6.92248116e-01 7.11875408e-01 -1.18431205e-01 1.21457309e+02] [-7.01699468e-01 -7.02305772e-01 -1.19935227e-01 9.61525286e+01] [-1.68553858e-01 7.81780760e-05 9.85692442e-01 -1.04836165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:96.15, Z:-10.48 [[-6.90096444e-01 7.13761738e-01 -1.19628926e-01 1.21459216e+02] [-7.03426320e-01 -7.00388310e-01 -1.21027385e-01 9.61544038e+01] [-1.70171418e-01 6.29567407e-04 9.85414274e-01 -1.04813175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34762800000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.46, Y:96.16, Z:-10.48 [[-6.85253599e-01 7.18291224e-01 -1.20354570e-01 1.21460214e+02] [-7.07916535e-01 -6.95740141e-01 -1.21654576e-01 9.61561642e+01] [-1.71118920e-01 1.83675382e-03 9.85248670e-01 -1.04826194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:96.15, Z:-10.48 [[-6.83625046e-01 7.19702516e-01 -1.21182034e-01 1.21457133e+02] [-7.09226580e-01 -6.94278795e-01 -1.22370800e-01 9.61542143e+01] [-1.72204690e-01 2.28977614e-03 9.85058527e-01 -1.04803243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.46, Y:96.16, Z:-10.48 [[-6.81847224e-01 7.21413255e-01 -1.21025940e-01 1.21456842e+02] [-7.11011843e-01 -6.92499148e-01 -1.22094590e-01 9.61551396e+01] [-1.71891016e-01 2.80101968e-03 9.85111990e-01 -1.04817686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.45, Y:96.15, Z:-10.48 [[-6.80194231e-01 7.22910460e-01 -1.21393061e-01 1.21454754e+02] [-7.12489924e-01 -6.90933973e-01 -1.22345217e-01 9.61538129e+01] [-1.72319227e-01 3.27282166e-03 9.85035722e-01 -1.04820113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:96.15, Z:-10.48 [[-6.81126028e-01 7.21996189e-01 -1.21609364e-01 1.21449009e+02] [-7.11542234e-01 -6.91889993e-01 -1.22457698e-01 9.61471065e+01] [-1.72554293e-01 3.12107301e-03 9.84995063e-01 -1.04809572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.497628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.45, Y:96.14, Z:-10.48 [[-6.82500400e-01 7.20909395e-01 -1.20344705e-01 1.21445289e+02] [-7.10678829e-01 -6.93023231e-01 -1.21055377e-01 9.61418192e+01] [-1.70671635e-01 2.90609077e-03 9.85323677e-01 -1.04840512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52762800000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:121.44, Y:96.14, Z:-10.49 [[-6.87202634e-01 7.16706633e-01 -1.18676627e-01 1.21444644e+02] [-7.06716587e-01 -6.97372170e-01 -1.19263245e-01 9.61391498e+01] [-1.68238536e-01 1.91272520e-03 9.85744458e-01 -1.04860006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.557628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.44, Y:96.13, Z:-10.49 [[-6.90403776e-01 7.13728597e-01 -1.18042855e-01 1.21441539e+02] [-7.03821922e-01 -7.00421230e-01 -1.18510768e-01 9.61346235e+01] [-1.67264246e-01 1.26086716e-03 9.85911295e-01 -1.04865059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58762800000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.44, Y:96.13, Z:-10.49 [[-6.93503190e-01 7.10820185e-01 -1.17422275e-01 1.21437864e+02] [-7.00993795e-01 -7.03373493e-01 -1.17785517e-01 9.61287677e+01] [-1.66316039e-01 6.27654307e-04 9.86072300e-01 -1.04879425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.617628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.43, Y:96.12, Z:-10.49 [[-6.98575632e-01 7.06086030e-01 -1.15907741e-01 1.21432641e+02] [-6.96464708e-01 -7.08125934e-01 -1.16166143e-01 9.61220755e+01] [-1.64100568e-01 -4.25186102e-04 9.86443522e-01 -1.04902223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:96.12, Z:-10.49 [[-7.00855339e-01 7.03712010e-01 -1.16581309e-01 1.21426530e+02] [-6.93960429e-01 -7.10484735e-01 -1.16749152e-01 9.61175449e+01] [-1.64987020e-01 -9.21451237e-04 9.86295308e-01 -1.04889698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.677628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.42, Y:96.12, Z:-10.49 [[-7.01989411e-01 7.02413090e-01 -1.17587065e-01 1.21421187e+02] [-6.92512432e-01 -7.11768717e-01 -1.17523720e-01 9.61157025e+01] [-1.66244993e-01 -1.06990283e-03 9.86083900e-01 -1.04892695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.707628 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.42, Y:96.11, Z:-10.49 [[-7.02267461e-01 7.01824423e-01 -1.19427354e-01 1.21417360e+02] [-6.91618959e-01 -7.12349039e-01 -1.19256289e-01 9.61131395e+01] [-1.68770937e-01 -1.15158930e-03 9.85654627e-01 -1.04880924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:96.11, Z:-10.49 [[-7.02735463e-01 7.00982119e-01 -1.21601555e-01 1.21414086e+02] [-6.90405289e-01 -7.13177662e-01 -1.21318417e-01 9.61109801e+01] [-1.71765554e-01 -1.30039698e-03 9.85136997e-01 -1.04863309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:96.11, Z:-10.49 [[-7.03440321e-01 6.99765771e-01 -1.24497311e-01 1.21410617e+02] [-6.88676130e-01 -7.14370664e-01 -1.24095697e-01 9.61084118e+01] [-1.75775147e-01 -1.55559076e-03 9.84429113e-01 -1.04862221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79762800000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:121.41, Y:96.11, Z:-10.49 [[-7.04067278e-01 6.99179510e-01 -1.24246857e-01 1.21409481e+02] [-6.88147412e-01 -7.14944348e-01 -1.23724366e-01 9.61067577e+01] [-1.75335130e-01 -1.61012493e-03 9.84507491e-01 -1.04885198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.827628 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:121.41, Y:96.10, Z:-10.49 [[-7.04405092e-01 6.98829509e-01 -1.24301184e-01 1.21406747e+02] [-6.87801638e-01 -7.15286444e-01 -1.23669762e-01 9.61039131e+01] [-1.75335031e-01 -1.61905199e-03 9.84507494e-01 -1.04892740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85762800000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.40, Y:96.10, Z:-10.49 [[-7.05395834e-01 6.97570804e-01 -1.25744548e-01 1.21403882e+02] [-6.86285774e-01 -7.16513431e-01 -1.24981355e-01 9.61020643e+01] [-1.77281002e-01 -1.86463265e-03 9.84158508e-01 -1.04892718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.887628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.40, Y:96.10, Z:-10.49 [[-7.06255273e-01 6.96579971e-01 -1.26411371e-01 1.21398264e+02] [-6.85178315e-01 -7.17476248e-01 -1.25532902e-01 9.60976040e+01] [-1.78140861e-01 -2.04394377e-03 9.84002874e-01 -1.04905686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91762800000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.40, Y:96.10, Z:-10.49 [[-7.07234394e-01 6.95502501e-01 -1.26869158e-01 1.21395926e+02] [-6.84020435e-01 -7.18520174e-01 -1.25876141e-01 9.60973786e+01] [-1.78705221e-01 -2.24283958e-03 9.83900104e-01 -1.04906877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.947628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.39, Y:96.09, Z:-10.49 [[-7.08759130e-01 6.93900153e-01 -1.27134080e-01 1.21387144e+02] [-6.82366613e-01 -7.20066673e-01 -1.26015048e-01 9.60915961e+01] [-1.78986875e-01 -2.56226458e-03 9.83848125e-01 -1.04921237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97762800000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.39, Y:96.09, Z:-10.49 [[-7.09323477e-01 6.93290617e-01 -1.27311923e-01 1.21385160e+02] [-6.81744588e-01 -7.20653426e-01 -1.26027600e-01 9.60902582e+01] [-1.79121526e-01 -2.60012115e-03 9.83823520e-01 -1.04931021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.007628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.38, Y:96.09, Z:-10.49 [[-7.10189730e-01 6.92493870e-01 -1.26817930e-01 1.21383534e+02] [-6.81045452e-01 -7.21418673e-01 -1.25428029e-01 9.60911556e+01] [-1.78346964e-01 -2.70892339e-03 9.83963933e-01 -1.04939883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:96.09, Z:-10.49 [[-7.10981197e-01 6.91501017e-01 -1.27797030e-01 1.21378967e+02] [-6.79878252e-01 -7.22369669e-01 -1.26283902e-01 9.60889630e+01] [-1.79642145e-01 -2.89905823e-03 9.83727755e-01 -1.04934653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.067628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.38, Y:96.09, Z:-10.50 [[-7.11158235e-01 6.91629354e-01 -1.26106311e-01 1.21375857e+02] [-6.80336168e-01 -7.22247386e-01 -1.24504667e-01 9.60898393e+01] [-1.77191036e-01 -2.74783440e-03 9.84172640e-01 -1.04950043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:96.08, Z:-10.50 [[-7.11193835e-01 6.91644393e-01 -1.25822747e-01 1.21367399e+02] [-6.80422189e-01 -7.22233322e-01 -1.24115565e-01 9.60838844e+01] [-1.76717215e-01 -2.65763548e-03 9.84258077e-01 -1.04972123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:96.09, Z:-10.50 [[-7.10729199e-01 6.92299940e-01 -1.24839094e-01 1.21367489e+02] [-6.81285391e-01 -7.21605917e-01 -1.23024860e-01 9.60856910e+01] [-1.75254732e-01 -2.38630963e-03 9.84520231e-01 -1.04981925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:96.09, Z:-10.50 [[-7.08425090e-01 6.94906998e-01 -1.23442928e-01 1.21363642e+02] [-6.84199363e-01 -7.19097761e-01 -1.21530420e-01 9.60864184e+01] [-1.73219872e-01 -1.63562605e-03 9.84881821e-01 -1.05003606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:96.09, Z:-10.50 [[-7.06681343e-01 6.96659500e-01 -1.23559787e-01 1.21361511e+02] [-6.85978928e-01 -7.17401063e-01 -1.21526232e-01 9.60879363e+01] [-1.73304327e-01 -1.12091116e-03 9.84867684e-01 -1.05008679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:96.09, Z:-10.50 [[-7.04789917e-01 6.98567557e-01 -1.23590212e-01 1.21356826e+02] [-6.87933990e-01 -7.15543890e-01 -1.21423916e-01 9.60885352e+01] [-1.73257030e-01 -5.56444519e-04 9.84876486e-01 -1.05002910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:96.09, Z:-10.50 [[-7.02510782e-01 7.00771012e-01 -1.24091056e-01 1.21353609e+02] [-6.90105599e-01 -7.13386279e-01 -1.21796057e-01 9.60901257e+01] [-1.73876003e-01 7.28897601e-05 9.84767551e-01 -1.04998209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.35, Y:96.09, Z:-10.50 [[-6.97700812e-01 7.05547019e-01 -1.24165138e-01 1.21349268e+02] [-6.94964365e-01 -7.08661833e-01 -1.21749485e-01 9.60927698e+01] [-1.73891081e-01 1.34563149e-03 9.84763972e-01 -1.05003581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:96.09, Z:-10.50 [[-6.96176565e-01 7.06761979e-01 -1.25800221e-01 1.21346836e+02] [-6.95938052e-01 -7.07449229e-01 -1.23230742e-01 9.60932598e+01] [-1.76092072e-01 1.75880595e-03 9.84372129e-01 -1.04998111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:96.09, Z:-10.50 [[-6.94498015e-01 7.08324655e-01 -1.26288127e-01 1.21343892e+02] [-6.97463234e-01 -7.05883221e-01 -1.23587686e-01 9.60927253e+01] [-1.76684875e-01 2.24992307e-03 9.84264900e-01 -1.05006257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:96.10, Z:-10.50 [[-6.91850388e-01 7.10892297e-01 -1.26392970e-01 1.21340059e+02] [-7.00076594e-01 -7.03294523e-01 -1.23570128e-01 9.60966525e+01] [-1.76736536e-01 2.99271933e-03 9.84253647e-01 -1.05005241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:96.09, Z:-10.50 [[-6.90991472e-01 7.11428570e-01 -1.28063168e-01 1.21333574e+02] [-7.00984759e-01 -7.02734868e-01 -1.21589772e-01 9.60927293e+01] [-1.76496891e-01 5.75283339e-03 9.84284386e-01 -1.05026371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:96.09, Z:-10.50 [[-6.90565031e-01 7.12681929e-01 -1.23306151e-01 1.21325934e+02] [-7.01737491e-01 -7.01487062e-01 -1.24420238e-01 9.60940839e+01] [-1.75169725e-01 6.08283576e-04 9.84538063e-01 -1.05021346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:96.09, Z:-10.50 [[-6.92005015e-01 7.11016160e-01 -1.24840214e-01 1.21325294e+02] [-7.00540237e-01 -7.03168041e-01 -1.21647370e-01 9.60923099e+01] [-1.74276895e-01 3.27500329e-03 9.84691240e-01 -1.05040918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:96.08, Z:-10.51 [[-6.94963405e-01 7.08149408e-01 -1.24700765e-01 1.21314332e+02] [-6.97674112e-01 -7.06057660e-01 -1.21381276e-01 9.60803188e+01] [-1.74002010e-01 2.64495046e-03 9.84741745e-01 -1.05075653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:96.08, Z:-10.51 [[-7.01599616e-01 7.01901098e-01 -1.22852873e-01 1.21313596e+02] [-6.91659212e-01 -7.12273492e-01 -1.19473871e-01 9.60770612e+01] [-1.71363686e-01 1.14949888e-03 9.85207169e-01 -1.05092367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:96.07, Z:-10.51 [[-7.04691480e-01 6.98964492e-01 -1.21895679e-01 1.21302988e+02] [-6.88877908e-01 -7.15156127e-01 -1.18317122e-01 9.60660304e+01] [-1.69873909e-01 5.94172806e-04 9.85465627e-01 -1.05126515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:96.07, Z:-10.51 [[-7.07125720e-01 6.96633799e-01 -1.21138623e-01 1.21303675e+02] [-6.86658086e-01 -7.17426886e-01 -1.17470576e-01 9.60659030e+01] [-1.68742079e-01 1.14349101e-04 9.85660234e-01 -1.05129775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:96.06, Z:-10.51 [[-7.09011523e-01 6.94752420e-01 -1.20920368e-01 1.21299487e+02] [-6.84811823e-01 -7.19248932e-01 -1.17105687e-01 9.60612967e+01] [-1.68331305e-01 -2.21583471e-04 9.85730451e-01 -1.05144511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:121.30, Y:96.06, Z:-10.52 [[-7.10435992e-01 6.93416738e-01 -1.20224489e-01 1.21295747e+02] [-6.83591230e-01 -7.20536621e-01 -1.16318564e-01 9.60564611e+01] [-1.67283387e-01 -4.52488391e-04 9.85908750e-01 -1.05172523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.29, Y:96.05, Z:-10.52 [[-7.10948391e-01 6.92691143e-01 -1.21372843e-01 1.21294605e+02] [-6.82684634e-01 -7.21234139e-01 -1.17315848e-01 9.60545893e+01] [-1.68801887e-01 -5.46138025e-04 9.85649849e-01 -1.05166835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:96.05, Z:-10.52 [[-7.11027791e-01 6.92430210e-01 -1.22392344e-01 1.21291221e+02] [-6.82276691e-01 -7.21484688e-01 -1.18145508e-01 9.60507422e+01] [-1.70111721e-01 -4.99295681e-04 9.85424656e-01 -1.05161353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:96.05, Z:-10.52 [[-7.09124429e-01 6.94106942e-01 -1.23927791e-01 1.21285618e+02] [-6.83741197e-01 -7.19871901e-01 -1.19509088e-01 9.60453111e+01] [-1.72164222e-01 -1.22775616e-05 9.85068262e-01 -1.05159877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.28, Y:96.04, Z:-10.52 [[-7.07505308e-01 6.95740262e-01 -1.24023095e-01 1.21275274e+02] [-6.85403594e-01 -7.18293302e-01 -1.19484917e-01 9.60356716e+01] [-1.72215425e-01 4.69662284e-04 9.85059200e-01 -1.05199356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:96.04, Z:-10.51 [[-7.04331895e-01 6.98628090e-01 -1.25838686e-01 1.21282696e+02] [-6.88055790e-01 -7.15483827e-01 -1.21087252e-01 9.60449314e+01] [-1.74630500e-01 1.29842264e-03 9.84633182e-01 -1.05147035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:96.04, Z:-10.51 [[-7.02590894e-01 7.00231770e-01 -1.26655057e-01 1.21280749e+02] [-6.89570298e-01 -7.13913309e-01 -1.21739850e-01 9.60441080e+01] [-1.75666842e-01 1.80425582e-03 9.84448021e-01 -1.05147764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:96.04, Z:-10.52 [[-7.00905614e-01 7.01744152e-01 -1.27618434e-01 1.21277191e+02] [-6.90967348e-01 -7.12425345e-01 -1.22532658e-01 9.60415931e+01] [-1.76905183e-01 2.29634348e-03 9.84225220e-01 -1.05155092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:96.04, Z:-10.52 [[-6.99207666e-01 7.03071073e-01 -1.29613681e-01 1.21274759e+02] [-6.91996942e-01 -7.11114219e-01 -1.24325377e-01 9.60383485e+01] [-1.79579708e-01 2.76301369e-03 9.83739546e-01 -1.05161998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:96.04, Z:-10.52 [[-6.99275582e-01 7.02996643e-01 -1.29650996e-01 1.21274697e+02] [-6.91939231e-01 -7.11187491e-01 -1.24227426e-01 9.60375994e+01] [-1.79537630e-01 2.84140461e-03 9.83747003e-01 -1.05163789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:96.03, Z:-10.52 [[-6.99472181e-01 7.02837142e-01 -1.29455085e-01 1.21272150e+02] [-6.91832594e-01 -7.11344951e-01 -1.23919417e-01 9.60348119e+01] [-1.79182390e-01 2.88306186e-03 9.83811648e-01 -1.05175299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:96.03, Z:-10.52 [[-7.00517366e-01 7.02151520e-01 -1.27509466e-01 1.21268827e+02] [-6.91489544e-01 -7.12022215e-01 -1.21928565e-01 9.60305647e+01] [-1.76401899e-01 2.75838502e-03 9.84314361e-01 -1.05196213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:96.02, Z:-10.52 [[-7.01594719e-01 7.01237252e-01 -1.26614244e-01 1.21260670e+02] [-6.90736002e-01 -7.12923202e-01 -1.20930905e-01 9.60213688e+01] [-1.75067488e-01 2.61253206e-03 9.84552969e-01 -1.05228197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:121.26, Y:96.02, Z:-10.53 [[-7.02208168e-01 7.00849385e-01 -1.25354812e-01 1.21262703e+02] [-6.90571717e-01 -7.13304646e-01 -1.19612650e-01 9.60218312e+01] [-1.73246622e-01 2.57350838e-03 9.84875111e-01 -1.05255805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:96.02, Z:-10.53 [[-7.04717202e-01 6.98574963e-01 -1.23962440e-01 1.21259083e+02] [-6.88510787e-01 -7.15533874e-01 -1.18170099e-01 9.60174786e+01] [-1.71249997e-01 2.07297545e-03 9.85225427e-01 -1.05250755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.26, Y:96.01, Z:-10.53 [[-7.05153596e-01 6.98321015e-01 -1.22907145e-01 1.21256692e+02] [-6.88444322e-01 -7.15781707e-01 -1.17051114e-01 9.60132978e+01] [-1.69713939e-01 2.07571170e-03 9.85491182e-01 -1.05275227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:96.01, Z:-10.53 [[-7.06076422e-01 6.97417602e-01 -1.22738641e-01 1.21256428e+02] [-6.87574161e-01 -7.16662354e-01 -1.16776894e-01 9.60118281e+01] [-1.69404425e-01 1.93850699e-03 9.85544714e-01 -1.05272402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:96.01, Z:-10.53 [[-7.06217043e-01 6.97359078e-01 -1.22261212e-01 1.21254057e+02] [-6.87611046e-01 -7.16719137e-01 -1.16209847e-01 9.60076019e+01] [-1.68666942e-01 1.99878554e-03 9.85671075e-01 -1.05281721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.177628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.25, Y:96.00, Z:-10.53 [[-7.05632679e-01 6.98108932e-01 -1.21352548e-01 1.21250528e+02] [-6.88535848e-01 -7.15988057e-01 -1.15236662e-01 9.60032424e+01] [-1.67334718e-01 2.24082534e-03 9.85897597e-01 -1.05313107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.207628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.25, Y:96.00, Z:-10.53 [[-7.05152770e-01 6.98599603e-01 -1.21318445e-01 1.21245971e+02] [-6.89062420e-01 -7.15508603e-01 -1.15067022e-01 9.59992571e+01] [-1.67190167e-01 2.45615215e-03 9.85921607e-01 -1.05321488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.25, Y:96.00, Z:-10.53 [[-7.03669651e-01 7.00073867e-01 -1.21431473e-01 1.21246954e+02] [-6.90559589e-01 -7.14064582e-01 -1.15061840e-01 9.60020672e+01] [-1.67261702e-01 2.89014325e-03 9.85908297e-01 -1.05313601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:96.00, Z:-10.53 [[-7.03692328e-01 6.99970602e-01 -1.21894480e-01 1.21243152e+02] [-6.90400807e-01 -7.14165529e-01 -1.15387703e-01 9.60003748e+01] [-1.67820836e-01 2.95860593e-03 9.85813072e-01 -1.05294325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:121.24, Y:96.00, Z:-10.53 [[-7.02770830e-01 7.00933268e-01 -1.21678738e-01 1.21240520e+02] [-6.91430801e-01 -7.13219395e-01 -1.15071902e-01 9.59975190e+01] [-1.67441360e-01 3.26325105e-03 9.85876636e-01 -1.05321655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:95.77, Z:-10.59 [[-7.03093844e-01 6.99973079e-01 -1.25286611e-01 1.21002759e+02] [-6.90765683e-01 -7.14136504e-01 -1.13365890e-01 9.57717526e+01] [-1.68824813e-01 6.83683255e-03 9.85622362e-01 -1.05929001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:95.74, Z:-9.63 [[-7.02465615e-01 -1.08041383e-01 7.03469345e-01 1.21091853e+02] [-6.98118194e-01 2.96897477e-01 -6.51523503e-01 9.57356107e+01] [-1.38466773e-01 -9.48777607e-01 -2.83985924e-01 -9.63160483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:95.84, Z:-10.60 [[-7.03198242e-01 7.06997671e-01 -7.52763269e-02 1.21061589e+02] [-7.03106941e-01 -7.07215377e-01 -7.40745557e-02 9.58427644e+01] [-1.05607114e-01 8.38210599e-04 9.94407580e-01 -1.06023946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:95.84, Z:-10.60 [[-7.05063903e-01 7.04995871e-01 -7.65879500e-02 1.21057400e+02] [-7.01103534e-01 -7.09209770e-01 -7.39955240e-02 9.58383794e+01] [-1.06483461e-01 1.52450947e-03 9.94313305e-01 -1.06027439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:95.83, Z:-10.60 [[-7.07169784e-01 7.02839417e-01 -7.69912357e-02 1.21052615e+02] [-6.98899963e-01 -7.11347445e-01 -7.43212907e-02 9.58341753e+01] [-1.07003451e-01 1.25140068e-03 9.94257862e-01 -1.06026334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:95.83, Z:-10.60 [[-7.11706802e-01 6.98191515e-01 -7.74728122e-02 1.21045017e+02] [-6.94182767e-01 -7.15910777e-01 -7.47130902e-02 9.58284537e+01] [-1.07627667e-01 6.06476700e-04 9.94191087e-01 -1.06025407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.507628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:121.04, Y:95.82, Z:-10.61 [[-7.14079572e-01 6.95800578e-01 -7.71486879e-02 1.21040691e+02] [-6.91818356e-01 -7.18234969e-01 -7.43363345e-02 9.58235517e+01] [-1.07134150e-01 2.90820540e-04 9.94244532e-01 -1.06051444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53762800000004 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:121.04, Y:95.82, Z:-10.61 [[-7.16634203e-01 6.93180204e-01 -7.70494902e-02 1.21041169e+02] [-6.89200030e-01 -7.20764318e-01 -7.41762542e-02 9.58227921e+01] [-1.06952034e-01 -5.47298952e-05 9.94264180e-01 -1.06055320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:95.82, Z:-10.61 [[-7.18984408e-01 6.90573123e-01 -7.85505169e-02 1.21035840e+02] [-6.86427687e-01 -7.23262470e-01 -7.55541551e-02 9.58164078e+01] [-1.08988310e-01 -4.03009783e-04 9.94042950e-01 -1.06056435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:95.81, Z:-10.61 [[-7.21623685e-01 6.87774458e-01 -7.89021713e-02 1.21032870e+02] [-6.83582282e-01 -7.25924021e-01 -7.58259862e-02 9.58128260e+01] [-1.09428158e-01 -7.81701240e-04 9.93994400e-01 -1.06075629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:95.81, Z:-10.61 [[-7.22261507e-01 6.87056787e-01 -7.93176331e-02 1.21031818e+02] [-6.82823296e-01 -7.26603231e-01 -7.61583364e-02 9.58133712e+01] [-1.09957550e-01 -8.46307239e-04 9.93935924e-01 -1.06075382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:95.81, Z:-10.61 [[-7.20807323e-01 6.88472075e-01 -8.02683314e-02 1.21026709e+02] [-6.84152484e-01 -7.25262611e-01 -7.70034049e-02 9.58130011e+01] [-1.11230314e-01 -5.88839823e-04 9.93794481e-01 -1.06070178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:95.81, Z:-10.61 [[-7.19700198e-01 6.89539252e-01 -8.10385451e-02 1.21023396e+02] [-6.85151479e-01 -7.24248218e-01 -7.76657509e-02 9.58123181e+01] [-1.12245606e-01 -3.72377208e-04 9.93680424e-01 -1.06068203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:95.81, Z:-10.61 [[-7.18500379e-01 6.90710035e-01 -8.17120160e-02 1.21022094e+02] [-6.86264168e-01 -7.23131819e-01 -7.82423359e-02 9.58136609e+01] [-1.13131325e-01 -1.41119344e-04 9.93580034e-01 -1.06064275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:95.81, Z:-10.61 [[-7.18798674e-01 6.90395574e-01 -8.17460549e-02 1.21019877e+02] [-6.85951727e-01 -7.23432050e-01 -7.82067564e-02 9.58114206e+01] [-1.13131315e-01 -1.41065219e-04 9.93580035e-01 -1.06068174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:95.81, Z:-10.61 [[-7.16249830e-01 6.92947540e-01 -8.25220510e-02 1.21017019e+02] [-6.88443435e-01 -7.20987939e-01 -7.88798335e-02 9.58129227e+01] [-1.14156990e-01 3.14096996e-04 9.93462673e-01 -1.06068891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:95.81, Z:-10.61 [[-7.15246609e-01 6.93939371e-01 -8.28881020e-02 1.21015626e+02] [-6.89409697e-01 -7.20033245e-01 -7.91605648e-02 9.58127148e+01] [-1.14614822e-01 5.24535734e-04 9.93409869e-01 -1.06072369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:95.81, Z:-10.61 [[-7.14809354e-01 6.94318662e-01 -8.34816344e-02 1.21009500e+02] [-6.89734341e-01 -7.19667414e-01 -7.96577214e-02 9.58070090e+01] [-1.15386854e-01 6.40065757e-04 9.93320424e-01 -1.06086760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:95.80, Z:-10.61 [[-7.14653213e-01 6.94437388e-01 -8.38301823e-02 1.21009060e+02] [-6.89823531e-01 -7.19552782e-01 -7.99205186e-02 9.58046839e+01] [-1.15820037e-01 7.12577029e-04 9.93269959e-01 -1.06097466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:95.80, Z:-10.61 [[-7.15175275e-01 6.93935315e-01 -8.35350523e-02 1.21009003e+02] [-6.89358601e-01 -7.20037025e-01 -7.95701032e-02 9.58029450e+01] [-1.15364835e-01 6.79036329e-04 9.93322955e-01 -1.06100961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:95.80, Z:-10.61 [[-7.15656661e-01 6.93455289e-01 -8.33984740e-02 1.21010151e+02] [-6.88898319e-01 -7.20499368e-01 -7.93710728e-02 9.58028538e+01] [-1.15128838e-01 6.50631518e-04 9.93350355e-01 -1.06107832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:95.80, Z:-10.61 [[-7.15940932e-01 6.93223565e-01 -8.28834818e-02 1.21005570e+02] [-6.88729150e-01 -7.20722315e-01 -7.88130872e-02 9.57976601e+01] [-1.14371064e-01 6.58754846e-04 9.93437882e-01 -1.06117201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:95.79, Z:-10.61 [[-7.15768386e-01 6.93390747e-01 -8.29752348e-02 1.21004027e+02] [-6.88896256e-01 -7.20561394e-01 -7.88240230e-02 9.57949338e+01] [-1.14444599e-01 7.41584853e-04 9.93429355e-01 -1.06124228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:95.79, Z:-10.61 [[-7.15750910e-01 6.93392686e-01 -8.31096805e-02 1.21001948e+02] [-6.88892417e-01 -7.20559467e-01 -7.88751705e-02 9.57917606e+01] [-1.14576933e-01 7.98653631e-04 9.93414057e-01 -1.06125866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:95.79, Z:-10.61 [[-7.15382657e-01 6.93629789e-01 -8.42933568e-02 1.21004103e+02] [-6.89009860e-01 -7.20331109e-01 -7.99281307e-02 9.57915543e+01] [-1.16159660e-01 8.99755532e-04 9.93230147e-01 -1.06126475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:95.79, Z:-10.61 [[-7.15898722e-01 6.93085281e-01 -8.43908337e-02 1.21000248e+02] [-6.88458982e-01 -7.20855081e-01 -7.99511244e-02 9.57869360e+01] [-1.16246509e-01 8.62719698e-04 9.93220018e-01 -1.06135169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:95.78, Z:-10.61 [[-7.17180260e-01 6.91844294e-01 -8.36895860e-02 1.20994951e+02] [-6.87297015e-01 -7.22046363e-01 -7.91950925e-02 9.57807546e+01] [-1.15218434e-01 7.22445544e-04 9.93339917e-01 -1.06147841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:95.78, Z:-10.62 [[-7.17926240e-01 6.91109646e-01 -8.33628851e-02 1.20994865e+02] [-6.86601752e-01 -7.22749628e-01 -7.88099599e-02 9.57799709e+01] [-1.14716818e-01 6.57364715e-04 9.93398017e-01 -1.06155357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:95.78, Z:-10.62 [[-7.18666411e-01 6.90365741e-01 -8.31488632e-02 1.20992075e+02] [-6.85883875e-01 -7.23460295e-01 -7.85398717e-02 9.57765965e+01] [-1.14376138e-01 5.86496783e-04 9.93437343e-01 -1.06166753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:95.77, Z:-10.62 [[-7.19231499e-01 6.89843973e-01 -8.25914293e-02 1.20987226e+02] [-6.85428236e-01 -7.23957857e-01 -7.79304443e-02 9.57716214e+01] [-1.13552561e-01 5.60467465e-04 9.93531832e-01 -1.06181546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:95.77, Z:-10.62 [[-7.19549740e-01 6.89659094e-01 -8.13541958e-02 1.20984704e+02] [-6.85381173e-01 -7.24133972e-01 -7.66983628e-02 9.57693502e+01] [-1.11807060e-01 5.70347113e-04 9.93729770e-01 -1.06195463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.98, Y:95.77, Z:-10.62 [[-7.19242932e-01 6.89998185e-01 -8.11918060e-02 1.20982471e+02] [-6.85749660e-01 -7.23810771e-01 -7.64550319e-02 9.57675120e+01] [-1.11521337e-01 6.87511953e-04 9.93761802e-01 -1.06221601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28762800000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:120.98, Y:95.77, Z:-10.62 [[-7.18954200e-01 6.90261158e-01 -8.15131442e-02 1.20980967e+02] [-6.85988047e-01 -7.23559898e-01 -7.66907614e-02 9.57665195e+01] [-1.11916296e-01 7.79897599e-04 9.93717331e-01 -1.06227533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:95.76, Z:-10.62 [[-7.18253749e-01 6.90813680e-01 -8.29940464e-02 1.20976745e+02] [-6.86394971e-01 -7.23032220e-01 -7.80150808e-02 9.57646008e+01] [-1.13901255e-01 9.32071731e-04 9.93491638e-01 -1.06214786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34762800000004 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:120.97, Y:95.76, Z:-10.62 [[-7.18117107e-01 6.90981382e-01 -8.27801354e-02 1.20974218e+02] [-6.86594280e-01 -7.22871856e-01 -7.77468699e-02 9.57636135e+01] [-1.13561070e-01 1.00501010e-03 9.93530510e-01 -1.06230761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:95.76, Z:-10.62 [[-7.18863054e-01 6.90095816e-01 -8.36879600e-02 1.20970509e+02] [-6.85614533e-01 -7.23717416e-01 -7.85226919e-02 9.57618931e+01] [-1.14754615e-01 9.30619543e-04 9.93393433e-01 -1.06214131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:95.76, Z:-10.62 [[-7.19706071e-01 6.89187919e-01 -8.39236797e-02 1.20967565e+02] [-6.84683948e-01 -7.24582156e-01 -7.86675942e-02 9.57590948e+01] [-1.15026356e-01 8.43651234e-04 9.93362082e-01 -1.06220107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.75, Z:-10.62 [[-7.20478422e-01 6.88382372e-01 -8.39080115e-02 1.20962651e+02] [-6.83883430e-01 -7.25347584e-01 -7.85769529e-02 9.57541875e+01] [-1.14953463e-01 7.70299651e-04 9.93370579e-01 -1.06229381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.75, Z:-10.62 [[-7.21175477e-01 6.87561050e-01 -8.46506576e-02 1.20958979e+02] [-6.82985234e-01 -7.26126236e-01 -7.91950809e-02 9.57487036e+01] [-1.15918516e-01 7.01598893e-04 9.93258479e-01 -1.06247666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.75, Z:-10.63 [[-7.21307384e-01 6.87357751e-01 -8.51761637e-02 1.20958667e+02] [-6.82732463e-01 -7.26318655e-01 -7.96090111e-02 9.57475509e+01] [-1.16584908e-01 7.29964450e-04 9.93180460e-01 -1.06252893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.75, Z:-10.63 [[-7.21066661e-01 6.87553508e-01 -8.56331931e-02 1.20957587e+02] [-6.82889794e-01 -7.26133243e-01 -7.99502505e-02 9.57462843e+01] [-1.17151183e-01 8.28573453e-04 9.93113747e-01 -1.06251991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.74, Z:-10.63 [[-7.20504904e-01 6.88075084e-01 -8.61705366e-02 1.20955200e+02] [-6.83365441e-01 -7.25638839e-01 -8.03738083e-02 9.57442973e+01] [-1.17831903e-01 9.76243705e-04 9.93033076e-01 -1.06254974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:95.74, Z:-10.63 [[-7.18219892e-01 6.90381557e-01 -8.67956945e-02 1.20955960e+02] [-6.85628262e-01 -7.23444056e-01 -8.08862424e-02 9.57444361e+01] [-1.18634199e-01 1.41547291e-03 9.92937019e-01 -1.06253271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.74, Z:-10.63 [[-7.17023648e-01 6.91624695e-01 -8.67892309e-02 1.20953721e+02] [-6.86889526e-01 -7.22255140e-01 -8.08102177e-02 9.57416986e+01] [-1.18574310e-01 1.67177665e-03 9.92943774e-01 -1.06262191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.74, Z:-10.63 [[-7.14977833e-01 6.93776760e-01 -8.64899185e-02 1.20954483e+02] [-6.89098197e-01 -7.20187140e-01 -8.04621536e-02 9.57422544e+01] [-1.18111699e-01 2.07139067e-03 9.92998155e-01 -1.06267466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.74, Z:-10.63 [[-7.14175900e-01 6.94658511e-01 -8.60368365e-02 1.20952436e+02] [-6.90043498e-01 -7.19336129e-01 -7.99718924e-02 9.57396772e+01] [-1.17442561e-01 2.25516141e-03 9.93077116e-01 -1.06275865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.74, Z:-10.63 [[-7.13265519e-01 6.95670646e-01 -8.54087375e-02 1.20950482e+02] [-6.91138180e-01 -7.18356691e-01 -7.93201118e-02 9.57368278e+01] [-1.16534611e-01 2.45293875e-03 9.93183602e-01 -1.06288677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.74, Z:-10.63 [[-7.11929429e-01 6.97316267e-01 -8.31054297e-02 1.20950106e+02] [-6.93044237e-01 -7.16758512e-01 -7.71162834e-02 9.57354269e+01] [-1.13340963e-01 2.69438753e-03 9.93552498e-01 -1.06310122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:95.73, Z:-10.63 [[-7.11859700e-01 6.97517973e-01 -8.20027142e-02 1.20949313e+02] [-6.93367476e-01 -7.16562063e-01 -7.60286295e-02 9.57337362e+01] [-1.11791370e-01 2.73629763e-03 9.93727932e-01 -1.06319507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79762800000003 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:120.95, Y:95.73, Z:-10.64 [[-7.11982603e-01 6.97481631e-01 -8.12412976e-02 1.20947698e+02] [-6.93415854e-01 -7.16597359e-01 -7.52507680e-02 9.57310113e+01] [-1.10703328e-01 2.75676614e-03 9.93849673e-01 -1.06355889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:95.73, Z:-10.63 [[-7.14212084e-01 6.95217225e-01 -8.10808757e-02 1.20944238e+02] [-6.91160128e-01 -7.18795535e-01 -7.50377002e-02 9.57264960e+01] [-1.10448073e-01 2.44703619e-03 9.93878884e-01 -1.06333782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:95.72, Z:-10.63 [[-7.16128764e-01 6.93247099e-01 -8.10435221e-02 1.20935860e+02] [-6.89188320e-01 -7.20696656e-01 -7.49385751e-02 9.57179881e+01] [-1.10358745e-01 2.18857970e-03 9.93889409e-01 -1.06346824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:95.72, Z:-10.63 [[-7.21154807e-01 6.87977487e-01 -8.13801108e-02 1.20937341e+02] [-6.83858405e-01 -7.25730615e-01 -7.51848161e-02 9.57162487e+01] [-1.10785499e-01 1.43258117e-03 9.93843308e-01 -1.06342859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:95.71, Z:-10.64 [[-7.24191869e-01 6.84693945e-01 -8.20995626e-02 1.20932449e+02] [-6.80488709e-01 -7.28830033e-01 -7.57753233e-02 9.57099812e+01] [-1.11719532e-01 9.91952349e-04 9.93739283e-01 -1.06356762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.947628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.96, Y:95.72, Z:-10.64 [[-7.20994708e-01 6.87112995e-01 -8.96792216e-02 1.20957757e+02] [-6.82974935e-01 -7.26519277e-01 -7.55974754e-02 9.57231572e+01] [-1.17097691e-01 6.74328079e-03 9.93097507e-01 -1.06407386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:95.70, Z:-10.63 [[-7.32442198e-01 6.76114691e-01 -7.99834444e-02 1.20921385e+02] [-6.71059619e-01 -7.36763273e-01 -8.28182737e-02 9.57011198e+01] [-1.14923516e-01 -6.98593866e-03 9.93349778e-01 -1.06340107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:95.70, Z:-10.64 [[-7.34579164e-01 6.73161575e-01 -8.51289889e-02 1.20922633e+02] [-6.68581656e-01 -7.39495128e-01 -7.83933988e-02 9.56976908e+01] [-1.15723896e-01 -6.70476987e-04 9.93281194e-01 -1.06372145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:95.69, Z:-10.64 [[-7.36430490e-01 6.71061768e-01 -8.57101934e-02 1.20918761e+02] [-6.66412817e-01 -7.41400829e-01 -7.88591662e-02 9.56936319e+01] [-1.16464980e-01 -9.55922954e-04 9.93194339e-01 -1.06387947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:95.69, Z:-10.64 [[-7.38369662e-01 6.68923255e-01 -8.57433432e-02 1.20910606e+02] [-6.64265298e-01 -7.43330444e-01 -7.88128496e-02 9.56878515e+01] [-1.16455385e-01 -1.23668971e-03 9.93195154e-01 -1.06406237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:95.69, Z:-10.64 [[-7.38643459e-01 6.68628727e-01 -8.56823584e-02 1.20911516e+02] [-6.63983525e-01 -7.43595395e-01 -7.86877813e-02 9.56898299e+01] [-1.16325918e-01 -1.23054057e-03 9.93210334e-01 -1.06404678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:95.69, Z:-10.64 [[-7.37667964e-01 6.69719471e-01 -8.55675447e-02 1.20905706e+02] [-6.65103022e-01 -7.42613513e-01 -7.85056693e-02 9.56885715e+01] [-1.16120390e-01 -9.99884629e-04 9.93234643e-01 -1.06418318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:95.69, Z:-10.64 [[-7.36667294e-01 6.70852109e-01 -8.53155686e-02 1.20901862e+02] [-6.66280251e-01 -7.41590774e-01 -7.81904753e-02 9.56878578e+01] [-1.15723484e-01 -7.56287418e-04 9.93281180e-01 -1.06422864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:95.69, Z:-10.64 [[-7.35340024e-01 6.72402568e-01 -8.45566979e-02 1.20897081e+02] [-6.67930797e-01 -7.40185505e-01 -7.74200761e-02 9.56862499e+01] [-1.14645100e-01 -4.52058011e-04 9.93406411e-01 -1.06427096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:95.69, Z:-10.64 [[-7.33119105e-01 6.74953701e-01 -8.35097500e-02 1.20896968e+02] [-6.70617175e-01 -7.37860082e-01 -7.63878503e-02 9.56890939e+01] [-1.13176773e-01 1.68010668e-06 9.93574868e-01 -1.06428458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.69, Z:-10.64 [[-7.32806881e-01 6.75276116e-01 -8.36435440e-02 1.20894233e+02] [-6.70936221e-01 -7.37565018e-01 -7.64357989e-02 9.56854382e+01] [-1.13307821e-01 1.06803952e-04 9.93559926e-01 -1.06432046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.68, Z:-10.64 [[-7.31181702e-01 6.77073629e-01 -8.33343895e-02 1.20892638e+02] [-6.72786706e-01 -7.35915147e-01 -7.60719706e-02 9.56816283e+01] [-1.12833365e-01 4.43836405e-04 9.93613826e-01 -1.06437229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.68, Z:-10.64 [[-7.30134907e-01 6.78221977e-01 -8.31743242e-02 1.20890243e+02] [-6.73968229e-01 -7.34856780e-01 -7.58441779e-02 9.56776925e+01] [-1.12560404e-01 6.80370183e-04 9.93644651e-01 -1.06443396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.68, Z:-10.64 [[-7.28953128e-01 6.79454920e-01 -8.34766402e-02 1.20891296e+02] [-6.75185709e-01 -7.33716676e-01 -7.60532593e-02 9.56769169e+01] [-1.12922964e-01 9.22973262e-04 9.93603317e-01 -1.06448856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.367628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.91, Y:95.69, Z:-10.64 [[-7.22916154e-01 6.86041422e-01 -8.20938593e-02 1.20913460e+02] [-6.81687849e-01 -7.27562462e-01 -7.71656650e-02 9.56928238e+01] [-1.12667253e-01 1.78080622e-04 9.93632758e-01 -1.06434666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.67, Z:-10.64 [[-7.27095116e-01 6.81282348e-01 -8.47765019e-02 1.20887617e+02] [-6.77003002e-01 -7.32018163e-01 -7.62649613e-02 9.56718303e+01] [-1.14015911e-01 1.94206541e-03 9.93477026e-01 -1.06448656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.427628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:120.89, Y:95.67, Z:-10.65 [[-7.26747819e-01 6.81671562e-01 -8.46255767e-02 1.20888627e+02] [-6.77321452e-01 -7.31656910e-01 -7.69013432e-02 9.56692792e+01] [-1.14338347e-01 1.43083501e-03 9.93440836e-01 -1.06483933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.26684785e-01 6.81579868e-01 -8.58959086e-02 1.20881815e+02] [-6.77107001e-01 -7.31742190e-01 -7.79709986e-02 9.56611602e+01] [-1.15997123e-01 1.50038266e-03 9.93248416e-01 -1.06479465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.26189217e-01 6.82041997e-01 -8.64172216e-02 1.20884635e+02] [-6.77525833e-01 -7.31311181e-01 -7.83753983e-02 9.56628219e+01] [-1.16653193e-01 1.63453091e-03 9.93171365e-01 -1.06474398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.25227805e-01 6.83021742e-01 -8.67521222e-02 1.20881221e+02] [-6.78488246e-01 -7.30395656e-01 -7.85868029e-02 9.56590409e+01] [-1.17039868e-01 1.86696066e-03 9.93125462e-01 -1.06474639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.22515450e-01 6.85805460e-01 -8.74202268e-02 1.20883108e+02] [-6.81230088e-01 -7.27780996e-01 -7.91226224e-02 9.56595342e+01] [-1.17885506e-01 2.38597170e-03 9.93024327e-01 -1.06466885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.21240741e-01 6.87161554e-01 -8.72971509e-02 1.20882425e+02] [-6.82617992e-01 -7.26499778e-01 -7.89350990e-02 9.56579391e+01] [-1.17662526e-01 2.65939654e-03 9.93050078e-01 -1.06465902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.66, Z:-10.65 [[-7.19333895e-01 6.89156095e-01 -8.73076413e-02 1.20882298e+02] [-6.84634133e-01 -7.24606557e-01 -7.88761143e-02 9.56562818e+01] [-1.17621644e-01 3.03552881e-03 9.93053843e-01 -1.06464727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.65, Z:-10.65 [[-7.19627611e-01 6.88844118e-01 -8.73491971e-02 1.20880015e+02] [-6.84325452e-01 -7.24903095e-01 -7.88300683e-02 9.56540978e+01] [-1.17621332e-01 3.04698503e-03 9.93053845e-01 -1.06468670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.65, Z:-10.65 [[-7.19188644e-01 6.89321841e-01 -8.71957171e-02 1.20878991e+02] [-6.84830588e-01 -7.24448312e-01 -7.86238404e-02 9.56517347e+01] [-1.17365921e-01 3.16892104e-03 9.93083682e-01 -1.06471911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.65, Z:-10.65 [[-7.18903282e-01 6.89623597e-01 -8.71628688e-02 1.20878101e+02] [-6.85145945e-01 -7.24160635e-01 -7.85264904e-02 9.56486992e+01] [-1.17273639e-01 3.26633447e-03 9.93094268e-01 -1.06481314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.65, Z:-10.65 [[-7.18749991e-01 6.89779126e-01 -8.71963682e-02 1.20878263e+02] [-6.85307155e-01 -7.24012145e-01 -7.84889628e-02 9.56464524e+01] [-1.17271278e-01 3.34235367e-03 9.93094294e-01 -1.06492577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:95.64, Z:-10.65 [[-7.18611274e-01 6.90015714e-01 -8.64647414e-02 1.20878075e+02] [-6.85628193e-01 -7.23786398e-01 -7.77639423e-02 9.56426061e+01] [-1.16240346e-01 3.40061880e-03 9.93215293e-01 -1.06501610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78762800000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.88, Y:95.64, Z:-10.65 [[-7.19625129e-01 6.89013894e-01 -8.60205071e-02 1.20875949e+02] [-6.84672057e-01 -7.24740754e-01 -7.72982161e-02 9.56378589e+01] [-1.15602112e-01 3.27009875e-03 9.93290219e-01 -1.06522680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:95.63, Z:-10.65 [[-7.21197015e-01 6.87301452e-01 -8.65539128e-02 1.20873391e+02] [-6.82901918e-01 -7.26365814e-01 -7.77024768e-02 9.56335529e+01] [-1.16274828e-01 3.06903874e-03 9.93212336e-01 -1.06509848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:95.64, Z:-10.65 [[-7.17539276e-01 6.90851459e-01 -8.86659434e-02 1.20893242e+02] [-6.86392987e-01 -7.22982478e-01 -7.84920665e-02 9.56433778e+01] [-1.18330282e-01 4.53854109e-03 9.92963920e-01 -1.06508849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:95.64, Z:-10.66 [[-7.17398863e-01 6.89396873e-01 -1.00353494e-01 1.20897422e+02] [-6.85220935e-01 -7.24257131e-01 -7.69667396e-02 9.56371109e+01] [-1.25742363e-01 1.35484636e-02 9.91970411e-01 -1.06588656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:95.62, Z:-10.65 [[-7.32492431e-01 6.76084944e-01 -7.97745981e-02 1.20860558e+02] [-6.70211569e-01 -7.36721208e-01 -8.97681172e-02 9.56221021e+01] [-1.19462511e-01 -1.22886078e-02 9.92762660e-01 -1.06464459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:95.61, Z:-10.65 [[-7.36467011e-01 6.70525459e-01 -8.95095006e-02 1.20861647e+02] [-6.65727142e-01 -7.41886265e-01 -8.00758550e-02 9.56125014e+01] [-1.20098768e-01 6.15678410e-04 9.92761757e-01 -1.06529724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:95.61, Z:-10.65 [[-7.40185172e-01 6.66334965e-01 -9.01311587e-02 1.20855781e+02] [-6.61447005e-01 -7.45652543e-01 -8.05614388e-02 9.56053360e+01] [-1.20887431e-01 -1.33974567e-05 9.92666222e-01 -1.06545128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:95.60, Z:-10.66 [[-7.46393517e-01 6.58967673e-01 -9.30501147e-02 1.20852250e+02] [-6.54322289e-01 -7.52166922e-01 -7.81489814e-02 9.55966467e+01] [-1.21486871e-01 2.55487100e-03 9.92589751e-01 -1.06584878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:95.43, Z:-9.74 [[-7.34154759e-01 -1.63931096e-01 6.58895580e-01 1.20723566e+02] [-6.77928144e-01 2.31027337e-01 -6.97882369e-01 9.54341921e+01] [-3.78182695e-02 -9.59037520e-01 -2.80743322e-01 -9.74271975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.057628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.70, Y:95.48, Z:-10.71 [[-7.45293685e-01 6.65489623e-01 -4.07539471e-02 1.20703812e+02] [-6.64417415e-01 -7.46406324e-01 -3.77769454e-02 9.54775297e+01] [-5.55591690e-02 -1.07728669e-03 9.98454815e-01 -1.07076362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:95.48, Z:-10.71 [[-7.46541563e-01 6.63843348e-01 -4.45836755e-02 1.20703977e+02] [-6.62968620e-01 -7.47861201e-01 -3.42962523e-02 9.54759724e+01] [-5.61097400e-02 3.95400007e-03 9.98416778e-01 -1.07078161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:95.45, Z:-9.89 [[-7.37956557e-01 -2.67579472e-02 6.74317530e-01 1.20549731e+02] [-6.73955382e-01 -2.21607083e-02 -7.38439602e-01 9.54467046e+01] [ 3.47024819e-02 -9.99396275e-01 -1.68002252e-03 -9.88876746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:95.39, Z:-9.92 [[-7.34224489e-01 -7.65300785e-02 6.74579533e-01 1.20485818e+02] [-6.71146660e-01 -6.79838432e-02 -7.38200757e-01 9.53890133e+01] [ 1.02355071e-01 -9.94746874e-01 -1.44750403e-03 -9.91519051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:95.34, Z:-9.93 [[-7.26506185e-01 -1.24739545e-01 6.75743153e-01 1.20427401e+02] [-6.66298748e-01 -1.12590053e-01 -7.37135984e-01 9.53369180e+01] [ 1.68031965e-01 -9.85780668e-01 -1.31643282e-03 -9.93416566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:94.52, Z:-10.67 [[-7.33362844e-01 5.18043735e-02 -6.77860787e-01 1.20925901e+02] [-6.76321575e-01 4.56807595e-02 7.35188680e-01 9.45246005e+01] [ 6.90511846e-02 9.97611936e-01 1.53584377e-03 -1.06741355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:95.21, Z:-9.90 [[-7.24758243e-01 -1.21514221e-01 6.78203349e-01 1.20280816e+02] [-6.69290651e-01 -1.09605579e-01 -7.34871854e-01 9.52051375e+01] [ 1.63632252e-01 -9.86519595e-01 -1.89078502e-03 -9.90448089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.267628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:120.78, Y:94.38, Z:-10.66 [[-7.36289499e-01 5.58324011e-02 -6.74359338e-01 1.20778867e+02] [-6.72526961e-01 4.96883590e-02 7.38402705e-01 9.43825640e+01] [ 7.47346049e-02 9.97202993e-01 9.63778043e-04 -1.06573832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:120.18, Y:95.03, Z:-10.73 [[-7.39100570e-01 6.70562031e-01 6.38506870e-02 1.20182861e+02] [-6.67736434e-01 -7.41847936e-01 6.15604942e-02 9.50252560e+01] [ 8.86476304e-02 2.86396634e-03 9.96058932e-01 -1.07291895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:95.04, Z:-10.73 [[-7.31700604e-01 6.78971868e-01 6.00951627e-02 1.20200762e+02] [-6.76372139e-01 -7.34158811e-01 5.94270195e-02 9.50428795e+01] [ 8.44686676e-02 2.83609230e-03 9.96422100e-01 -1.07320796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:95.03, Z:-10.72 [[-7.37291337e-01 6.72402772e-01 6.53910975e-02 1.20173215e+02] [-6.69968004e-01 -7.40183637e-01 5.71931571e-02 9.50292604e+01] [ 8.68582578e-02 -1.64192379e-03 9.96219327e-01 -1.07225552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:95.03, Z:-10.72 [[-7.37808478e-01 6.72228305e-01 6.12189168e-02 1.20178060e+02] [-6.69881984e-01 -7.40343805e-01 5.61175364e-02 9.50291038e+01] [ 8.30468422e-02 3.94544673e-04 9.96545567e-01 -1.07240374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:95.02, Z:-10.72 [[-7.38431404e-01 6.71588412e-01 6.07294515e-02 1.20175944e+02] [-6.69280890e-01 -7.40924301e-01 5.56261765e-02 9.50248606e+01] [ 8.23538219e-02 4.31054281e-04 9.96603062e-01 -1.07238796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:95.02, Z:-10.72 [[-7.38908911e-01 6.71114651e-01 6.01560125e-02 1.20177920e+02] [-6.68852453e-01 -7.41353441e-01 5.50588077e-02 9.50221153e+01] [ 8.15476394e-02 4.47947206e-04 9.96669344e-01 -1.07244941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:95.02, Z:-10.72 [[-7.39102065e-01 6.70904439e-01 6.01279512e-02 1.20176575e+02] [-6.68647132e-01 -7.41543687e-01 5.49906608e-02 9.50199515e+01] [ 8.14809811e-02 4.39328872e-04 9.96674800e-01 -1.07246890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:95.02, Z:-10.72 [[-7.39008672e-01 6.70953968e-01 6.07203025e-02 1.20174844e+02] [-6.68655628e-01 -7.41498893e-01 5.54891270e-02 9.50184375e+01] [ 8.22546870e-02 4.05974153e-04 9.96611259e-01 -1.07242047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:95.02, Z:-10.72 [[-7.38515682e-01 6.71436307e-01 6.13829985e-02 1.20173311e+02] [-6.69092750e-01 -7.41062198e-01 5.60509718e-02 9.50180817e+01] [ 8.31232773e-02 3.23602441e-04 9.96539220e-01 -1.07241197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:95.02, Z:-10.72 [[-7.36659530e-01 6.73333679e-01 6.28847651e-02 1.20170297e+02] [-6.70884594e-01 -7.39338725e-01 5.73769224e-02 9.50183174e+01] [ 8.51269563e-02 7.88365805e-05 9.96370110e-01 -1.07243282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.17, Y:95.02, Z:-10.73 [[-7.35276666e-01 6.74681627e-01 6.45982006e-02 1.20169486e+02] [-6.72106278e-01 -7.38108860e-01 5.88936403e-02 9.50193915e+01] [ 8.74149613e-02 -1.13736725e-04 9.96171979e-01 -1.07255588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.01, Z:-10.72 [[-7.35392008e-01 6.74494697e-01 6.52341813e-02 1.20163257e+02] [-6.71871653e-01 -7.38279682e-01 5.94272117e-02 9.50143401e+01] [ 8.82444097e-02 -1.26700664e-04 9.96098845e-01 -1.07244117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:95.02, Z:-10.72 [[-7.35830774e-01 6.73987556e-01 6.55274475e-02 1.20165137e+02] [-6.71342934e-01 -7.38742692e-01 5.96481339e-02 9.50161368e+01] [ 8.86100229e-02 -1.00456296e-04 9.96066390e-01 -1.07246100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.01, Z:-10.72 [[-7.36820420e-01 6.72864696e-01 6.59452067e-02 1.20162794e+02] [-6.70185855e-01 -7.39765572e-01 5.99818171e-02 9.50126743e+01] [ 8.91436406e-02 2.82879409e-07 9.96018781e-01 -1.07234317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.01, Z:-10.72 [[-7.37854273e-01 6.71766379e-01 6.55820368e-02 1.20162475e+02] [-6.69116755e-01 -7.40763068e-01 5.96057529e-02 9.50113741e+01] [ 8.86218915e-02 9.83198646e-05 9.96065335e-01 -1.07224322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.01, Z:-10.72 [[-7.38670785e-01 6.70935834e-01 6.48889656e-02 1.20158201e+02] [-6.68342803e-01 -7.41515394e-01 5.89306188e-02 9.50057634e+01] [ 8.76548308e-02 1.62253342e-04 9.96150894e-01 -1.07212479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.00, Z:-10.72 [[-7.39889461e-01 6.69767535e-01 6.30478693e-02 1.20158188e+02] [-6.67319721e-01 -7.42570793e-01 5.72101954e-02 9.50026954e+01] [ 8.51350379e-02 2.56134073e-04 9.96369389e-01 -1.07207443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.00, Z:-10.72 [[-7.40091835e-01 6.69651972e-01 6.18895182e-02 1.20157441e+02] [-6.67296604e-01 -7.42675018e-01 5.61164927e-02 9.50018640e+01] [ 8.35423190e-02 2.32692786e-04 9.96504203e-01 -1.07205694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.00, Z:-10.72 [[-7.39457525e-01 6.70494264e-01 6.03325055e-02 1.20157019e+02] [-6.68262271e-01 -7.41914707e-01 5.46635637e-02 9.50021954e+01] [ 8.14131790e-02 1.03446334e-04 9.96680432e-01 -1.07201257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:95.00, Z:-10.72 [[-7.37001047e-01 6.73411598e-01 5.78470186e-02 1.20155403e+02] [-6.71371960e-01 -7.39267721e-01 5.23729678e-02 9.50028992e+01] [ 7.80329976e-02 -2.37934178e-04 9.96950748e-01 -1.07196559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.35872658e-01 6.74721120e-01 5.69459514e-02 1.20154594e+02] [-6.72751539e-01 -7.38072659e-01 5.15181155e-02 9.50024909e+01] [ 7.67906104e-02 -3.99703884e-04 9.97047162e-01 -1.07202216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.34431027e-01 6.76393233e-01 5.57069212e-02 1.20153167e+02] [-6.74516190e-01 -7.36540458e-01 5.03593348e-02 9.50014878e+01] [ 7.50931145e-02 -5.89762249e-04 9.97176352e-01 -1.07208498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.34723358e-01 6.76112926e-01 5.52530353e-02 1.20152957e+02] [-6.74268439e-01 -7.36797780e-01 4.99109590e-02 9.50012386e+01] [ 7.44557583e-02 -5.84630429e-04 9.97224146e-01 -1.07209353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.35264841e-01 6.75532566e-01 5.51485805e-02 1.20151473e+02] [-6.73696270e-01 -7.37329944e-01 4.97784001e-02 9.49998612e+01] [ 7.42896301e-02 -5.53085593e-04 9.97236554e-01 -1.07207159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.36353485e-01 6.74302081e-01 5.56798798e-02 1.20146977e+02] [-6.72429598e-01 -7.38455476e-01 5.02189684e-02 9.49958028e+01] [ 7.49798671e-02 -4.61886842e-04 9.97184941e-01 -1.07203271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:95.00, Z:-10.72 [[-7.36999668e-01 6.73539294e-01 5.63587444e-02 1.20147762e+02] [-6.71621593e-01 -7.39151300e-01 5.07916461e-02 9.49953365e+01] [ 7.58678086e-02 -4.18323368e-04 9.97117797e-01 -1.07204922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:94.99, Z:-10.72 [[-7.38249979e-01 6.72001176e-01 5.83214213e-02 1.20146144e+02] [-6.69945877e-01 -7.40550018e-01 5.25185059e-02 9.49908575e+01] [ 7.84824273e-02 -3.00409845e-04 9.96915452e-01 -1.07220067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:94.99, Z:-10.72 [[-7.38957546e-01 6.71129041e-01 5.93932326e-02 1.20143636e+02] [-6.68997928e-01 -7.41340510e-01 5.34417531e-02 9.49877071e+01] [ 7.98969218e-02 -2.42762820e-04 9.96803101e-01 -1.07224168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:94.99, Z:-10.72 [[-7.39581294e-01 6.70389609e-01 5.99773530e-02 1.20142740e+02] [-6.68217270e-01 -7.42009255e-01 5.39253730e-02 9.49863916e+01] [ 8.06547607e-02 -1.95705972e-04 9.96742079e-01 -1.07230935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:94.98, Z:-10.72 [[-7.40304469e-01 6.69502008e-01 6.09619165e-02 1.20140015e+02] [-6.67258178e-01 -7.42810234e-01 5.47675055e-02 9.49835824e+01] [ 8.19500904e-02 -1.32708258e-04 9.96636426e-01 -1.07235661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:94.98, Z:-10.72 [[-7.40752240e-01 6.68927044e-01 6.18282136e-02 1.20138137e+02] [-6.66620497e-01 -7.43328056e-01 5.55023747e-02 9.49817121e+01] [ 8.30856852e-02 -1.02446142e-04 9.96542402e-01 -1.07234080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:94.98, Z:-10.72 [[-7.41185513e-01 6.68409997e-01 6.22262892e-02 1.20136360e+02] [-6.66075418e-01 -7.43793029e-01 5.58163764e-02 9.49796059e+01] [ 8.35917041e-02 -7.71120555e-05 9.96500086e-01 -1.07237948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:94.98, Z:-10.72 [[-7.41437700e-01 6.68169232e-01 6.18062574e-02 1.20134242e+02] [-6.65868833e-01 -7.44009321e-01 5.53969917e-02 9.49767089e+01] [ 8.29989971e-02 -8.14423450e-05 9.96549627e-01 -1.07243993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:94.98, Z:-10.72 [[-7.41570068e-01 6.67982775e-01 6.22322007e-02 1.20132333e+02] [-6.65653483e-01 -7.44176728e-01 5.57354250e-02 9.49752245e+01] [ 8.35420594e-02 -9.33582609e-05 9.96504248e-01 -1.07238942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:94.97, Z:-10.72 [[-7.41831248e-01 6.67696964e-01 6.21865181e-02 1.20131104e+02] [-6.65373692e-01 -7.44433177e-01 5.56515508e-02 9.49747995e+01] [ 8.34520788e-02 -9.32137550e-05 9.96511787e-01 -1.07234360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:94.97, Z:-10.72 [[-7.42208548e-01 6.67339597e-01 6.15169432e-02 1.20128947e+02] [-6.65068437e-01 -7.44753554e-01 5.50101670e-02 9.49737573e+01] [ 8.25254247e-02 -8.39611244e-05 9.96588956e-01 -1.07226079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:94.97, Z:-10.72 [[-7.42871105e-01 6.66624277e-01 6.12747545e-02 1.20124080e+02] [-6.64372036e-01 -7.45393904e-01 5.47514900e-02 9.49698708e+01] [ 8.21725009e-02 -3.59334778e-05 9.96618121e-01 -1.07216759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:94.97, Z:-10.72 [[-7.43775673e-01 6.65609811e-01 6.13296589e-02 1.20124113e+02] [-6.63353576e-01 -7.46299924e-01 5.47581614e-02 9.49703390e+01] [ 8.22178893e-02 4.45398233e-05 9.96614377e-01 -1.07215719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.12, Y:94.97, Z:-10.72 [[-7.45211910e-01 6.63835366e-01 6.31016373e-02 1.20122272e+02] [-6.61444071e-01 -7.47878708e-01 5.62954597e-02 9.49672456e+01] [ 8.45632881e-02 2.13843147e-04 9.96418087e-01 -1.07229804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:94.96, Z:-10.72 [[-7.46070260e-01 6.62899916e-01 6.27922669e-02 1.20118802e+02] [-6.60532379e-01 -7.48707967e-01 5.59763925e-02 9.49629352e+01] [ 8.41198164e-02 2.85996267e-04 9.96455606e-01 -1.07225702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.497628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.12, Y:94.96, Z:-10.72 [[-7.46272614e-01 6.62455849e-01 6.50340890e-02 1.20117021e+02] [-6.59918318e-01 -7.49100894e-01 5.79280946e-02 9.49616885e+01] [ 8.70918993e-02 3.12964007e-04 9.96200232e-01 -1.07242989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:94.96, Z:-10.72 [[-7.46633445e-01 6.62071922e-01 6.48017728e-02 1.20115190e+02] [-6.59555925e-01 -7.49440239e-01 5.76655009e-02 9.49613502e+01] [ 8.67437651e-02 3.14598412e-04 9.96230606e-01 -1.07227541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.96, Z:-10.72 [[-7.46886895e-01 6.61783820e-01 6.48239347e-02 1.20113470e+02] [-6.59268903e-01 -7.49694656e-01 5.76405775e-02 9.49597416e+01] [ 8.67437589e-02 3.14587582e-04 9.96230607e-01 -1.07225417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.96, Z:-10.72 [[-7.47059881e-01 6.61500339e-01 6.57178557e-02 1.20110303e+02] [-6.58918393e-01 -7.49944799e-01 5.83896413e-02 9.49578887e+01] [ 8.79095316e-02 3.17854576e-04 9.96128412e-01 -1.07220387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.47628014e-01 6.60665589e-01 6.76264160e-02 1.20105685e+02] [-6.57932109e-01 -7.50680242e-01 6.00376005e-02 9.49536014e+01] [ 9.04305910e-02 3.92201561e-04 9.95902683e-01 -1.07221718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.647628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.48082967e-01 6.59939253e-01 6.96567073e-02 1.20105632e+02] [-6.57040277e-01 -7.51318823e-01 6.17907885e-02 9.49531038e+01] [ 9.31125621e-02 4.57374163e-04 9.95655483e-01 -1.07232595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.677628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.48974838e-01 6.58691207e-01 7.18511379e-02 1.20105275e+02] [-6.55605503e-01 -7.52413146e-01 6.36858043e-02 9.49503710e+01] [ 9.60110200e-02 5.93063567e-04 9.95380094e-01 -1.07243437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.95, Z:-10.72 [[-7.49016006e-01 6.58685158e-01 7.14764602e-02 1.20104732e+02] [-6.55636819e-01 -7.52418474e-01 6.32993056e-02 9.49480272e+01] [ 9.54745222e-02 5.49594110e-04 9.95431722e-01 -1.07230870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.10, Y:94.95, Z:-10.72 [[-7.47959010e-01 6.59720607e-01 7.29797242e-02 1.20103677e+02] [-6.56552288e-01 -7.51510858e-01 6.45795898e-02 9.49456018e+01] [ 9.74495413e-02 3.87881123e-04 9.95240391e-01 -1.07247761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.94, Z:-10.72 [[-7.45339154e-01 6.62731303e-01 7.25035613e-02 1.20103154e+02] [-6.59623257e-01 -7.48857275e-01 6.41088125e-02 9.49444350e+01] [ 9.67817362e-02 -4.22272900e-05 9.95305628e-01 -1.07228778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:120.10, Y:94.94, Z:-10.72 [[-7.43231573e-01 6.65070299e-01 7.27208804e-02 1.20099582e+02] [-6.61959557e-01 -7.46780657e-01 6.42510321e-02 9.49417641e+01] [ 9.70379999e-02 -3.84886121e-04 9.95280603e-01 -1.07227711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.95, Z:-10.72 [[-7.38652132e-01 6.70433476e-01 7.00855345e-02 1.20102304e+02] [-6.67572937e-01 -7.41968855e-01 6.18756193e-02 9.49453241e+01] [ 9.34847704e-02 -1.08264794e-03 9.95620121e-01 -1.07193441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.95, Z:-10.72 [[-7.35785542e-01 6.73646573e-01 6.94257202e-02 1.20104624e+02] [-6.70858992e-01 -7.39052093e-01 6.12390144e-02 9.49469538e+01] [ 9.25626760e-02 -1.51608727e-03 9.95705706e-01 -1.07188616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.32726806e-01 6.77024340e-01 6.89164059e-02 1.20105070e+02] [-6.74298232e-01 -7.35957979e-01 6.07268275e-02 9.49462993e+01] [ 9.18331191e-02 -1.97403628e-03 9.95772455e-01 -1.07191151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.29974117e-01 6.80004695e-01 6.87851945e-02 1.20105686e+02] [-6.77306387e-01 -7.33203901e-01 6.05648240e-02 9.49461338e+01] [ 9.16179376e-02 -2.37789760e-03 9.95791393e-01 -1.07193389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:94.95, Z:-10.72 [[-7.26119886e-01 6.84131732e-01 6.86562856e-02 1.20107702e+02] [-6.81466070e-01 -7.29352600e-01 6.04051401e-02 9.49480187e+01] [ 9.13997135e-02 -2.92555568e-03 9.95809989e-01 -1.07196295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.94, Z:-10.72 [[-7.25223973e-01 6.85111200e-01 6.83581220e-02 1.20103296e+02] [-6.82477190e-01 -7.28432032e-01 6.00970853e-02 9.49442473e+01] [ 9.09674319e-02 -3.06901206e-03 9.95849139e-01 -1.07191625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.94, Z:-10.72 [[-7.25988529e-01 6.84252675e-01 6.88399049e-02 1.20101700e+02] [-6.81581762e-01 -7.29238766e-01 6.04741547e-02 9.49441792e+01] [ 9.15803294e-02 -3.01648105e-03 9.95793123e-01 -1.07176464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.94, Z:-10.72 [[-7.27603879e-01 6.82493990e-01 6.92426811e-02 1.20098801e+02] [-6.79788041e-01 -7.30885665e-01 6.07812755e-02 9.49410950e+01] [ 9.20913383e-02 -2.84565480e-03 9.95746498e-01 -1.07169899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:94.93, Z:-10.72 [[-7.32323792e-01 6.77286377e-01 7.06047181e-02 1.20091488e+02] [-6.74452979e-01 -7.35715992e-01 6.19286584e-02 9.49307593e+01] [ 9.38884569e-02 -2.26773248e-03 9.95580140e-01 -1.07167809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:94.93, Z:-10.72 [[-7.35669376e-01 6.73615511e-01 7.09416142e-02 1.20095668e+02] [-6.70742405e-01 -7.39079663e-01 6.21761861e-02 9.49319940e+01] [ 9.43143478e-02 -1.84243290e-03 9.95540762e-01 -1.07178654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:94.93, Z:-10.72 [[-7.39565369e-01 6.69331914e-01 7.09778480e-02 1.20090752e+02] [-6.66440623e-01 -7.42962326e-01 6.21601040e-02 9.49256853e+01] [ 9.43396084e-02 -1.33106100e-03 9.95539184e-01 -1.07173550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:94.92, Z:-10.72 [[-7.47569714e-01 6.60444112e-01 7.03782425e-02 1.20085028e+02] [-6.57566286e-01 -7.50875169e-01 6.15878317e-02 9.49200382e+01] [ 9.35205956e-02 -2.37161774e-04 9.95617317e-01 -1.07153271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:94.92, Z:-10.71 [[-7.51393097e-01 6.56106299e-01 7.02348833e-02 1.20081058e+02] [-6.53225644e-01 -7.54668439e-01 6.14150254e-02 9.49159915e+01] [ 9.32988347e-02 2.67599276e-04 9.95638115e-01 -1.07137509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:94.91, Z:-10.71 [[-7.54740996e-01 6.52301083e-01 6.97805501e-02 1.20077436e+02] [-6.49445730e-01 -7.57959635e-01 6.09707697e-02 9.49109638e+01] [ 9.26621394e-02 6.98459123e-04 9.95697364e-01 -1.07132751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:94.91, Z:-10.71 [[-7.59607212e-01 6.46776560e-01 6.83883300e-02 1.20074482e+02] [-6.44015918e-01 -7.62678412e-01 5.97087762e-02 9.49056179e+01] [ 9.07765398e-02 1.31204397e-03 9.95870422e-01 -1.07130446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:94.90, Z:-10.71 [[-7.61093215e-01 6.45103614e-01 6.76642104e-02 1.20072459e+02] [-6.42398742e-01 -7.64093708e-01 5.90310262e-02 9.49033996e+01] [ 8.97829257e-02 1.46070992e-03 9.95960287e-01 -1.07123188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:94.90, Z:-10.71 [[-7.61731630e-01 6.44542388e-01 6.58029926e-02 1.20069720e+02] [-6.41986293e-01 -7.64567200e-01 5.73637095e-02 9.49019631e+01] [ 8.72841522e-02 1.45113258e-03 9.96182398e-01 -1.07117017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:94.90, Z:-10.71 [[-7.61407367e-01 6.44994961e-01 6.51177585e-02 1.20067729e+02] [-6.42497377e-01 -7.64185629e-01 5.67225300e-02 9.49018915e+01] [ 8.63478012e-02 1.35096315e-03 9.96264138e-01 -1.07115926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.60783125e-01 6.45772298e-01 6.47083916e-02 1.20064642e+02] [-6.43312644e-01 -7.63529074e-01 5.63222423e-02 9.49010467e+01] [ 8.57780822e-02 1.22128508e-03 9.96313519e-01 -1.07110249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.59120507e-01 6.47628967e-01 6.56717395e-02 1.20062082e+02] [-6.45106257e-01 -7.61955207e-01 5.71155040e-02 9.49016504e+01] [ 8.70285786e-02 9.92300324e-04 9.96205321e-01 -1.07109774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.58711600e-01 6.47995408e-01 6.67732012e-02 1.20061128e+02] [-6.45392697e-01 -7.61643673e-01 5.80274252e-02 9.49013660e+01] [ 8.84588913e-02 9.31144212e-04 9.96079393e-01 -1.07117042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.57636733e-01 6.48959443e-01 6.95573288e-02 1.20055215e+02] [-6.46143257e-01 -7.60822565e-01 6.03979783e-02 9.48974751e+01] [ 9.21166237e-02 8.15727990e-04 9.95747891e-01 -1.07131464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.56940065e-01 6.49633119e-01 7.08417157e-02 1.20056479e+02] [-6.46719272e-01 -7.60247530e-01 6.14644322e-02 9.48995296e+01] [ 9.37865701e-02 7.10188458e-04 9.95592073e-01 -1.07141087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.56171259e-01 6.50379939e-01 7.21870021e-02 1.20054464e+02] [-6.47362274e-01 -7.59608837e-01 6.25819489e-02 9.48995064e+01] [ 9.55359289e-02 5.91529205e-04 9.95425807e-01 -1.07134357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.53171506e-01 6.53766080e-01 7.29561119e-02 1.20051801e+02] [-6.50704228e-01 -7.56696700e-01 6.31989853e-02 9.48997329e+01] [ 9.65230020e-02 1.26824478e-04 9.95330746e-01 -1.07145605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.90, Z:-10.71 [[-7.51905026e-01 6.55300733e-01 7.22480568e-02 1.20055758e+02] [-6.52309853e-01 -7.55368082e-01 6.25373215e-02 9.49031195e+01] [ 9.55546287e-02 -1.05993021e-04 9.95424182e-01 -1.07132757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.49061019e-01 6.58736057e-01 7.05294076e-02 1.20051855e+02] [-6.55905565e-01 -7.52373901e-01 6.10032959e-02 9.49010396e+01] [ 9.32495561e-02 -5.65440032e-04 9.95642607e-01 -1.07120362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.48117974e-01 6.59871996e-01 6.99174181e-02 1.20053218e+02] [-6.57099775e-01 -7.51377673e-01 6.04274636e-02 9.49028638e+01] [ 9.24087780e-02 -7.35848011e-04 9.95720883e-01 -1.07114354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.47332048e-01 6.60803751e-01 6.95213155e-02 1.20053256e+02] [-6.58071204e-01 -7.50558210e-01 6.00388471e-02 9.49025370e+01] [ 9.18536895e-02 -8.81021213e-04 9.95772124e-01 -1.07108516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.46377257e-01 6.61962024e-01 6.87551385e-02 1.20052544e+02] [-6.59298535e-01 -7.49536646e-01 5.93317616e-02 9.49007872e+01] [ 9.08098689e-02 -1.04628464e-03 9.95867699e-01 -1.07105858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.46352166e-01 6.61973801e-01 6.89139382e-02 1.20051189e+02] [-6.59302224e-01 -7.49526190e-01 5.94227847e-02 9.48993047e+01] [ 9.09891282e-02 -1.08478874e-03 9.95851295e-01 -1.07103722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.46489103e-01 6.61754216e-01 6.95368695e-02 1.20049699e+02] [-6.59037374e-01 -7.49720042e-01 5.99132612e-02 9.48973757e+01] [ 9.17810379e-02 -1.10279923e-03 9.95778602e-01 -1.07103805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.90, Z:-10.71 [[-7.46706643e-01 6.61417013e-01 7.04040058e-02 1.20048569e+02] [-6.58634769e-01 -7.50017534e-01 6.06130372e-02 9.48954727e+01] [ 9.28947329e-02 -1.11036849e-03 9.95675316e-01 -1.07107410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:120.04, Y:94.89, Z:-10.71 [[-7.45995015e-01 6.62024352e-01 7.22163047e-02 1.20044664e+02] [-6.59104238e-01 -7.49481278e-01 6.21242197e-02 9.48903957e+01] [ 9.52525146e-02 -1.25371427e-03 9.95452353e-01 -1.07129512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.89, Z:-10.71 [[-7.46283381e-01 6.61676251e-01 7.24268912e-02 1.20045327e+02] [-6.58742040e-01 -7.49788623e-01 6.22570907e-02 9.48898149e+01] [ 9.54988974e-02 -1.24920600e-03 9.95428752e-01 -1.07115134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:94.89, Z:-10.71 [[-7.46880307e-01 6.60972754e-01 7.26968030e-02 1.20045893e+02] [-6.58017925e-01 -7.50408941e-01 6.24406306e-02 9.48888378e+01] [ 9.58238865e-02 -1.20012212e-03 9.95397580e-01 -1.07109163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:94.89, Z:-10.71 [[-7.47294611e-01 6.60510290e-01 7.26424262e-02 1.20042792e+02] [-6.57562339e-01 -7.50816072e-01 6.23457864e-02 9.48854298e+01] [ 9.57211345e-02 -1.17625347e-03 9.95407495e-01 -1.07095199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:94.88, Z:-10.71 [[-7.48021620e-01 6.59726251e-01 7.22836711e-02 1.20039891e+02] [-6.56808321e-01 -7.51505189e-01 6.19901689e-02 9.48826321e+01] [ 9.52180956e-02 -1.10653004e-03 9.95455820e-01 -1.07084276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:94.88, Z:-10.71 [[-7.49640929e-01 6.58067623e-01 7.06079401e-02 1.20037581e+02] [-6.55280628e-01 -7.52958283e-01 6.05072059e-02 9.48788113e+01] [ 9.29826665e-02 -9.09337358e-04 9.95667312e-01 -1.07069961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:94.88, Z:-10.71 [[-7.50872548e-01 6.56724428e-01 7.00245807e-02 1.20036989e+02] [-6.53981825e-01 -7.54130248e-01 5.99611682e-02 9.48776945e+01] [ 9.21856183e-02 -7.71607880e-04 9.95741541e-01 -1.07067927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:94.80, Z:-10.70 [[-7.52167981e-01 6.55651220e-01 6.60666809e-02 1.19952345e+02] [-6.52912419e-01 -7.55061458e-01 5.98963086e-02 9.48004975e+01] [ 8.91554922e-02 1.91632901e-03 9.96015876e-01 -1.06999860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:94.87, Z:-10.70 [[-7.55519155e-01 6.51305713e-01 7.06517896e-02 1.20030048e+02] [-6.48785106e-01 -7.58811169e-01 5.73017979e-02 9.48707703e+01] [ 9.09323554e-02 -2.54522283e-03 9.95853819e-01 -1.07046053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:94.87, Z:-10.71 [[-7.55773372e-01 6.51522124e-01 6.57687811e-02 1.20031490e+02] [-6.48822404e-01 -7.58626626e-01 5.92885414e-02 9.48676455e+01] [ 8.85217449e-02 2.13644217e-03 9.96071953e-01 -1.07078520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:94.86, Z:-10.70 [[-7.60955566e-01 6.44997728e-01 7.01751927e-02 1.20016832e+02] [-6.42463842e-01 -7.64182802e-01 5.71389285e-02 9.48598444e+01] [ 9.04811545e-02 -1.60483823e-03 9.95896875e-01 -1.07020294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:94.86, Z:-10.70 [[-7.62323836e-01 6.43551963e-01 6.85801706e-02 1.20022263e+02] [-6.40886320e-01 -7.65402142e-01 5.85173989e-02 9.48617107e+01] [ 9.01503964e-02 6.57114796e-04 9.95927946e-01 -1.07039609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:94.86, Z:-10.70 [[-7.63643350e-01 6.42035645e-01 6.81106861e-02 1.20021482e+02] [-6.39404482e-01 -7.66674375e-01 5.80715985e-02 9.48601106e+01] [ 8.95027539e-02 7.95712026e-04 9.95986257e-01 -1.07043987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:94.85, Z:-10.70 [[-7.65386353e-01 6.40000760e-01 6.76960642e-02 1.20015215e+02] [-6.37397640e-01 -7.68373633e-01 5.76732900e-02 9.48543352e+01] [ 8.89268203e-02 9.93037602e-04 9.96037667e-01 -1.07038217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:94.85, Z:-10.70 [[-7.66147192e-01 6.39119412e-01 6.74155537e-02 1.20015559e+02] [-6.36538433e-01 -7.69106795e-01 5.73895638e-02 9.48544198e+01] [ 8.85285447e-02 1.05626224e-03 9.96073080e-01 -1.07042005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:94.85, Z:-10.70 [[-7.67334564e-01 6.37696298e-01 6.73876658e-02 1.20010451e+02] [-6.35115964e-01 -7.70286976e-01 5.73209073e-02 9.48515261e+01] [ 8.84611717e-02 1.18533111e-03 9.96078921e-01 -1.07035179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:94.85, Z:-10.70 [[-7.67907010e-01 6.36974860e-01 6.76893740e-02 1.20008977e+02] [-6.34372563e-01 -7.70883579e-01 5.75322449e-02 9.48516505e+01] [ 8.88272206e-02 1.23913254e-03 9.96046279e-01 -1.07030908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:94.86, Z:-10.70 [[-7.66792658e-01 6.37371209e-01 7.60720822e-02 1.20008868e+02] [-6.34987691e-01 -7.70534767e-01 5.53787428e-02 9.48569302e+01] [ 9.39130003e-02 -5.84082244e-03 9.95563274e-01 -1.06989964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:94.85, Z:-10.71 [[-7.68202121e-01 6.37018730e-01 6.38172355e-02 1.20007227e+02] [-6.33877233e-01 -7.70801152e-01 6.37592135e-02 9.48479494e+01] [ 8.98062119e-02 8.52767035e-03 9.95922750e-01 -1.07066357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:94.83, Z:-10.70 [[-7.66770584e-01 6.38583969e-01 6.53711374e-02 1.19983865e+02] [-6.35441551e-01 -7.69517543e-01 6.36929059e-02 9.48307748e+01] [ 9.09775057e-02 7.29830978e-03 9.95826204e-01 -1.07049436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:94.92, Z:-9.90 [[-7.51948815e-01 -6.63679130e-02 6.55872152e-01 1.19925422e+02] [-6.39661068e-01 -1.67106893e-01 -7.50272620e-01 9.49228092e+01] [ 1.59394785e-01 -9.83702489e-01 8.32028598e-02 -9.89939937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:94.88, Z:-9.92 [[-7.45690439e-01 -1.17877651e-01 6.55782455e-01 1.19873741e+02] [-6.26951845e-01 -2.09054456e-01 -7.50484922e-01 9.48758702e+01] [ 2.25559645e-01 -9.70773451e-01 8.19862985e-02 -9.91860350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:94.84, Z:-9.93 [[-7.36183792e-01 -1.67103997e-01 6.55827476e-01 1.19830875e+02] [-6.12321274e-01 -2.48287746e-01 -7.50610320e-01 9.48364720e+01] [ 2.88263911e-01 -9.54164267e-01 8.04640823e-02 -9.93448990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:94.58, Z:-10.72 [[-7.51628679e-01 6.19823203e-01 2.25551605e-01 1.19684096e+02] [-5.91813930e-01 -7.84725349e-01 1.84288902e-01 9.45768899e+01] [ 2.91222599e-01 5.03224244e-03 9.56642083e-01 -1.07208471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:94.58, Z:-10.72 [[-7.48109817e-01 6.22788405e-01 2.29055244e-01 1.19680322e+02] [-5.95840876e-01 -7.82389785e-01 1.81217755e-01 9.45785974e+01] [ 2.92070800e-01 -9.09696121e-04 9.56396268e-01 -1.07187592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:94.16, Z:-9.82 [[-7.07224322e-01 -6.73357051e-01 -2.15462387e-01 1.20393042e+02] [-6.52025271e-01 7.39028297e-01 -1.69411397e-01 9.41579153e+01] [ 2.73307159e-01 2.06750611e-02 -9.61704600e-01 -9.81924442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:94.21, Z:-9.81 [[-6.52856087e-01 -7.30339136e-01 -2.00956901e-01 1.20374338e+02] [-7.06425600e-01 6.82785115e-01 -1.86460073e-01 9.42064432e+01] [ 2.73389470e-01 2.02295062e-02 -9.61690681e-01 -9.81473763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:94.56, Z:-10.72 [[-6.39755086e-01 7.43554570e-01 1.94525144e-01 1.19596816e+02] [-7.12283278e-01 -6.68672124e-01 2.13377886e-01 9.45610031e+01] [ 2.88731643e-01 -2.04741960e-03 9.57407879e-01 -1.07161335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:94.56, Z:-10.72 [[-6.39402826e-01 7.43912264e-01 1.94315645e-01 1.19595343e+02] [-7.12777219e-01 -6.68273250e-01 2.12977697e-01 9.45579411e+01] [ 2.88292668e-01 -2.32522382e-03 9.57539519e-01 -1.07153565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:94.23, Z:-9.81 [[-6.02971292e-01 -7.69144589e-01 -2.11759824e-01 1.20342157e+02] [-7.46625093e-01 6.37583189e-01 -1.89838478e-01 9.42297246e+01] [ 2.81027742e-01 4.36380463e-02 -9.58707009e-01 -9.80786820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:93.98, Z:-10.20 [[ -0.57158758 -0.41980222 -0.70502038 120.37795774] [ -0.78678698 0.5243065 0.32568226 93.97991174] [ 0.23292463 0.7408568 -0.629982 -10.20378592] [ 0. 0. 0. 1. ]] SLAMing on 290.747628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.49, Y:94.49, Z:-10.67 [[-5.47125975e-01 8.26323226e-01 1.33578046e-01 1.19493274e+02] [-8.03276014e-01 -5.63194748e-01 1.93802273e-01 9.44883586e+01] [ 2.35373773e-01 -1.26578226e-03 9.71904103e-01 -1.06715245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.49, Z:-10.67 [[-5.45680532e-01 8.26912317e-01 1.35826274e-01 1.19492494e+02] [-8.04173925e-01 -5.62315824e-01 1.92627133e-01 9.44872775e+01] [ 2.35663012e-01 -4.11507097e-03 9.71826122e-01 -1.06682700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.48, Z:-10.67 [[-5.45271471e-01 8.26970112e-01 1.37111113e-01 1.19493448e+02] [-8.03834794e-01 -5.62229628e-01 1.94287080e-01 9.44848981e+01] [ 2.37757538e-01 -4.27548110e-03 9.71315126e-01 -1.06682217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.48, Z:-10.67 [[-5.45774312e-01 8.26581843e-01 1.37451289e-01 1.19491549e+02] [-8.03357356e-01 -5.62800789e-01 1.94607891e-01 9.44801777e+01] [ 2.38217044e-01 -4.21051598e-03 9.71202817e-01 -1.06676303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.867628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.49, Y:94.48, Z:-10.67 [[-5.46134641e-01 8.26247223e-01 1.38030720e-01 1.19491076e+02] [-8.02853069e-01 -5.63292180e-01 1.95266150e-01 9.44783374e+01] [ 2.39089740e-01 -4.17677853e-03 9.70988492e-01 -1.06687927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.47, Z:-10.66 [[-5.47752093e-01 8.25271107e-01 1.37459972e-01 1.19486598e+02] [-8.02081719e-01 -5.64723788e-01 1.94298636e-01 9.44717259e+01] [ 2.37975966e-01 -3.82664598e-03 9.71263505e-01 -1.06640699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.927628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.49, Y:94.47, Z:-10.67 [[-5.49123634e-01 8.24379758e-01 1.37336264e-01 1.19488471e+02] [-8.01244482e-01 -5.66026107e-01 1.93963212e-01 9.44714139e+01] [ 2.37635257e-01 -3.53014008e-03 9.71348044e-01 -1.06655020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.47, Z:-10.66 [[-5.51873737e-01 8.22712114e-01 1.36309043e-01 1.19488432e+02] [-7.99914632e-01 -5.68450948e-01 1.92354104e-01 9.44694711e+01] [ 2.35737056e-01 -2.88041963e-03 9.71812607e-01 -1.06630330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:94.46, Z:-10.66 [[-5.56676489e-01 8.19628178e-01 1.35354850e-01 1.19486800e+02] [-7.97100426e-01 -5.72893471e-01 1.90850679e-01 9.44644754e+01] [ 2.33970504e-01 -1.64932228e-03 9.72242296e-01 -1.06614349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.48, Y:94.46, Z:-10.66 [[-5.59404032e-01 8.17817712e-01 1.35060425e-01 1.19483774e+02] [-7.95374736e-01 -5.75476522e-01 1.90278224e-01 9.44596225e+01] [ 2.33337006e-01 -9.81244214e-04 9.72395433e-01 -1.06596151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:94.46, Z:-10.66 [[-5.62056190e-01 8.16094955e-01 1.34468818e-01 1.19482579e+02] [-7.93839443e-01 -5.77917725e-01 1.89288249e-01 9.44576682e+01] [ 2.32189098e-01 -3.56019189e-04 9.72670600e-01 -1.06591782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:94.45, Z:-10.66 [[-5.65990664e-01 8.13467714e-01 1.33883705e-01 1.19476953e+02] [-7.91372178e-01 -5.81609733e-01 1.88308774e-01 9.44511205e+01] [ 2.31051174e-01 6.29168774e-04 9.72941395e-01 -1.06564425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:94.45, Z:-10.66 [[-5.67781127e-01 8.12316243e-01 1.33292584e-01 1.19476980e+02] [-7.90423393e-01 -5.83216359e-01 1.87322018e-01 9.44522677e+01] [ 2.29903133e-01 1.00033005e-03 9.73213003e-01 -1.06566782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:94.45, Z:-10.65 [[-5.69596248e-01 8.11091130e-01 1.33008622e-01 1.19472746e+02] [-7.89296298e-01 -5.84918133e-01 1.86767588e-01 9.44481375e+01] [ 2.29284688e-01 1.39890426e-03 9.73358400e-01 -1.06549448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.47, Y:94.45, Z:-10.65 [[-5.71937315e-01 8.09376569e-01 1.33406441e-01 1.19469412e+02] [-7.87440103e-01 -5.87286618e-01 1.87169744e-01 9.44481009e+01] [ 2.29838622e-01 1.99977908e-03 9.73226700e-01 -1.06549939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.44, Z:-10.65 [[-5.73533717e-01 8.08228140e-01 1.33515349e-01 1.19463148e+02] [-7.86261475e-01 -5.88864725e-01 1.87166312e-01 9.44408341e+01] [ 2.29895560e-01 2.36821514e-03 9.73212424e-01 -1.06522287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.44, Z:-10.65 [[-5.75219324e-01 8.06857912e-01 1.34547531e-01 1.19462948e+02] [-7.84546173e-01 -5.90738708e-01 1.88454455e-01 9.44434188e+01] [ 2.31538403e-01 2.84389365e-03 9.72821608e-01 -1.06540983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.44, Z:-10.65 [[-5.75584297e-01 8.06479785e-01 1.35251890e-01 1.19457876e+02] [-7.83958244e-01 -5.91254476e-01 1.89281846e-01 9.44388529e+01] [ 2.32620268e-01 2.91582416e-03 9.72563267e-01 -1.06526568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.44, Z:-10.65 [[-5.75703362e-01 8.06309003e-01 1.35762405e-01 1.19455694e+02] [-7.83648236e-01 -5.91487433e-01 1.89836928e-01 9.44389401e+01] [ 2.33368980e-01 2.89978898e-03 9.72383932e-01 -1.06523092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.44, Z:-10.65 [[-5.74104786e-01 8.07347502e-01 1.36358738e-01 1.19453335e+02] [-7.84551731e-01 -5.90071425e-01 1.90510615e-01 9.44383498e+01] [ 2.34269664e-01 2.39257179e-03 9.72168710e-01 -1.06529786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.44, Z:-10.65 [[-5.73108671e-01 8.07962864e-01 1.36903111e-01 1.19452792e+02] [-7.85038163e-01 -5.89229832e-01 1.91110667e-01 9.44387048e+01] [ 2.35077719e-01 2.05301370e-03 9.71974409e-01 -1.06534679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.44, Z:-10.65 [[-5.70220127e-01 8.09913910e-01 1.37435312e-01 1.19451884e+02] [-7.86902620e-01 -5.86547624e-01 1.91692858e-01 9.44411490e+01] [ 2.35867068e-01 1.15891862e-03 9.71784638e-01 -1.06539737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.44, Z:-10.65 [[-5.69019443e-01 8.10725092e-01 1.37628846e-01 1.19451419e+02] [-7.87710226e-01 -5.85426593e-01 1.91802775e-01 9.44412891e+01] [ 2.36070909e-01 7.27858453e-04 9.71735559e-01 -1.06539254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.44, Z:-10.65 [[-5.68552283e-01 8.11073425e-01 1.37507094e-01 1.19450350e+02] [-7.88148593e-01 -5.84944153e-01 1.91473585e-01 9.44394738e+01] [ 2.35733107e-01 4.86721065e-04 9.71817712e-01 -1.06534251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.43, Z:-10.65 [[-5.68593168e-01 8.11101775e-01 1.37170405e-01 1.19447906e+02] [-7.88329738e-01 -5.84904921e-01 1.90846684e-01 9.44329153e+01] [ 2.35027729e-01 3.78611669e-04 9.71988592e-01 -1.06514012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.43, Z:-10.65 [[-5.69570200e-01 8.10432863e-01 1.37070647e-01 1.19446494e+02] [-7.87713815e-01 -5.85831259e-01 1.90548370e-01 9.44294364e+01] [ 2.34726931e-01 5.58230595e-04 9.72061190e-01 -1.06505616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.43, Z:-10.65 [[-5.70871062e-01 8.09517589e-01 1.37067511e-01 1.19448403e+02] [-7.86821309e-01 -5.87095058e-01 1.90346056e-01 9.44301959e+01] [ 2.34560139e-01 8.15416357e-04 9.72101269e-01 -1.06511739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.44, Z:-10.66 [[-5.68161403e-01 8.12409769e-01 1.31083893e-01 1.19462625e+02] [-7.89766319e-01 -5.83067782e-01 1.90528535e-01 9.44356720e+01] [ 2.31218038e-01 4.72531582e-03 9.72890482e-01 -1.06599795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.65 [[-5.74010432e-01 8.06729572e-01 1.40354627e-01 1.19443580e+02] [-7.84033858e-01 -5.90920002e-01 1.90011740e-01 9.44208089e+01] [ 2.36226446e-01 -9.74059147e-04 9.71697544e-01 -1.06487867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.65 [[-5.75630308e-01 8.05769603e-01 1.39230371e-01 1.19444533e+02] [-7.82325858e-01 -5.92225221e-01 1.92965126e-01 9.44194494e+01] [ 2.37941170e-01 2.15305585e-03 9.71277182e-01 -1.06504410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.65 [[-5.75955159e-01 8.05440862e-01 1.39787952e-01 1.19444195e+02] [-7.81836355e-01 -5.92672066e-01 1.93576179e-01 9.44183339e+01] [ 2.38762579e-01 2.19989557e-03 9.71075482e-01 -1.06509295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.65 [[-5.75799960e-01 8.05373036e-01 1.40814345e-01 1.19442880e+02] [-7.81453694e-01 -5.92764430e-01 1.94834432e-01 9.44162967e+01] [ 2.40384133e-01 2.14576840e-03 9.70675468e-01 -1.06507032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.65 [[-5.74144995e-01 8.06378447e-01 1.41814402e-01 1.19440474e+02] [-7.82183876e-01 -5.91397594e-01 1.96054250e-01 9.44147611e+01] [ 2.41962618e-01 1.63862770e-03 9.70284188e-01 -1.06502604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.65 [[-5.70250893e-01 8.08893788e-01 1.43194828e-01 1.19439546e+02] [-7.84337793e-01 -5.87954598e-01 1.97796911e-01 9.44152659e+01] [ 2.44188750e-01 4.80749573e-04 9.69727603e-01 -1.06513588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.65 [[-5.69210384e-01 8.09632842e-01 1.43157954e-01 1.19437323e+02] [-7.85155711e-01 -5.86936673e-01 1.97574929e-01 9.44132602e+01] [ 2.43987805e-01 6.04160206e-05 9.69778298e-01 -1.06485446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.41, Z:-10.65 [[-5.67081934e-01 8.11101460e-01 1.43291665e-01 1.19433476e+02] [-7.86690385e-01 -5.84905025e-01 1.97495191e-01 9.44100879e+01] [ 2.44000653e-01 -7.30220303e-04 9.69774793e-01 -1.06470373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.827628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:119.43, Y:94.41, Z:-10.65 [[-5.62078055e-01 8.14740415e-01 1.42359811e-01 1.19433393e+02] [-7.90805064e-01 -5.79820982e-01 1.96048414e-01 9.44146648e+01] [ 2.42271772e-01 -2.38434853e-03 9.70205496e-01 -1.06480528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.42, Z:-10.64 [[-5.60598433e-01 8.16028329e-01 1.40808962e-01 1.19433128e+02] [-7.92702954e-01 -5.78004061e-01 1.93735213e-01 9.44151902e+01] [ 2.39481574e-01 -3.01202356e-03 9.70896237e-01 -1.06447103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.64 [[-5.56886443e-01 8.18999065e-01 1.38267933e-01 1.19435527e+02] [-7.96646362e-01 -5.73778779e-01 1.90085472e-01 9.44184585e+01] [ 2.35015029e-01 -4.29462338e-03 9.71982249e-01 -1.06446856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.44, Y:94.42, Z:-10.64 [[-5.55594132e-01 8.20008485e-01 1.37481795e-01 1.19435196e+02] [-7.97980071e-01 -5.72331375e-01 1.88850742e-01 9.44172518e+01] [ 2.33544356e-01 -4.78336808e-03 9.72334384e-01 -1.06439348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.41, Z:-10.64 [[-5.54672061e-01 8.20698835e-01 1.37085106e-01 1.19433738e+02] [-7.98856532e-01 -5.71337829e-01 1.88152403e-01 9.44142235e+01] [ 2.32738365e-01 -5.14845113e-03 9.72525756e-01 -1.06425545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.64 [[-5.53947373e-01 8.21256527e-01 1.36674887e-01 1.19435427e+02] [-7.99599756e-01 -5.70533045e-01 1.87436058e-01 9.44146350e+01] [ 2.31910626e-01 -5.45549461e-03 9.72721800e-01 -1.06426419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.64 [[-5.52624211e-01 8.22268888e-01 1.35942474e-01 1.19436824e+02] [-8.00912730e-01 -5.69068227e-01 1.86279769e-01 9.44129955e+01] [ 2.30532601e-01 -5.93534793e-03 9.73046500e-01 -1.06430730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.64 [[-5.51489709e-01 8.22975656e-01 1.36272414e-01 1.19437703e+02] [-8.01571676e-01 -5.68041312e-01 1.86579514e-01 9.44107738e+01] [ 2.30958759e-01 -6.33542496e-03 9.72942914e-01 -1.06426902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.41, Z:-10.64 [[-5.51281382e-01 8.22981896e-01 1.37075291e-01 1.19437672e+02] [-8.01358397e-01 -5.68030785e-01 1.87525322e-01 9.44084731e+01] [ 2.32192931e-01 -6.46721691e-03 9.72648250e-01 -1.06426751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:94.42, Z:-10.65 [[-5.44503972e-01 8.27044552e-01 1.39687986e-01 1.19455039e+02] [-8.05518244e-01 -5.62042151e-01 1.87747113e-01 9.44246347e+01] [ 2.33785763e-01 -1.02921725e-02 9.72233659e-01 -1.06490205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.40, Z:-10.64 [[-5.50901906e-01 8.23542890e-01 1.35219076e-01 1.19438327e+02] [-8.00657884e-01 -5.67250313e-01 1.92805692e-01 9.44013067e+01] [ 2.35486819e-01 -2.04719590e-03 9.71875387e-01 -1.06445928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.40, Z:-10.64 [[-5.51397294e-01 8.22429022e-01 1.39898276e-01 1.19436133e+02] [-7.99964004e-01 -5.68829646e-01 1.91024675e-01 9.43974705e+01] [ 2.36682524e-01 -6.58309603e-03 9.71564741e-01 -1.06417457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:94.40, Z:-10.64 [[-5.51950653e-01 8.22048521e-01 1.39952513e-01 1.19437556e+02] [-7.99591798e-01 -5.69380188e-01 1.90942813e-01 9.43960975e+01] [ 2.36650445e-01 -6.51387133e-03 9.71573022e-01 -1.06423208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.39, Z:-10.64 [[-5.53887756e-01 8.20783363e-01 1.39724816e-01 1.19434268e+02] [-7.98400509e-01 -5.71207472e-01 1.90469557e-01 9.43863869e+01] [ 2.36146103e-01 -6.05760869e-03 9.71698679e-01 -1.06394005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.38, Z:-10.64 [[-5.55223816e-01 8.19876497e-01 1.39746355e-01 1.19432492e+02] [-7.97546810e-01 -5.72510151e-01 1.90134723e-01 9.43825679e+01] [ 2.35893198e-01 -5.88693319e-03 9.71761156e-01 -1.06373990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:94.40, Z:-10.65 [[-5.50843462e-01 8.23867751e-01 1.33466884e-01 1.19453221e+02] [-8.01899997e-01 -5.66774588e-01 1.89005188e-01 9.43984139e+01] [ 2.31360917e-01 -2.91482226e-03 9.72863623e-01 -1.06476626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.37, Z:-10.63 [[-5.61399333e-01 8.15726179e-01 1.39361366e-01 1.19431507e+02] [-7.94157531e-01 -5.78407033e-01 1.86437980e-01 9.43747760e+01] [ 2.32689935e-01 -6.00872068e-03 9.72532411e-01 -1.06341461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.37, Z:-10.64 [[-5.64389719e-01 8.13964891e-01 1.37569626e-01 1.19433296e+02] [-7.92239389e-01 -5.80903289e-01 1.86837145e-01 9.43713324e+01] [ 2.31993525e-01 -3.53911277e-03 9.72710892e-01 -1.06351193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.37, Z:-10.63 [[-5.64698660e-01 8.13738266e-01 1.37642498e-01 1.19431955e+02] [-7.92019214e-01 -5.81220705e-01 1.86783447e-01 9.43694577e+01] [ 2.31993508e-01 -3.53914120e-03 9.72710896e-01 -1.06345459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.36, Z:-10.63 [[-5.71901581e-01 8.08966724e-01 1.36019932e-01 1.19430908e+02] [-7.87663931e-01 -5.87852092e-01 1.84432775e-01 9.43617648e+01] [ 2.29159580e-01 -1.66059887e-03 9.73387451e-01 -1.06336398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.36, Z:-10.63 [[-5.76320069e-01 8.05960443e-01 1.35214432e-01 1.19427337e+02] [-7.84865169e-01 -5.91969141e-01 1.83191710e-01 9.43553323e+01] [ 2.27688043e-01 -5.48039250e-04 9.73733975e-01 -1.06314852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:94.35, Z:-10.63 [[-5.80536567e-01 8.03064396e-01 1.34405617e-01 1.19425811e+02] [-7.82181408e-01 -5.95892044e-01 1.81947566e-01 9.43516994e+01] [ 2.26206850e-01 4.97640304e-04 9.74079162e-01 -1.06306412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:94.35, Z:-10.63 [[-5.87536660e-01 7.98028573e-01 1.33981602e-01 1.19423191e+02] [-7.77182472e-01 -6.02615037e-01 1.81225060e-01 9.43450749e+01] [ 2.25362104e-01 2.34821397e-03 9.74272245e-01 -1.06290034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.42, Y:94.34, Z:-10.63 [[-5.90487095e-01 7.95766539e-01 1.34464144e-01 1.19419033e+02] [-7.74744675e-01 -6.05595412e-01 1.81727504e-01 9.43391070e+01] [ 2.26043536e-01 3.13236604e-03 9.74112164e-01 -1.06281041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:94.34, Z:-10.63 [[-5.94138941e-01 7.92891797e-01 1.35356999e-01 1.19417513e+02] [-7.71547435e-01 -6.09348228e-01 1.82782092e-01 9.43367468e+01] [ 2.27405968e-01 4.16361323e-03 9.73791143e-01 -1.06277380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:94.33, Z:-10.63 [[-5.95321543e-01 7.91948643e-01 1.35682006e-01 1.19414354e+02] [-7.70511583e-01 -6.10571559e-01 1.83069033e-01 9.43328046e+01] [ 2.27824846e-01 4.44038182e-03 9.73692006e-01 -1.06272554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:94.33, Z:-10.63 [[-5.95232862e-01 7.91695300e-01 1.37536877e-01 1.19410742e+02] [-7.69689968e-01 -6.10899548e-01 1.85416006e-01 9.43296946e+01] [ 2.30814197e-01 4.50494508e-03 9.72987416e-01 -1.06276228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:94.33, Z:-10.63 [[-5.94751874e-01 7.91856197e-01 1.38686593e-01 1.19408995e+02] [-7.69517777e-01 -6.10691859e-01 1.86809647e-01 9.43291340e+01] [ 2.32621150e-01 4.38358897e-03 9.72557548e-01 -1.06278141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:94.33, Z:-10.63 [[-5.93808360e-01 7.92409893e-01 1.39564294e-01 1.19409219e+02] [-7.69836486e-01 -6.09975230e-01 1.87835043e-01 9.43315435e+01] [ 2.33973109e-01 4.09633328e-03 9.72234439e-01 -1.06288636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:94.33, Z:-10.63 [[-5.89596112e-01 7.95277142e-01 1.41105253e-01 1.19405225e+02] [-7.72314054e-01 -6.06239117e-01 1.89750191e-01 9.43318378e+01] [ 2.36447514e-01 2.89840469e-03 9.71639940e-01 -1.06293853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:94.33, Z:-10.63 [[-5.86862332e-01 7.97215305e-01 1.41563985e-01 1.19403792e+02] [-7.74194250e-01 -6.03691678e-01 1.90209411e-01 9.43335177e+01] [ 2.37098853e-01 2.02871563e-03 9.71483411e-01 -1.06294440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:94.33, Z:-10.63 [[-5.83928877e-01 7.99390579e-01 1.41427611e-01 1.19401753e+02] [-7.76515241e-01 -6.00810786e-01 1.89869639e-01 9.43341831e+01] [ 2.36751235e-01 1.04966929e-03 9.71569736e-01 -1.06293298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:94.34, Z:-10.63 [[-5.77284239e-01 8.04350357e-01 1.40582402e-01 1.19399834e+02] [-7.81932226e-01 -5.94154338e-01 1.88580531e-01 9.43389515e+01] [ 2.35212461e-01 -1.06134192e-03 9.71943399e-01 -1.06295760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:94.34, Z:-10.63 [[-5.74296078e-01 8.06576055e-01 1.40068136e-01 1.19399834e+02] [-7.84425884e-01 -5.91126753e-01 1.87737034e-01 9.43443237e+01] [ 2.34222219e-01 -2.05642948e-03 9.72180911e-01 -1.06292492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:94.35, Z:-10.63 [[-5.69237133e-01 8.10481243e-01 1.38163823e-01 1.19396447e+02] [-7.89085169e-01 -5.85752943e-01 1.85035365e-01 9.43502625e+01] [ 2.30897558e-01 -3.69402340e-03 9.72971054e-01 -1.06274636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.63 [[-5.67256931e-01 8.11939650e-01 1.37744619e-01 1.19394573e+02] [-7.90752538e-01 -5.83725083e-01 1.84324309e-01 9.43518938e+01] [ 2.30065204e-01 -4.36266553e-03 9.73165438e-01 -1.06260913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.63 [[-5.65713501e-01 8.13102901e-01 1.37229399e-01 1.19392641e+02] [-7.92144629e-01 -5.82099318e-01 1.83486432e-01 9.43517482e+01] [ 2.29074489e-01 -4.90477920e-03 9.73396539e-01 -1.06253960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.62 [[-5.63456032e-01 8.14699876e-01 1.37045293e-01 1.19388974e+02] [-7.93879680e-01 -5.79855482e-01 1.83091984e-01 9.43486413e+01] [ 2.28631481e-01 -5.63319035e-03 9.73496745e-01 -1.06240778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.63 [[-5.62923788e-01 8.14981377e-01 1.37557857e-01 1.19391382e+02] [-7.94046607e-01 -5.79457526e-01 1.83627235e-01 9.43522225e+01] [ 2.29361713e-01 -5.85921042e-03 9.73323623e-01 -1.06261640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.63 [[-5.62095918e-01 8.15362151e-01 1.38682158e-01 1.19387773e+02] [-7.94126445e-01 -5.78918528e-01 1.84977100e-01 9.43473755e+01] [ 2.31108997e-01 -6.15629604e-03 9.72908388e-01 -1.06251888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:94.35, Z:-10.63 [[-5.61734684e-01 8.15430970e-01 1.39737172e-01 1.19388803e+02] [-7.93904968e-01 -5.78819774e-01 1.86232576e-01 9.43488250e+01] [ 2.32742448e-01 -6.32473825e-03 9.72517841e-01 -1.06257213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:94.35, Z:-10.62 [[-5.61493127e-01 8.14109780e-01 1.48157803e-01 1.19382004e+02] [-7.93329107e-01 -5.80527708e-01 1.83348051e-01 9.43459278e+01] [ 2.35275151e-01 -1.45892268e-02 9.71819303e-01 -1.06211656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.04, Y:93.78, Z:-10.53 [[-5.98735918e-01 1.52851875e-01 -7.86226179e-01 1.20037480e+02] [-7.78254092e-01 1.20981203e-01 6.16185132e-01 9.37837186e+01] [ 1.89303642e-01 9.80815912e-01 4.65218056e-02 -1.05280797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.29, Z:-10.58 [[-5.72928781e-01 8.13135425e-01 1.02778366e-01 1.19352135e+02] [-8.01730479e-01 -5.82056348e-01 1.35788980e-01 9.42932140e+01] [ 1.70237630e-01 -4.60313389e-03 9.85392288e-01 -1.05782046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.147628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.35, Y:94.29, Z:-10.58 [[-5.73828900e-01 8.12380683e-01 1.03720870e-01 1.19352438e+02] [-8.00771034e-01 -5.83110200e-01 1.36924238e-01 9.42882908e+01] [ 1.71715303e-01 -4.48558343e-03 9.85136404e-01 -1.05790765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.29, Z:-10.58 [[-5.75493190e-01 8.11234619e-01 1.03469707e-01 1.19350999e+02] [-7.99682022e-01 -5.84705717e-01 1.36484018e-01 9.42851435e+01] [ 1.71219890e-01 -4.19724141e-03 9.85223900e-01 -1.05770000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.207628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.35, Y:94.28, Z:-10.58 [[-5.76646249e-01 8.10341687e-01 1.04045441e-01 1.19350754e+02] [-7.98663972e-01 -5.85943847e-01 1.37133757e-01 9.42829434e+01] [ 1.72089986e-01 -4.01967853e-03 9.85073032e-01 -1.05773838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.28, Z:-10.57 [[-5.81551011e-01 8.07014070e-01 1.02599765e-01 1.19348700e+02] [-7.95627428e-01 -5.90524329e-01 1.35122211e-01 9.42770393e+01] [ 1.69633183e-01 -3.05072852e-03 9.85502550e-01 -1.05741698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.27, Z:-10.57 [[-5.84784918e-01 8.04769925e-01 1.01842854e-01 1.19346038e+02] [-7.93536020e-01 -5.93581837e-01 1.34019358e-01 9.42714046e+01] [ 1.68306817e-01 -2.44347376e-03 9.85731629e-01 -1.05723901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.27, Z:-10.57 [[-5.92171327e-01 7.99541229e-01 1.00334150e-01 1.19345061e+02] [-7.88582024e-01 -6.00610381e-01 1.31930137e-01 9.42654423e+01] [ 1.65745316e-01 -9.96463012e-04 9.86168088e-01 -1.05703041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:94.25, Z:-10.57 [[-5.96423353e-01 7.96442891e-01 9.97893030e-02 1.19338016e+02] [-7.85577290e-01 -6.04713720e-01 1.31109261e-01 9.42529674e+01] [ 1.64765000e-01 -1.95584941e-04 9.86332833e-01 -1.05679471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:94.26, Z:-10.57 [[-6.00687963e-01 7.93311883e-01 9.91475039e-02 1.19341151e+02] [-7.82561167e-01 -6.08815160e-01 1.30161900e-01 9.42550966e+01] [ 1.63621485e-01 5.97699894e-04 9.86523012e-01 -1.05685965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:94.25, Z:-10.57 [[-6.07418027e-01 7.88223758e-01 9.87251076e-02 1.19333441e+02] [-7.77514755e-01 -6.15385804e-01 1.29503351e-01 9.42450081e+01] [ 1.62831648e-01 1.90244202e-03 9.86652034e-01 -1.05658762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:94.24, Z:-10.57 [[-6.10212785e-01 7.86103142e-01 9.83982062e-02 1.19332729e+02] [-7.75454994e-01 -6.18090696e-01 1.28970711e-01 9.42436951e+01] [ 1.62203297e-01 2.39619611e-03 9.86754452e-01 -1.05654947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:94.24, Z:-10.57 [[-6.13270452e-01 7.83743930e-01 9.82079648e-02 1.19331442e+02] [-7.73124076e-01 -6.21077087e-01 1.28617321e-01 9.42415597e+01] [ 1.61797761e-01 2.95026064e-03 9.86819528e-01 -1.05651672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:94.24, Z:-10.56 [[-6.13601023e-01 7.83425036e-01 9.86863613e-02 1.19329044e+02] [-7.72713966e-01 -6.21479133e-01 1.29138738e-01 9.42391086e+01] [ 1.62502034e-01 2.98333181e-03 9.86703698e-01 -1.05647031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:94.25, Z:-10.58 [[-6.07685564e-01 7.89064140e-01 8.99779923e-02 1.19345255e+02] [-7.78384843e-01 -6.14248284e-01 1.29676837e-01 9.42486345e+01] [ 1.57592169e-01 8.76523610e-03 9.87465381e-01 -1.05756097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.56 [[-6.10901154e-01 7.84795532e-01 1.04382725e-01 1.19324759e+02] [-7.74368423e-01 -6.19747902e-01 1.27538555e-01 9.42404589e+01] [ 1.64782663e-01 -2.91723573e-03 9.86325587e-01 -1.05638493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.57 [[-6.09649578e-01 7.86337510e-01 1.00003561e-01 1.19324592e+02] [-7.75415421e-01 -6.17793619e-01 1.30621472e-01 9.42374992e+01] [ 1.64494125e-01 2.08902242e-03 9.86375851e-01 -1.05662721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.57 [[-6.08148041e-01 7.87449305e-01 1.00396971e-01 1.19323417e+02] [-7.76473370e-01 -6.16376996e-01 1.31028640e-01 9.42382757e+01] [ 1.65060795e-01 1.72923581e-03 9.86281878e-01 -1.05658674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.57 [[-6.06737883e-01 7.88514097e-01 1.00571669e-01 1.19320608e+02] [-7.77534148e-01 -6.15015161e-01 1.31137335e-01 9.42373219e+01] [ 1.65256738e-01 1.36808207e-03 9.86249633e-01 -1.05655774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.57 [[-6.03176977e-01 7.91148842e-01 1.01296812e-01 1.19318321e+02] [-7.80063620e-01 -6.11623385e-01 1.31975694e-01 9.42394094e+01] [ 1.66367916e-01 5.86742400e-04 9.86063574e-01 -1.05653390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:94.24, Z:-10.57 [[-6.01558083e-01 7.92339388e-01 1.01617747e-01 1.19315149e+02] [-7.81218532e-01 -6.10080533e-01 1.32285101e-01 9.42374236e+01] [ 1.66809705e-01 1.91504824e-04 9.85989090e-01 -1.05652573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:94.24, Z:-10.57 [[-6.00287442e-01 7.93235824e-01 1.02136750e-01 1.19314089e+02] [-7.82040547e-01 -6.08914529e-01 1.32799397e-01 9.42385702e+01] [ 1.67533790e-01 -1.57269164e-04 9.85866322e-01 -1.05651910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:94.24, Z:-10.56 [[-5.98844156e-01 7.94323262e-01 1.02157876e-01 1.19308978e+02] [-7.83159315e-01 -6.07495077e-01 1.32707267e-01 9.42352360e+01] [ 1.67472876e-01 -5.34920643e-04 9.85876539e-01 -1.05648209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:94.23, Z:-10.56 [[-5.98991510e-01 7.94271218e-01 1.01697605e-01 1.19306456e+02] [-7.83225422e-01 -6.07563077e-01 1.32003965e-01 9.42340917e+01] [ 1.66634660e-01 -5.82895323e-04 9.86018534e-01 -1.05641861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:94.24, Z:-10.56 [[-5.99603211e-01 7.93941483e-01 1.00662361e-01 1.19305589e+02] [-7.83133762e-01 -6.07993930e-01 1.30556085e-01 9.42378774e+01] [ 1.64855996e-01 -5.50245613e-04 9.86317493e-01 -1.05632848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.24, Z:-10.56 [[-6.00325221e-01 7.93414542e-01 1.00513649e-01 1.19302831e+02] [-7.82649054e-01 -6.08681480e-01 1.30258645e-01 9.42351373e+01] [ 1.64529899e-01 -4.69362772e-04 9.86371985e-01 -1.05624199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.23, Z:-10.56 [[-6.02139356e-01 7.91953922e-01 1.01178958e-01 1.19301243e+02] [-7.81041624e-01 -6.10580844e-01 1.31015326e-01 9.42318495e+01] [ 1.65536035e-01 -1.35493315e-04 9.86203733e-01 -1.05628394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.23, Z:-10.56 [[-6.02970688e-01 7.91252316e-01 1.01715890e-01 1.19300573e+02] [-7.80231079e-01 -6.11489798e-01 1.31604293e-01 9.42303941e+01] [ 1.66330431e-01 -8.36738893e-06 9.86070072e-01 -1.05631920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.23, Z:-10.56 [[-6.03852642e-01 7.90497783e-01 1.02348627e-01 1.19298155e+02] [-7.79345328e-01 -6.12464886e-01 1.32316375e-01 9.42279952e+01] [ 1.67280741e-01 1.34668631e-04 9.85909294e-01 -1.05625817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.22, Z:-10.56 [[-6.04341548e-01 7.89964188e-01 1.03575456e-01 1.19294391e+02] [-7.78551610e-01 -6.13152946e-01 1.33794081e-01 9.42238723e+01] [ 1.69200129e-01 2.18483985e-04 9.85581691e-01 -1.05622566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.22, Z:-10.56 [[-6.04399159e-01 7.89789606e-01 1.04565937e-01 1.19289718e+02] [-7.78172406e-01 -6.13377810e-01 1.34964322e-01 9.42169316e+01] [ 1.70731844e-01 2.01995672e-04 9.85317511e-01 -1.05610685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.22, Z:-10.56 [[-6.04577890e-01 7.89409054e-01 1.06390418e-01 1.19293113e+02] [-7.77393685e-01 -6.13867483e-01 1.37207044e-01 9.42191677e+01] [ 1.73622101e-01 2.45105993e-04 9.84812320e-01 -1.05618763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.22, Z:-10.56 [[-6.04555602e-01 7.89294401e-01 1.07363278e-01 1.19293236e+02] [-7.77074709e-01 -6.14014906e-01 1.38349526e-01 9.42175276e+01] [ 1.75121159e-01 2.10693399e-04 9.84546868e-01 -1.05616256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.21, Z:-10.56 [[-6.04327761e-01 7.89431612e-01 1.07636833e-01 1.19293243e+02] [-7.77171091e-01 -6.13838513e-01 1.38590677e-01 9.42146699e+01] [ 1.75479495e-01 1.01958793e-04 9.84483081e-01 -1.05610790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.56 [[-6.02112380e-01 7.91284728e-01 1.06438526e-01 1.19295630e+02] [-7.79345685e-01 -6.11447650e-01 1.36938215e-01 9.42135353e+01] [ 1.73438705e-01 -5.00212007e-04 9.84844539e-01 -1.05605309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.56 [[-6.00311808e-01 7.92717457e-01 1.05947002e-01 1.19295138e+02] [-7.80932609e-01 -6.09588439e-01 1.36184415e-01 9.42125194e+01] [ 1.72539830e-01 -9.84356721e-04 9.85002050e-01 -1.05590275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16762800000004 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.29, Y:94.21, Z:-10.56 [[-5.97297486e-01 7.95017935e-01 1.05745902e-01 1.19293855e+02] [-7.83332690e-01 -6.06583511e-01 1.35817312e-01 9.42103688e+01] [ 1.72120920e-01 -1.71088254e-03 9.85074343e-01 -1.05596054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.22, Z:-10.56 [[-5.92264755e-01 7.98950109e-01 1.04408737e-01 1.19297455e+02] [-7.87638932e-01 -6.01390431e-01 1.33994262e-01 9.42162700e+01] [ 1.69845145e-01 -2.87630727e-03 9.85466566e-01 -1.05573142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.22, Z:-10.56 [[-5.89626153e-01 8.00975252e-01 1.03825071e-01 1.19297683e+02] [-7.89840101e-01 -5.98687213e-01 1.33139912e-01 9.42161028e+01] [ 1.68800516e-01 -3.50243067e-03 9.85644012e-01 -1.05573443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.56 [[-5.89929194e-01 8.00745454e-01 1.03876194e-01 1.19296283e+02] [-7.89613789e-01 -5.98994533e-01 1.33100014e-01 9.42142350e+01] [ 1.68800504e-01 -3.50249108e-03 9.85644014e-01 -1.05569381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.56 [[-5.87511853e-01 8.02578502e-01 1.03429059e-01 1.19295084e+02] [-7.91588943e-01 -5.96532611e-01 1.32422768e-01 9.42120014e+01] [ 1.67978474e-01 -4.07335382e-03 9.85782248e-01 -1.05562956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.56 [[-5.84094051e-01 8.05204039e-01 1.02374778e-01 1.19297285e+02] [-7.94495884e-01 -5.92978124e-01 1.30970362e-01 9.42117409e+01] [ 1.66163868e-01 -4.83733082e-03 9.86086289e-01 -1.05571754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:94.22, Z:-10.56 [[-5.80234100e-01 8.07558760e-01 1.05722459e-01 1.19306943e+02] [-7.97033052e-01 -5.89723113e-01 1.30249624e-01 9.42224018e+01] [ 1.67531203e-01 -8.68902061e-03 9.85828483e-01 -1.05579660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.21, Z:-10.55 [[-5.82459089e-01 8.05752993e-01 1.07254483e-01 1.19295754e+02] [-7.94961069e-01 -5.92190060e-01 1.31711165e-01 9.42094074e+01] [ 1.69641704e-01 -8.54677376e-03 9.85468744e-01 -1.05535971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.20, Z:-10.56 [[-5.86765772e-01 8.04016757e-01 9.62443910e-02 1.19295563e+02] [-7.92573102e-01 -5.94598803e-01 1.35204070e-01 9.42028557e+01] [ 1.65933138e-01 3.05240487e-03 9.86132282e-01 -1.05586183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.20, Z:-10.55 [[-5.89681685e-01 8.01160177e-01 1.02068020e-01 1.19291120e+02] [-7.90511230e-01 -5.98437391e-01 1.30248548e-01 9.42029124e+01] [ 1.65431269e-01 -3.88073285e-03 9.86213686e-01 -1.05544151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:94.19, Z:-10.55 [[-5.96662084e-01 7.95952637e-01 1.02243611e-01 1.19287654e+02] [-7.85207442e-01 -6.05353755e-01 1.30369110e-01 9.41942467e+01] [ 1.65661191e-01 -2.49613982e-03 9.86179567e-01 -1.05539283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:94.20, Z:-10.56 [[-5.95538817e-01 7.96738044e-01 1.02674274e-01 1.19299590e+02] [-7.86033767e-01 -6.04316531e-01 1.30201564e-01 9.42021321e+01] [ 1.65784301e-01 -3.16536086e-03 9.86156958e-01 -1.05582752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:94.18, Z:-10.56 [[-6.05863418e-01 7.88816427e-01 1.03431924e-01 1.19284862e+02] [-7.77269279e-01 -6.14627914e-01 1.34480463e-01 9.41836695e+01] [ 1.69652546e-01 1.08233603e-03 9.85503345e-01 -1.05558910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:94.18, Z:-10.55 [[-6.08313630e-01 7.86707082e-01 1.05102305e-01 1.19280602e+02] [-7.75254320e-01 -6.17326455e-01 1.33748970e-01 9.41804765e+01] [ 1.70103696e-01 -1.19694795e-04 9.85426161e-01 -1.05548828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:94.18, Z:-10.55 [[-6.10357879e-01 7.85079627e-01 1.05419345e-01 1.19277204e+02] [-7.73551521e-01 -6.19394791e-01 1.34045283e-01 9.41781554e+01] [ 1.70532414e-01 2.68299614e-04 9.85352030e-01 -1.05532563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:94.17, Z:-10.55 [[-6.13294517e-01 7.82968722e-01 1.04066399e-01 1.19271738e+02] [-7.71724251e-01 -6.22060585e-01 1.32220684e-01 9.41743534e+01] [ 1.68260265e-01 7.79656880e-04 9.85742297e-01 -1.05508189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:94.17, Z:-10.55 [[-6.14199398e-01 7.82338110e-01 1.03470679e-01 1.19272247e+02] [-7.71231819e-01 -6.22853358e-01 1.31358958e-01 9.41747166e+01] [ 1.67214179e-01 8.80712981e-04 9.85920201e-01 -1.05505798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:94.17, Z:-10.55 [[-6.14623370e-01 7.82118831e-01 1.02607249e-01 1.19268523e+02] [-7.71212754e-01 -6.23128705e-01 1.30159537e-01 9.41701830e+01] [ 1.65737747e-01 8.67073827e-04 9.86169482e-01 -1.05497005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:94.17, Z:-10.55 [[-6.13062917e-01 7.83673233e-01 1.00050609e-01 1.19263186e+02] [-7.72717100e-01 -6.21167152e-01 1.30612606e-01 9.41651407e+01] [ 1.64505755e-01 2.76292899e-03 9.86372254e-01 -1.05490523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:94.19, Z:-9.58 [[-5.84654917e-01 -3.91501716e-01 7.10566700e-01 1.19368598e+02] [-7.79840902e-01 2.97340597e-02 -6.25271184e-01 9.41878514e+01] [ 2.23666709e-01 -9.19696848e-01 -3.22693215e-01 -9.57904571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.83014209e-01 8.01083807e-01 1.35496000e-01 1.19162450e+02] [-7.80628528e-01 -5.98551518e-01 1.79875462e-01 9.40617538e+01] [ 2.25196656e-01 -9.02092836e-04 9.74312913e-01 -1.05517117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.79024942e-01 8.03917807e-01 1.35817066e-01 1.19159207e+02] [-7.83487908e-01 -5.94736599e-01 1.80097407e-01 9.40617837e+01] [ 2.25558892e-01 -2.13013789e-03 9.74227206e-01 -1.05518661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.77331610e-01 8.05065995e-01 1.36223922e-01 1.19159992e+02] [-7.84577638e-01 -5.93179216e-01 1.80489188e-01 9.40638050e+01] [ 2.26110907e-01 -2.67612939e-03 9.74097888e-01 -1.05531249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.75728384e-01 8.06123931e-01 1.36751734e-01 1.19159349e+02] [-7.85538237e-01 -5.91738126e-01 1.81040515e-01 9.40638675e+01] [ 2.26862307e-01 -3.19355309e-03 9.73921606e-01 -1.05537330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.74729758e-01 8.06752734e-01 1.37243326e-01 1.19159149e+02] [-7.86069048e-01 -5.90878552e-01 1.81543352e-01 9.40633679e+01] [ 2.27554733e-01 -3.54436421e-03 9.73758841e-01 -1.05536923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.73828821e-01 8.07202305e-01 1.38365178e-01 1.19160222e+02] [-7.86222637e-01 -5.90262359e-01 1.82877863e-01 9.40621637e+01] [ 2.29291189e-01 -3.84524632e-03 9.73350279e-01 -1.05537729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.73793797e-01 8.07098829e-01 1.39112039e-01 1.19159528e+02] [-7.85921413e-01 -5.90403373e-01 1.83715512e-01 9.40592776e+01] [ 2.30408792e-01 -3.91630907e-03 9.73086045e-01 -1.05535397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.06, Z:-10.55 [[-5.73708304e-01 8.06974192e-01 1.40183579e-01 1.19157640e+02] [-7.85497101e-01 -5.90573230e-01 1.84979906e-01 9.40552580e+01] [ 2.32062679e-01 -3.98928647e-03 9.72692654e-01 -1.05529044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.05, Z:-10.55 [[-5.73168231e-01 8.06998352e-01 1.42238668e-01 1.19158059e+02] [-7.84916029e-01 -5.90539074e-01 1.87537808e-01 9.40549319e+01] [ 2.35340193e-01 -4.15469691e-03 9.71904178e-01 -1.05528762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.15, Y:94.05, Z:-10.55 [[-5.72785873e-01 8.06999962e-01 1.43761627e-01 1.19152728e+02] [-7.84473350e-01 -5.90535859e-01 1.89391028e-01 9.40480385e+01] [ 2.37734949e-01 -4.29666008e-03 9.71320561e-01 -1.05520107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.05, Z:-10.55 [[-5.73022583e-01 8.06857041e-01 1.43620452e-01 1.19151858e+02] [-7.84408262e-01 -5.90730904e-01 1.89052052e-01 9.40462874e+01] [ 2.37379019e-01 -4.32597421e-03 9.71407478e-01 -1.05503500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.04, Z:-10.55 [[-5.72908716e-01 8.06922381e-01 1.43707600e-01 1.19152110e+02] [-7.84485498e-01 -5.90640734e-01 1.89013297e-01 9.40435509e+01] [ 2.37398622e-01 -4.44916232e-03 9.71402131e-01 -1.05495352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.04, Z:-10.55 [[-5.73282843e-01 8.06687244e-01 1.43535614e-01 1.19153542e+02] [-7.84334841e-01 -5.90961914e-01 1.88634234e-01 9.40428077e+01] [ 2.36992911e-01 -4.43921283e-03 9.71501237e-01 -1.05494715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.04, Z:-10.55 [[-5.73994626e-01 8.06276021e-01 1.43000514e-01 1.19154862e+02] [-7.84116566e-01 -5.91523542e-01 1.87779418e-01 9.40411646e+01] [ 2.35990213e-01 -4.34469469e-03 9.71745719e-01 -1.05493703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.03, Z:-10.55 [[-5.76227697e-01 8.04789696e-01 1.42390964e-01 1.19153501e+02] [-7.82812934e-01 -5.93547834e-01 1.86828473e-01 9.40344277e+01] [ 2.34873478e-01 -3.80974765e-03 9.72018485e-01 -1.05482417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.03, Z:-10.55 [[-5.77856374e-01 8.03610437e-01 1.42450963e-01 1.19154687e+02] [-7.81616054e-01 -5.95145817e-01 1.86755992e-01 9.40346850e+01] [ 2.34858159e-01 -3.42381914e-03 9.72023622e-01 -1.05482109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.03, Z:-10.55 [[-5.79596556e-01 8.02406359e-01 1.42168445e-01 1.19152956e+02] [-7.80500828e-01 -5.96770397e-01 1.86235205e-01 9.40312100e+01] [ 2.34278233e-01 -3.02130581e-03 9.72164894e-01 -1.05471963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.03, Z:-10.55 [[-5.82980470e-01 8.00106607e-01 1.41291148e-01 1.19150187e+02] [-7.78442995e-01 -5.99853898e-01 1.84937302e-01 9.40254265e+01] [ 2.32723603e-01 -2.17226938e-03 9.72540491e-01 -1.05452354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.02, Z:-10.54 [[-5.84987002e-01 7.98757631e-01 1.40628783e-01 1.19147817e+02] [-7.77296210e-01 -6.01650475e-01 1.83922015e-01 9.40213501e+01] [ 2.31518487e-01 -1.71823163e-03 9.72828987e-01 -1.05441197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:94.03, Z:-10.55 [[-5.83634936e-01 7.99848599e-01 1.40044569e-01 1.19156320e+02] [-7.78825337e-01 -6.00195594e-01 1.82198636e-01 9.40287575e+01] [ 2.29785457e-01 -2.73276973e-03 9.73237471e-01 -1.05474406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.02, Z:-10.54 [[-5.89309850e-01 7.96033877e-01 1.37999883e-01 1.19147186e+02] [-7.74583137e-01 -6.05250718e-01 1.83555256e-01 9.40187291e+01] [ 2.29640731e-01 1.27853790e-03 9.73274627e-01 -1.05438730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:94.02, Z:-10.54 [[-5.92931988e-01 7.93009695e-01 1.39883101e-01 1.19141987e+02] [-7.71719526e-01 -6.09208955e-01 1.82519652e-01 9.40154096e+01] [ 2.29957891e-01 2.71220137e-04 9.73200542e-01 -1.05416468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:94.02, Z:-10.54 [[-5.91832611e-01 7.92512625e-01 1.47166229e-01 1.19145173e+02] [-7.71411956e-01 -6.09826417e-01 1.81756254e-01 9.40239981e+01] [ 2.33789981e-01 -5.95650996e-03 9.72268875e-01 -1.05404621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:94.01, Z:-10.54 [[-5.97709630e-01 7.90001536e-01 1.36531207e-01 1.19135817e+02] [-7.66839786e-01 -6.13039848e-01 1.90102307e-01 9.40081552e+01] [ 2.33880185e-01 8.92841758e-03 9.72224430e-01 -1.05430893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:94.01, Z:-10.54 [[-5.99041345e-01 7.87738036e-01 1.43590581e-01 1.19131355e+02] [-7.65222394e-01 -6.16006647e-01 1.87004009e-01 9.40098573e+01] [ 2.35762923e-01 2.14440550e-03 9.71808235e-01 -1.05401414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:94.01, Z:-10.54 [[-6.00140768e-01 7.86725313e-01 1.44548748e-01 1.19126450e+02] [-7.63912400e-01 -6.17298322e-01 1.88097386e-01 9.40051766e+01] [ 2.37210674e-01 2.46232867e-03 9.71455111e-01 -1.05388808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.54 [[-6.00018810e-01 7.86545371e-01 1.46026738e-01 1.19124360e+02] [-7.63289805e-01 -6.17527588e-01 1.89864033e-01 9.40053576e+01] [ 2.39512216e-01 2.46127095e-03 9.70890231e-01 -1.05407487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:119.12, Y:94.00, Z:-10.54 [[-5.98815819e-01 7.87371198e-01 1.46513518e-01 1.19120864e+02] [-7.64020904e-01 -6.16475820e-01 1.90340804e-01 9.40034441e+01] [ 2.40190908e-01 2.03969363e-03 9.70723528e-01 -1.05402855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.54 [[-5.95470238e-01 7.90077401e-01 1.45577797e-01 1.19121046e+02] [-7.67145831e-01 -6.13006510e-01 1.88971671e-01 9.40100185e+01] [ 2.38542384e-01 8.47605689e-04 9.71131717e-01 -1.05382849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.54 [[-5.93536495e-01 7.91619283e-01 1.45097688e-01 1.19119159e+02] [-7.68923638e-01 -6.11014642e-01 1.88195498e-01 9.40095150e+01] [ 2.37635997e-01 1.31854046e-04 9.71354269e-01 -1.05366226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.92219957e-01 7.92753641e-01 1.44281627e-01 1.19115589e+02] [-7.70386144e-01 -6.09542035e-01 1.86985820e-01 9.40056941e+01] [ 2.36179407e-01 -4.15831918e-04 9.71709378e-01 -1.05344820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.89694342e-01 7.95029778e-01 1.42085309e-01 1.19119061e+02] [-7.73447643e-01 -6.06568794e-01 1.83991959e-01 9.40094352e+01] [ 2.32463601e-01 -1.39653009e-03 9.72604094e-01 -1.05339721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.88284888e-01 7.96208025e-01 1.41328242e-01 1.19120181e+02] [-7.74926964e-01 -6.05019839e-01 1.82863868e-01 9.40095208e+01] [ 2.31104070e-01 -1.94301515e-03 9.72927096e-01 -1.05336556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.84877195e-01 7.98952160e-01 1.39978973e-01 1.19120697e+02] [-7.78192027e-01 -6.01386679e-01 1.80973013e-01 9.40068912e+01] [ 2.28770270e-01 -3.08353266e-03 9.73475555e-01 -1.05333693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.83313771e-01 8.00158408e-01 1.39612204e-01 1.19122220e+02] [-7.79576368e-01 -5.99777712e-01 1.80353495e-01 9.40086019e+01] [ 2.28047654e-01 -3.63569766e-03 9.73643184e-01 -1.05340464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.81635343e-01 8.01366350e-01 1.39686434e-01 1.19121432e+02] [-7.80830420e-01 -5.98159118e-01 1.80303980e-01 9.40073864e+01] [ 2.28044256e-01 -4.20024994e-03 9.73641708e-01 -1.05341571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.78049410e-01 8.03741883e-01 1.40917934e-01 1.19122885e+02] [-7.82941352e-01 -5.94954778e-01 1.81746118e-01 9.40076094e+01] [ 2.29916765e-01 -5.27224200e-03 9.73196015e-01 -1.05348020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.01, Z:-10.53 [[-5.76631137e-01 8.04673632e-01 1.41410319e-01 1.19122711e+02] [-7.83787850e-01 -5.93689516e-01 1.82234368e-01 9.40058242e+01] [ 2.30593014e-01 -5.75367923e-03 9.73033276e-01 -1.05349838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.12, Y:94.00, Z:-10.54 [[-5.75257218e-01 8.05516495e-01 1.42205170e-01 1.19121864e+02] [-7.84452547e-01 -5.92540735e-01 1.83111111e-01 9.40023573e+01] [ 2.31761376e-01 -6.21721914e-03 9.72752800e-01 -1.05361401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.00, Z:-10.54 [[-5.74434219e-01 8.05997552e-01 1.42805022e-01 1.19123127e+02] [-7.84803197e-01 -5.91882847e-01 1.83735237e-01 9.40004074e+01] [ 2.32613994e-01 -6.53002998e-03 9.72547217e-01 -1.05350771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:94.01, Z:-10.54 [[-5.71069355e-01 8.08541428e-01 1.41917412e-01 1.19131490e+02] [-7.87494943e-01 -5.88397407e-01 1.83412665e-01 9.40063597e+01] [ 2.31800575e-01 -7.01789171e-03 9.72738013e-01 -1.05386475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.997628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.12, Y:94.00, Z:-10.54 [[-5.73924983e-01 8.06378823e-01 1.42700063e-01 1.19121929e+02] [-7.85021125e-01 -5.91367325e-01 1.84462787e-01 9.39967276e+01] [ 2.33135040e-01 -6.15476230e-03 9.72424893e-01 -1.05354214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:94.00, Z:-10.53 [[-5.75814957e-01 8.05080057e-01 1.42419229e-01 1.19122982e+02] [-7.84053345e-01 -5.93132236e-01 1.82905719e-01 9.39961170e+01] [ 2.31727182e-01 -6.34442404e-03 9.72760125e-01 -1.05318632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:93.99, Z:-10.53 [[-5.77393206e-01 8.04045576e-01 1.41872471e-01 1.19121227e+02] [-7.83185722e-01 -5.94537463e-01 1.82058590e-01 9.39920783e+01] [ 2.30731903e-01 -5.99310018e-03 9.72998906e-01 -1.05306698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.12, Y:93.99, Z:-10.53 [[-5.80220613e-01 8.02056723e-01 1.41594678e-01 1.19122109e+02] [-7.81255261e-01 -5.97224541e-01 1.81557330e-01 9.39874219e+01] [ 2.30183094e-01 -5.27828184e-03 9.73133024e-01 -1.05315903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:93.98, Z:-10.53 [[-5.83356905e-01 7.99949983e-01 1.40622709e-01 1.19120983e+02] [-7.79409871e-01 -6.00049807e-01 1.80167927e-01 9.39826368e+01] [ 2.28505959e-01 -4.50052311e-03 9.73532111e-01 -1.05291358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:93.98, Z:-10.53 [[-5.83659824e-01 7.99716694e-01 1.40692642e-01 1.19119591e+02] [-7.79183061e-01 -6.00360688e-01 1.80113301e-01 9.39807999e+01] [ 2.28505945e-01 -4.50042560e-03 9.73532115e-01 -1.05285717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:93.97, Z:-10.53 [[-5.89386067e-01 7.95678723e-01 1.39711970e-01 1.19117209e+02] [-7.75354308e-01 -6.05711489e-01 1.78715668e-01 9.39718599e+01] [ 2.26825400e-01 -2.99375280e-03 9.73930837e-01 -1.05270755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:93.97, Z:-10.53 [[-5.92755442e-01 7.93293030e-01 1.39022140e-01 1.19114624e+02] [-7.73139231e-01 -6.08836202e-01 1.77691327e-01 9.39675271e+01] [ 2.25603003e-01 -2.15596906e-03 9.74216935e-01 -1.05255866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.11, Y:93.96, Z:-10.53 [[-5.95147897e-01 7.91541146e-01 1.38786147e-01 1.19112046e+02] [-7.71442348e-01 -6.11113841e-01 1.77247221e-01 9.39631013e+01] [ 2.25112603e-01 -1.57720027e-03 9.74331478e-01 -1.05260486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:93.96, Z:-10.52 [[-6.00830992e-01 7.87476266e-01 1.37416337e-01 1.19111120e+02] [-7.67703416e-01 -6.16344962e-01 1.75357787e-01 9.39606321e+01] [ 2.22785962e-01 -1.34598230e-04 9.74867374e-01 -1.05233488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:93.96, Z:-10.52 [[-6.02818424e-01 7.85996556e-01 1.37183679e-01 1.19108537e+02] [-7.66285652e-01 -6.18230790e-01 1.74919953e-01 9.39556988e+01] [ 2.22297655e-01 3.23085218e-04 9.74978794e-01 -1.05223539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.05115049e-01 7.84246250e-01 1.37089737e-01 1.19103469e+02] [-7.64550288e-01 -6.20449071e-01 1.74659117e-01 9.39479449e+01] [ 2.22032958e-01 8.76862741e-04 9.75038767e-01 -1.05212520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.05417005e-01 7.84001141e-01 1.37158522e-01 1.19102072e+02] [-7.64311208e-01 -6.20758763e-01 1.74605085e-01 9.39461118e+01] [ 2.22032940e-01 8.77092053e-04 9.75038771e-01 -1.05206879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.387628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.05655653e-01 7.83643570e-01 1.38144798e-01 1.19102732e+02] [-7.63689547e-01 -6.21210030e-01 1.75716747e-01 9.39487098e+01] [ 2.23516232e-01 9.24103117e-04 9.74699769e-01 -1.05229559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.05964660e-01 7.83378480e-01 1.38293122e-01 1.19102168e+02] [-7.63406969e-01 -6.21544277e-01 1.75762656e-01 9.39491179e+01] [ 2.23643981e-01 9.32024821e-04 9.74670458e-01 -1.05213845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.04756412e-01 7.83989239e-01 1.40109085e-01 1.19099060e+02] [-7.63532805e-01 -6.20774102e-01 1.77924622e-01 9.39468381e+01] [ 2.26467081e-01 6.23173507e-04 9.74018621e-01 -1.05224437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:93.95, Z:-10.52 [[-6.04135306e-01 7.84232652e-01 1.41420227e-01 1.19097299e+02] [-7.63431552e-01 -6.20466729e-01 1.79424925e-01 9.39457903e+01] [ 2.28457430e-01 4.32268209e-04 9.73553807e-01 -1.05228868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.507628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.09, Y:93.94, Z:-10.52 [[-6.02657589e-01 7.85034374e-01 1.43265003e-01 1.19093555e+02] [-7.63737050e-01 -6.19452201e-01 1.81616872e-01 9.39419383e+01] [ 2.31321309e-01 3.59952881e-05 9.72877408e-01 -1.05248904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.09, Y:93.94, Z:-10.53 [[-6.01629785e-01 7.85628794e-01 1.44322557e-01 1.19093076e+02] [-7.64063913e-01 -6.18698081e-01 1.82808701e-01 9.39430281e+01] [ 2.32911868e-01 -2.88498316e-04 9.72497804e-01 -1.05265850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.567628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.09, Y:93.95, Z:-10.53 [[-5.98404953e-01 7.87978451e-01 1.44918851e-01 1.19090776e+02] [-7.66335930e-01 -6.15701446e-01 1.83414757e-01 9.39461221e+01] [ 2.33753622e-01 -1.30022313e-03 9.72294993e-01 -1.05283970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:93.95, Z:-10.53 [[-5.96961590e-01 7.89229375e-01 1.44061980e-01 1.19087304e+02] [-7.67916250e-01 -6.14095673e-01 1.82184350e-01 9.39458268e+01] [ 2.32253080e-01 -1.87047640e-03 9.72653591e-01 -1.05256298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:93.95, Z:-10.53 [[-5.92914606e-01 7.92286126e-01 1.43996404e-01 1.19085111e+02] [-7.71115813e-01 -6.10141579e-01 1.81955092e-01 9.39524808e+01] [ 2.32018689e-01 -3.15407282e-03 9.72706215e-01 -1.05258658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65762800000005 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.08, Y:93.95, Z:-10.53 [[-5.91377069e-01 7.93501428e-01 1.43626757e-01 1.19079902e+02] [-7.72510893e-01 -6.08557072e-01 1.81342799e-01 9.39502171e+01] [ 2.31300849e-01 -3.71126147e-03 9.72875194e-01 -1.05253387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:93.95, Z:-10.52 [[-5.90567913e-01 7.94173855e-01 1.43239059e-01 1.19078952e+02] [-7.73351711e-01 -6.07677101e-01 1.80708805e-01 9.39529664e+01] [ 2.30557305e-01 -4.05334934e-03 9.73050307e-01 -1.05237658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:93.95, Z:-10.52 [[-5.91033699e-01 7.93930363e-01 1.42666554e-01 1.19077151e+02] [-7.73303411e-01 -6.07995336e-01 1.79843007e-01 9.39526248e+01] [ 2.29523423e-01 -4.03125510e-03 9.73294789e-01 -1.05229884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.747628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.08, Y:93.95, Z:-10.52 [[-5.92420676e-01 7.92924751e-01 1.42506428e-01 1.19075919e+02] [-7.72349736e-01 -6.09308174e-01 1.79497729e-01 9.39488786e+01] [ 2.29158523e-01 -3.72663660e-03 9.73381982e-01 -1.05248851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.07, Y:93.94, Z:-10.52 [[-5.94534340e-01 7.91377330e-01 1.42305448e-01 1.19074060e+02] [-7.70850862e-01 -6.11319548e-01 1.79101531e-01 9.39446392e+01] [ 2.28730993e-01 -3.21426637e-03 9.73484361e-01 -1.05243522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:93.94, Z:-10.52 [[-5.98388934e-01 7.88349833e-01 1.42951824e-01 1.19072225e+02] [-7.67582358e-01 -6.15223454e-01 1.79770481e-01 9.39397345e+01] [ 2.29669344e-01 -2.15463167e-03 9.73266330e-01 -1.05216608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.07, Y:93.94, Z:-10.52 [[-6.00270093e-01 7.86797874e-01 1.43613791e-01 1.19070343e+02] [-7.65825763e-01 -6.17208513e-01 1.80456511e-01 9.39365188e+01] [ 2.30622453e-01 -1.66049475e-03 9.73041894e-01 -1.05218447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.867628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.07, Y:93.93, Z:-10.52 [[-6.03273371e-01 7.84224459e-01 1.45097339e-01 1.19066912e+02] [-7.62781033e-01 -6.20476719e-01 1.82136591e-01 9.39293646e+01] [ 2.32865490e-01 -7.99342442e-04 9.72508624e-01 -1.05222942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.06, Y:93.92, Z:-10.52 [[-6.04454524e-01 7.83512510e-01 1.44023871e-01 1.19064117e+02] [-7.61501992e-01 -6.21373411e-01 1.84417464e-01 9.39229963e+01] [ 2.33985994e-01 1.79750576e-03 9.72238306e-01 -1.05230700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:93.93, Z:-10.52 [[-6.05970829e-01 7.81683874e-01 1.47545502e-01 1.19064939e+02] [-7.60128914e-01 -6.23672590e-01 1.82308899e-01 9.39258962e+01] [ 2.34528012e-01 -1.67972740e-03 9.72107911e-01 -1.05202493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:93.91, Z:-10.52 [[-6.06054092e-01 7.82583450e-01 1.42343182e-01 1.19056535e+02] [-7.59835998e-01 -6.22522175e-01 1.87391030e-01 9.39095442e+01] [ 2.35260906e-01 5.41162712e-03 9.71917188e-01 -1.05190539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:93.92, Z:-10.52 [[-6.06483790e-01 7.80710156e-01 1.50562493e-01 1.19055240e+02] [-7.59730739e-01 -6.24870741e-01 1.79849274e-01 9.39170673e+01] [ 2.34492251e-01 -5.31128473e-03 9.72103479e-01 -1.05157898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:93.92, Z:-10.52 [[-6.06559809e-01 7.81526781e-01 1.45948925e-01 1.19057822e+02] [-7.59930780e-01 -6.23871647e-01 1.82453768e-01 9.39178226e+01] [ 2.33645903e-01 -2.41957726e-04 9.72321723e-01 -1.05172652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.05, Y:93.92, Z:-10.51 [[-6.07205150e-01 7.81275766e-01 1.44603192e-01 1.19053206e+02] [-7.60109106e-01 -6.24185967e-01 1.80626761e-01 9.39164217e+01] [ 2.31378594e-01 -2.36703499e-04 9.72863757e-01 -1.05147823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:93.92, Z:-10.51 [[-6.08226405e-01 7.80634582e-01 1.43771660e-01 1.19052279e+02] [-7.59730224e-01 -6.24987714e-01 1.79444540e-01 9.39171175e+01] [ 2.29936135e-01 -8.47676201e-05 9.73205717e-01 -1.05138815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:93.91, Z:-10.51 [[-6.10803566e-01 7.79004963e-01 1.41669586e-01 1.19047046e+02] [-7.58704682e-01 -6.27017609e-01 1.76680853e-01 9.39137137e+01] [ 2.26464586e-01 4.31917458e-04 9.74019304e-01 -1.05116479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:93.91, Z:-10.51 [[-6.12271576e-01 7.77979742e-01 1.40964671e-01 1.19045419e+02] [-7.57889295e-01 -6.28288952e-01 1.75661061e-01 9.39132451e+01] [ 2.25227293e-01 7.16659089e-04 9.74305985e-01 -1.05106714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.13472680e-01 7.77172521e-01 1.40193240e-01 1.19043393e+02] [-7.57315523e-01 -6.29286923e-01 1.74559922e-01 9.39125913e+01] [ 2.23884947e-01 9.17226886e-04 9.74615149e-01 -1.05099034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.13637658e-01 7.77162930e-01 1.39522774e-01 1.19041614e+02] [-7.57529401e-01 -6.29298893e-01 1.73586028e-01 9.39102028e+01] [ 2.22706154e-01 8.26320452e-04 9.74885268e-01 -1.05087987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.12866181e-01 7.77760803e-01 1.39582153e-01 1.19040204e+02] [-7.58157559e-01 -6.28560152e-01 1.73520178e-01 9.39075556e+01] [ 2.22692973e-01 5.19384286e-04 9.74888491e-01 -1.05092184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.11418271e-01 7.78804105e-01 1.40113756e-01 1.19041345e+02] [-7.59108542e-01 -6.27267219e-01 1.74040390e-01 9.39080248e+01] [ 2.23432136e-01 4.99256506e-05 9.74719487e-01 -1.05096114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.07461104e-01 7.81801079e-01 1.40634564e-01 1.19042485e+02] [-7.62068092e-01 -6.23526877e-01 1.74546433e-01 9.39086773e+01] [ 2.24150020e-01 -1.14294501e-03 9.74553981e-01 -1.05100555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.90, Z:-10.51 [[-6.05427131e-01 7.83865577e-01 1.37886716e-01 1.19041728e+02] [-7.63766471e-01 -6.20928820e-01 1.76375109e-01 9.39049647e+01] [ 2.23872213e-01 1.46902551e-03 9.74617399e-01 -1.05100861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.91, Z:-10.51 [[-6.01938815e-01 7.85704608e-01 1.42611120e-01 1.19040932e+02] [-7.66738332e-01 -6.18572825e-01 1.71697384e-01 9.39068631e+01] [ 2.23118789e-01 -5.99409235e-03 9.74772834e-01 -1.05076153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:93.90, Z:-10.51 [[-6.00364748e-01 7.87365502e-01 1.40063329e-01 1.19040659e+02] [-7.68022053e-01 -6.16477008e-01 1.73488399e-01 9.39025239e+01] [ 2.22944602e-01 -3.41540642e-03 9.74825133e-01 -1.05083626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:119.04, Y:93.90, Z:-10.51 [[-5.97788525e-01 7.89155457e-01 1.41005478e-01 1.19037498e+02] [-7.69628800e-01 -6.14179156e-01 1.74514970e-01 9.38965219e+01] [ 2.24322066e-01 -4.19883015e-03 9.74506019e-01 -1.05100941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:119.04, Y:93.90, Z:-10.51 [[-5.97560688e-01 7.89279918e-01 1.41274326e-01 1.19041283e+02] [-7.69713506e-01 -6.14018205e-01 1.74707649e-01 9.39004793e+01] [ 2.24638247e-01 -4.34233351e-03 9.74432554e-01 -1.05113949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:93.76, Z:-10.46 [[-5.97220087e-01 7.87946349e-01 1.49895694e-01 1.18924516e+02] [-7.69022206e-01 -6.15617245e-01 1.72105358e-01 9.37620221e+01] [ 2.27888162e-01 -1.24883408e-02 9.73607224e-01 -1.04625211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.497628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.64, Y:93.31, Z:-10.43 [[-6.25493389e-01 1.92153359e-01 -7.56197796e-01 1.19639614e+02] [-7.60410614e-01 6.69280657e-02 6.45984777e-01 9.33096790e+01] [ 1.74739000e-01 9.79080038e-01 1.04252391e-01 -1.04266760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:93.83, Z:-10.46 [[-6.15568885e-01 7.81531224e-01 1.01409535e-01 1.18991845e+02] [-7.71733160e-01 -6.23861859e-01 1.23386833e-01 9.38318636e+01] [ 1.59696203e-01 -2.30800554e-03 9.87163510e-01 -1.04562167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:93.83, Z:-10.46 [[-6.13976769e-01 7.82808332e-01 1.01210882e-01 1.18993523e+02] [-7.73155619e-01 -6.22255741e-01 1.22589487e-01 9.38300572e+01] [ 1.58943124e-01 -2.98466472e-03 9.87283229e-01 -1.04573233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:93.82, Z:-10.45 [[-6.21434798e-01 7.77055477e-01 1.00017885e-01 1.18986566e+02] [-7.67131922e-01 -6.29432082e-01 1.23789611e-01 9.38230149e+01] [ 1.59145861e-01 2.00259393e-04 9.87255061e-01 -1.04547666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:93.80, Z:-10.45 [[-6.23725291e-01 7.75170530e-01 1.00386303e-01 1.18969102e+02] [-7.65323811e-01 -6.31752047e-01 1.23161743e-01 9.38016307e+01] [ 1.58890606e-01 -8.93445534e-06 9.87296194e-01 -1.04493313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:93.66, Z:-9.38 [[ -0.58265863 -0.68986904 0.42963895 119.31730477] [ -0.78753425 0.34868227 -0.50814416 93.65648943] [ 0.20074544 -0.63442997 -0.74645823 -9.37725764] [ 0. 0. 0. 1. ]] SLAMing on 297.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.71, Z:-10.45 [[-5.84072313e-01 8.02826504e-01 1.19704375e-01 1.18870097e+02] [-7.86346889e-01 -5.96212589e-01 1.61830527e-01 9.37057005e+01] [ 2.01291092e-01 3.91567158e-04 9.79531390e-01 -1.04489039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.70, Z:-10.45 [[-5.85471909e-01 8.01772306e-01 1.19932535e-01 1.18867263e+02] [-7.85234512e-01 -5.97629244e-01 1.62006321e-01 9.37020174e+01] [ 2.01567372e-01 6.74984579e-04 9.79474420e-01 -1.04480910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.70, Z:-10.45 [[-5.86559846e-01 8.00915086e-01 1.20343562e-01 1.18867427e+02] [-7.84272212e-01 -5.98777280e-01 1.62428036e-01 9.37032884e+01] [ 2.02150055e-01 8.91652519e-04 9.79354155e-01 -1.04483850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.70, Z:-10.45 [[-5.86933193e-01 8.00501443e-01 1.21271875e-01 1.18862376e+02] [-7.83617349e-01 -5.99330058e-01 1.63546116e-01 9.36986757e+01] [ 2.03600782e-01 9.59899016e-04 9.79053523e-01 -1.04471816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.70, Z:-10.45 [[-5.86911128e-01 8.00414599e-01 1.21949984e-01 1.18862352e+02] [-7.83365519e-01 -5.99446108e-01 1.64325369e-01 9.36998012e+01] [ 2.04630868e-01 9.12975297e-04 9.78838789e-01 -1.04475851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.70, Z:-10.45 [[-5.86255408e-01 8.00685843e-01 1.23315763e-01 1.18859098e+02] [-7.83283458e-01 -5.99083990e-01 1.66028303e-01 9.36983041e+01] [ 2.06813011e-01 7.43793278e-04 9.78380205e-01 -1.04468067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.70, Z:-10.45 [[-5.86243176e-01 8.00606653e-01 1.23886744e-01 1.18858173e+02] [-7.83068253e-01 -5.99189877e-01 1.66660142e-01 9.36966498e+01] [ 2.07660901e-01 6.91594374e-04 9.78200630e-01 -1.04463916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.70, Z:-10.45 [[-5.82104236e-01 8.03809023e-01 1.22660971e-01 1.18869965e+02] [-7.86398085e-01 -5.94887297e-01 1.66394580e-01 9.37049959e+01] [ 2.06718918e-01 3.98637359e-04 9.78400291e-01 -1.04529184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91762800000004 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:118.86, Y:93.69, Z:-10.45 [[-5.85299643e-01 8.01103465e-01 1.25130199e-01 1.18855720e+02] [-7.83131940e-01 -5.98525396e-01 1.68735637e-01 9.36893145e+01] [ 2.10068306e-01 7.67452896e-04 9.77686411e-01 -1.04485479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.69, Z:-10.45 [[-5.85100937e-01 8.01216227e-01 1.25337349e-01 1.18858061e+02] [-7.83342169e-01 -5.98374862e-01 1.68293109e-01 9.36897006e+01] [ 2.09837889e-01 2.86425283e-04 9.77736150e-01 -1.04462034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.69, Z:-10.45 [[-5.81063775e-01 8.04411604e-01 1.23640043e-01 1.18865178e+02] [-7.86772038e-01 -5.94072357e-01 1.67534459e-01 9.36936335e+01] [ 2.08217795e-01 7.16762375e-05 9.78082484e-01 -1.04494077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.69, Z:-10.44 [[-5.84233974e-01 8.01897812e-01 1.25022253e-01 1.18857767e+02] [-7.84047232e-01 -5.97461147e-01 1.68256100e-01 9.36875771e+01] [ 2.09620138e-01 2.77578416e-04 9.77782860e-01 -1.04447171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.81759129e-01 8.03720540e-01 1.24858359e-01 1.18853513e+02] [-7.86127567e-01 -5.95006351e-01 1.67245005e-01 9.36819431e+01] [ 2.08709762e-01 -8.58289681e-04 9.77977248e-01 -1.04426027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.82065839e-01 8.03469099e-01 1.25047053e-01 1.18852106e+02] [-7.85900711e-01 -5.95345604e-01 1.67103812e-01 9.36801220e+01] [ 2.08708962e-01 -1.00914792e-03 9.77977275e-01 -1.04420366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.79654740e-01 8.05287360e-01 1.24549790e-01 1.18852677e+02] [-7.87929983e-01 -5.92882154e-01 1.66304216e-01 9.36813245e+01] [ 2.07766031e-01 -1.73748696e-03 9.78177007e-01 -1.04421968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.76447533e-01 8.07648455e-01 1.24145940e-01 1.18852226e+02] [-7.90486850e-01 -5.89658297e-01 1.65631012e-01 9.36818843e+01] [ 2.06975314e-01 -2.65814532e-03 9.78342554e-01 -1.04420553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.69134439e-01 8.12741251e-01 1.24650109e-01 1.18851189e+02] [-7.95586238e-01 -5.82606661e-01 1.66168640e-01 9.36835775e+01] [ 2.07674092e-01 -4.59761543e-03 9.78187269e-01 -1.04443453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.187628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:118.85, Y:93.69, Z:-10.45 [[-5.64569981e-01 8.15891835e-01 1.24824880e-01 1.18853634e+02] [-7.98792091e-01 -5.78175070e-01 1.66267203e-01 9.36875316e+01] [ 2.07826687e-01 -5.83965508e-03 9.78148233e-01 -1.04454331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.45 [[-5.58335687e-01 8.20921106e-01 1.19790646e-01 1.18854429e+02] [-8.04256098e-01 -5.71024493e-01 1.64630364e-01 9.36772118e+01] [ 2.03551934e-01 -4.42334999e-03 9.79054158e-01 -1.04459010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.63369181e-01 8.16662262e-01 1.25211484e-01 1.18851667e+02] [-7.99874861e-01 -5.77070259e-01 1.64894277e-01 9.36812160e+01] [ 2.06918757e-01 -7.25716493e-03 9.78331213e-01 -1.04410298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.86, Y:93.68, Z:-10.44 [[-5.63468622e-01 8.16549455e-01 1.25499398e-01 1.18855320e+02] [-7.99346229e-01 -5.77241068e-01 1.66848302e-01 9.36808967e+01] [ 2.08683297e-01 -6.30368771e-03 9.77962957e-01 -1.04442543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.68, Z:-10.44 [[-5.64928415e-01 8.15544093e-01 1.25473975e-01 1.18854337e+02] [-7.98351912e-01 -5.78663733e-01 1.66680859e-01 9.36759016e+01] [ 2.08542829e-01 -6.00963419e-03 9.77994771e-01 -1.04409317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.67, Z:-10.44 [[-5.68350004e-01 8.13142634e-01 1.25607843e-01 1.18854352e+02] [-7.95883711e-01 -5.82041151e-01 1.66724973e-01 9.36697307e+01] [ 2.08680117e-01 -5.21109661e-03 9.77970068e-01 -1.04401106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.68, Z:-10.45 [[-5.65639309e-01 8.15784708e-01 1.20612945e-01 1.18868968e+02] [-7.98707757e-01 -5.78350701e-01 1.66061391e-01 9.36779261e+01] [ 2.05226925e-01 -2.40364461e-03 9.78711465e-01 -1.04479475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.85, Y:93.66, Z:-10.44 [[-5.71622073e-01 8.10534928e-01 1.27598340e-01 1.18853139e+02] [-7.93431878e-01 -5.85654331e-01 1.65755420e-01 9.36648564e+01] [ 2.09079078e-01 -6.49113346e-03 9.77877193e-01 -1.04403626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.66, Z:-10.44 [[-5.73628969e-01 8.09461715e-01 1.25385555e-01 1.18851467e+02] [-7.92242229e-01 -5.87158742e-01 1.66123037e-01 9.36575324e+01] [ 2.08091463e-01 -4.04274542e-03 9.78101017e-01 -1.04375324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.65, Z:-10.44 [[-5.76603448e-01 8.07414135e-01 1.24943497e-01 1.18852511e+02] [-7.90297648e-01 -5.89975472e-01 1.65404263e-01 9.36533573e+01] [ 2.07263339e-01 -3.36988353e-03 9.78279384e-01 -1.04373851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.65, Z:-10.44 [[-5.78078514e-01 8.06355485e-01 1.24964249e-01 1.18852239e+02] [-7.89236977e-01 -5.91423200e-01 1.65298496e-01 9.36504543e+01] [ 2.07196105e-01 -3.07089740e-03 9.78294610e-01 -1.04369522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:93.66, Z:-10.45 [[-5.75085215e-01 8.09443197e-01 1.18653723e-01 1.18868310e+02] [-7.92619732e-01 -5.87198073e-01 1.64171812e-01 9.36583845e+01] [ 2.02560994e-01 3.65499650e-04 9.79269580e-01 -1.04467977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.64, Z:-10.43 [[-5.81236414e-01 8.03771488e-01 1.26947334e-01 1.18848472e+02] [-7.86891372e-01 -5.94920254e-01 1.63926387e-01 9.36437808e+01] [ 2.07282896e-01 -4.61377685e-03 9.78270164e-01 -1.04345437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:93.64, Z:-10.43 [[-5.82581463e-01 8.02966577e-01 1.25871030e-01 1.18845444e+02] [-7.85584793e-01 -5.96020468e-01 1.66181028e-01 9.36384197e+01] [ 2.08459521e-01 -2.06838045e-03 9.78028808e-01 -1.04337509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.65, Z:-10.44 [[-5.78421192e-01 8.05698417e-01 1.27589127e-01 1.18857810e+02] [-7.88592170e-01 -5.92304458e-01 1.65220516e-01 9.36515017e+01] [ 2.08689517e-01 -5.04873892e-03 9.77968914e-01 -1.04382827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:118.86, Y:93.65, Z:-10.44 [[-5.77761234e-01 8.07030721e-01 1.22038404e-01 1.18858302e+02] [-7.89287406e-01 -5.90508748e-01 1.68299761e-01 9.36470683e+01] [ 2.07887823e-01 9.13702633e-04 9.78152247e-01 -1.04443858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.84, Y:93.64, Z:-10.44 [[-5.83939319e-01 8.01922924e-01 1.26231913e-01 1.18841989e+02] [-7.84101306e-01 -5.97426965e-01 1.68125438e-01 9.36370847e+01] [ 2.10237992e-01 -8.03554570e-04 9.77649907e-01 -1.04364886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:93.64, Z:-10.43 [[-5.85270988e-01 8.00841248e-01 1.26929770e-01 1.18839915e+02] [-7.83205581e-01 -5.98874596e-01 1.67147349e-01 9.36369057e+01] [ 2.09873506e-01 -1.58561032e-03 9.77727261e-01 -1.04332585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.84, Y:93.63, Z:-10.43 [[-5.85457226e-01 8.00739235e-01 1.26714297e-01 1.18836849e+02] [-7.83190494e-01 -5.99010872e-01 1.66729197e-01 9.36349226e+01] [ 2.09409851e-01 -1.62861936e-03 9.77826601e-01 -1.04349880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.83, Y:93.63, Z:-10.43 [[-5.86367855e-01 8.00086718e-01 1.26625363e-01 1.18834415e+02] [-7.82576557e-01 -5.99882541e-01 1.66477833e-01 9.36347790e+01] [ 2.09157048e-01 -1.47679047e-03 9.77880948e-01 -1.04325009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:93.64, Z:-10.43 [[-5.87558378e-01 7.99143852e-01 1.27060049e-01 1.18829573e+02] [-7.81519085e-01 -6.01138583e-01 1.66914123e-01 9.36355114e+01] [ 2.09769093e-01 -1.22806199e-03 9.77750183e-01 -1.04304675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:93.65, Z:-10.44 [[-5.82900996e-01 8.02671815e-01 1.26271086e-01 1.18843828e+02] [-7.85212501e-01 -5.96417305e-01 1.66516446e-01 9.36515738e+01] [ 2.08968319e-01 -2.08703307e-03 9.77920184e-01 -1.04369382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84762800000004 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.84, Y:93.65, Z:-10.44 [[-5.83246088e-01 8.02141290e-01 1.28036525e-01 1.18836188e+02] [-7.84227931e-01 -5.97130652e-01 1.68586881e-01 9.36478601e+01] [ 2.11685032e-01 -2.08218056e-03 9.77335721e-01 -1.04371699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:93.63, Z:-10.43 [[-5.89567906e-01 7.97957407e-01 1.25194493e-01 1.18817969e+02] [-7.79793591e-01 -6.02709870e-01 1.69300820e-01 9.36307467e+01] [ 2.10550800e-01 2.18846646e-03 9.77580468e-01 -1.04293888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:93.63, Z:-10.43 [[-5.89894485e-01 7.97336004e-01 1.27592292e-01 1.18814342e+02] [-7.79619230e-01 -6.03535033e-01 1.67150593e-01 9.36325792e+01] [ 2.10281604e-01 -8.72191405e-04 9.77640469e-01 -1.04275533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:93.63, Z:-10.43 [[-5.89542606e-01 7.97898598e-01 1.25687479e-01 1.18810880e+02] [-7.80170390e-01 -6.02791443e-01 1.67262183e-01 9.36340072e+01] [ 2.09221598e-01 5.50533763e-04 9.77868099e-01 -1.04271839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:93.63, Z:-10.43 [[-5.90300420e-01 7.97039515e-01 1.27567337e-01 1.18807324e+02] [-7.79918487e-01 -6.03922040e-01 1.64332964e-01 9.36318144e+01] [ 2.08020592e-01 -2.48630658e-03 9.78121287e-01 -1.04250300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:93.63, Z:-10.42 [[-5.91081346e-01 7.96757649e-01 1.25698409e-01 1.18804320e+02] [-7.79629571e-01 -6.04298344e-01 1.64320549e-01 9.36259207e+01] [ 2.06882995e-01 -8.71385380e-04 9.78365303e-01 -1.04236739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:118.81, Y:93.63, Z:-10.43 [[-5.90151250e-01 7.97320238e-01 1.26498774e-01 1.18805525e+02] [-7.80012288e-01 -6.03555379e-01 1.65232368e-01 9.36261753e+01] [ 2.08092127e-01 -1.15850970e-03 9.78108544e-01 -1.04268034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:93.62, Z:-10.42 [[-5.89940033e-01 7.97568499e-01 1.25917620e-01 1.18803443e+02] [-7.80454549e-01 -6.03226942e-01 1.64340968e-01 9.36215893e+01] [ 2.07030080e-01 -1.32166380e-03 9.78333685e-01 -1.04231467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:118.80, Y:93.62, Z:-10.43 [[-5.87525675e-01 7.99255167e-01 1.26509917e-01 1.18802281e+02] [-7.82045032e-01 -6.00988479e-01 1.64980048e-01 9.36173613e+01] [ 2.07892159e-01 -2.00643814e-03 9.78149694e-01 -1.04253695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:93.64, Z:-10.43 [[-5.80532587e-01 8.05110170e-01 1.21571087e-01 1.18829269e+02] [-7.88292837e-01 -5.93124753e-01 1.63699210e-01 9.36415869e+01] [ 2.03902720e-01 -8.00891401e-04 9.78990827e-01 -1.04348660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:93.64, Z:-10.44 [[-5.78552808e-01 8.07699605e-01 1.13569351e-01 1.18832031e+02] [-7.90612256e-01 -5.89564873e-01 1.65364810e-01 9.36370963e+01] [ 2.00521592e-01 5.88295378e-03 9.79671620e-01 -1.04396332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:93.62, Z:-10.42 [[-5.84605797e-01 8.00978141e-01 1.29112662e-01 1.18803169e+02] [-7.84016861e-01 -5.98669930e-01 1.64048397e-01 9.36172528e+01] [ 2.08695048e-01 -5.32286007e-03 9.77966280e-01 -1.04211131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:93.71, Z:-9.51 [[-5.76558023e-01 -2.87078132e-01 7.64962086e-01 1.18863603e+02] [-7.78048372e-01 -9.29231145e-02 -6.21293832e-01 9.37092472e+01] [ 2.49442532e-01 -9.53389449e-01 -1.69785106e-01 -9.51151434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:93.46, Z:-10.42 [[-5.71496608e-01 8.06609395e-01 1.50906962e-01 1.18701127e+02] [-7.76000714e-01 -5.91019633e-01 2.20269577e-01 9.34565593e+01] [ 2.66860488e-01 8.77940587e-03 9.63695181e-01 -1.04229436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:93.46, Z:-10.42 [[-5.70716648e-01 8.05721335e-01 1.58416025e-01 1.18700129e+02] [-7.76729607e-01 -5.92294255e-01 2.14192982e-01 9.34603226e+01] [ 2.66408757e-01 -8.02916331e-04 9.63859808e-01 -1.04209220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:93.44, Z:-10.40 [[-5.77832189e-01 7.96486100e-01 1.78100686e-01 1.18669849e+02] [-7.67370141e-01 -6.04514155e-01 2.13788923e-01 9.34417272e+01] [ 2.77944291e-01 -1.31350266e-02 9.60507388e-01 -1.03967272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:93.62, Z:-9.53 [[ -0.57959294 -0.28459661 0.76359465 118.75498827] [ -0.75505081 -0.16493832 -0.63458146 93.61563635] [ 0.30654575 -0.94435169 -0.11928781 -9.53370555] [ 0. 0. 0. 1. ]] SLAMing on 299.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:93.22, Z:-9.42 [[-5.31714257e-01 -8.46896744e-01 -6.77163136e-03 1.19280720e+02] [-7.77959126e-01 4.91561656e-01 -3.91339669e-01 9.32171095e+01] [ 3.34752966e-01 -2.02812829e-01 -9.20221391e-01 -9.42025299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:93.14, Z:-9.51 [[-4.62842044e-01 -8.55825324e-01 -2.30955097e-01 1.19350139e+02] [-8.20731193e-01 5.12174450e-01 -2.53135620e-01 9.31424433e+01] [ 3.34929174e-01 7.23902442e-02 -9.39458408e-01 -9.50918958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:93.15, Z:-9.51 [[-3.87215158e-01 -8.92529826e-01 -2.31203223e-01 1.19318769e+02] [-8.63044104e-01 4.39102689e-01 -2.49687210e-01 9.31475666e+01] [ 3.24375240e-01 1.02855905e-01 -9.40319822e-01 -9.50947557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.447628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.44, Y:93.20, Z:-10.36 [[-3.74597286e-01 9.16842131e-01 1.38120891e-01 1.18435777e+02] [-8.61360210e-01 -3.99247780e-01 3.14101573e-01 9.32024752e+01] [ 3.43126015e-01 -1.31024254e-03 9.39288465e-01 -1.03597035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:93.20, Z:-10.36 [[-3.79194242e-01 9.15141295e-01 1.36850782e-01 1.18433526e+02] [-8.60720927e-01 -4.03133231e-01 3.10874708e-01 9.32015107e+01] [ 3.39663380e-01 9.15672795e-05 9.40547064e-01 -1.03550647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:93.20, Z:-10.35 [[-3.81123702e-01 9.14379034e-01 1.36585889e-01 1.18430963e+02] [-8.60250541e-01 -4.04858730e-01 3.09932921e-01 9.31992669e+01] [ 3.38694155e-01 6.24697026e-04 9.40896317e-01 -1.03536207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:93.20, Z:-10.35 [[-3.82943602e-01 9.13629352e-01 1.36512288e-01 1.18428138e+02] [-8.59636782e-01 -4.06546557e-01 3.09426081e-01 9.31954358e+01] [ 3.38199350e-01 1.14175398e-03 9.41073799e-01 -1.03518102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:93.21, Z:-10.36 [[-3.81050830e-01 9.14905177e-01 1.33224558e-01 1.18434145e+02] [-8.61550249e-01 -4.03660845e-01 3.07878370e-01 9.32055772e+01] [ 3.35457052e-01 2.53765745e-03 9.42052083e-01 -1.03607670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.19, Z:-10.35 [[-3.87316837e-01 9.11830260e-01 1.36202957e-01 1.18421712e+02] [-8.57477251e-01 -4.10553911e-01 3.10126185e-01 9.31928554e+01] [ 3.38701096e-01 3.32615620e-03 9.40888146e-01 -1.03507047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.19, Z:-10.35 [[-3.87435306e-01 9.11529112e-01 1.37871540e-01 1.18416762e+02] [-8.56579490e-01 -4.11226882e-01 3.11711451e-01 9.31920548e+01] [ 3.40830545e-01 2.67008843e-03 9.40120955e-01 -1.03493577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:93.20, Z:-10.36 [[-3.82626002e-01 9.14015878e-01 1.34804741e-01 1.18426605e+02] [-8.59746891e-01 -4.05668613e-01 3.10271267e-01 9.32041076e+01] [ 3.38278917e-01 2.81989737e-03 9.41041669e-01 -1.03588677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.18, Z:-10.35 [[-3.88729570e-01 9.11070347e-01 1.37259407e-01 1.18413894e+02] [-8.55933574e-01 -4.12232855e-01 3.12156677e-01 9.31834731e+01] [ 3.40979529e-01 3.85959612e-03 9.40062798e-01 -1.03466424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.35 [[-3.88798408e-01 9.10828003e-01 1.38665593e-01 1.18416657e+02] [-8.55476812e-01 -4.12775550e-01 3.12691172e-01 9.31841174e+01] [ 3.42045642e-01 2.94863093e-03 9.39678713e-01 -1.03472376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.35 [[-3.88618255e-01 9.10887016e-01 1.38782906e-01 1.18416943e+02] [-8.55568199e-01 -4.12646690e-01 3.12611205e-01 9.31795453e+01] [ 3.42021794e-01 2.74817986e-03 9.39688001e-01 -1.03460336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.35 [[-3.87294868e-01 9.11488348e-01 1.38534025e-01 1.18421040e+02] [-8.56535468e-01 -4.11320716e-01 3.11708614e-01 9.31794552e+01] [ 3.41100684e-01 2.06384079e-03 9.40024502e-01 -1.03474460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.35 [[-3.86850886e-01 9.11705882e-01 1.38342966e-01 1.18419344e+02] [-8.57046194e-01 -4.10839902e-01 3.10937930e-01 9.31751940e+01] [ 3.40320751e-01 1.72030088e-03 9.40307836e-01 -1.03454308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.34 [[-3.84429651e-01 9.12845456e-01 1.37575494e-01 1.18418421e+02] [-8.59000896e-01 -4.08304856e-01 3.08876360e-01 9.31781911e+01] [ 3.38129124e-01 5.63758091e-04 9.41099558e-01 -1.03449830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.867628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.42, Y:93.18, Z:-10.35 [[-3.80381289e-01 9.14555188e-01 1.37473206e-01 1.18415797e+02] [-8.61021243e-01 -4.04459658e-01 3.08309591e-01 9.31787963e+01] [ 3.37568502e-01 -1.09215151e-03 9.41300331e-01 -1.03463156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.41, Y:93.18, Z:-10.35 [[-3.80730537e-01 9.14391022e-01 1.37598395e-01 1.18414905e+02] [-8.60866878e-01 -4.04830664e-01 3.08253713e-01 9.31767717e+01] [ 3.37568477e-01 -1.09229932e-03 9.41300340e-01 -1.03454754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.18, Z:-10.35 [[-3.77233338e-01 9.15772272e-01 1.38044031e-01 1.18413873e+02] [-8.62100215e-01 -4.01690205e-01 3.08914550e-01 9.31783486e+01] [ 3.38346314e-01 -2.47492210e-03 9.41018409e-01 -1.03455066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.18, Z:-10.34 [[-3.77582270e-01 9.15609583e-01 1.38169175e-01 1.18412980e+02] [-8.61947457e-01 -4.02060898e-01 3.08858570e-01 9.31763247e+01] [ 3.38346289e-01 -2.47504935e-03 9.41018418e-01 -1.03446662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.17, Z:-10.34 [[-3.76106700e-01 9.16146804e-01 1.38631829e-01 1.18411274e+02] [-8.62270195e-01 -4.00830823e-01 3.09555750e-01 9.31729784e+01] [ 3.39166421e-01 -3.11210283e-03 9.40721241e-01 -1.03443543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.17, Z:-10.34 [[-3.75852206e-01 9.16193572e-01 1.39012439e-01 1.18411152e+02] [-8.62136417e-01 -4.00722345e-01 3.10068382e-01 9.31700043e+01] [ 3.39788049e-01 -3.30780096e-03 9.40496220e-01 -1.03445731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.17, Z:-10.35 [[-3.75921292e-01 9.16056499e-01 1.39727138e-01 1.18412622e+02] [-8.61538473e-01 -4.01035269e-01 3.11323262e-01 9.31705193e+01] [ 3.41225208e-01 -3.34726157e-03 9.39975613e-01 -1.03452907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.17, Z:-10.34 [[-3.76437435e-01 9.15819315e-01 1.39892246e-01 1.18410990e+02] [-8.61275003e-01 -4.01577167e-01 3.11353735e-01 9.31671793e+01] [ 3.41321296e-01 -3.28049352e-03 9.39940961e-01 -1.03431471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.16, Z:-10.34 [[-3.77965812e-01 9.15156643e-01 1.40107686e-01 1.18410694e+02] [-8.60517225e-01 -4.03088462e-01 3.11496063e-01 9.31649702e+01] [ 3.41543483e-01 -2.83021449e-03 9.39861713e-01 -1.03414390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.41, Y:93.16, Z:-10.34 [[-3.78940202e-01 9.14680348e-01 1.40585150e-01 1.18410648e+02] [-8.59747617e-01 -4.04169928e-01 3.12219001e-01 9.31635758e+01] [ 3.42400875e-01 -2.55541649e-03 9.39550483e-01 -1.03430877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.41, Y:93.16, Z:-10.34 [[-3.80572956e-01 9.13983927e-01 1.40703967e-01 1.18408350e+02] [-8.59032042e-01 -4.05745087e-01 3.12145600e-01 9.31563883e+01] [ 3.42386004e-01 -2.07504273e-03 9.39557086e-01 -1.03399744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.15, Z:-10.34 [[-3.83126891e-01 9.12979539e-01 1.40293074e-01 1.18406924e+02] [-8.58414311e-01 -4.08003223e-01 3.10899084e-01 9.31502572e+01] [ 3.41084528e-01 -1.31578280e-03 9.40031709e-01 -1.03354054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.15, Z:-10.34 [[-3.85480616e-01 9.12057390e-01 1.39842811e-01 1.18410493e+02] [-8.57914625e-01 -4.10062075e-01 3.09566779e-01 9.31524763e+01] [ 3.39686902e-01 -6.41199952e-04 9.40538355e-01 -1.03372116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.15, Z:-10.34 [[-3.86258489e-01 9.11732568e-01 1.39814535e-01 1.18409834e+02] [-8.57712471e-01 -4.10783974e-01 3.09169604e-01 9.31507464e+01] [ 3.39313567e-01 -5.01286308e-04 9.40673191e-01 -1.03360041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.40, Y:93.14, Z:-10.34 [[-3.85191281e-01 9.12140798e-01 1.40095831e-01 1.18404597e+02] [-8.58043270e-01 -4.09875772e-01 3.09456941e-01 9.31418193e+01] [ 3.39690188e-01 -1.00816925e-03 9.40536847e-01 -1.03352260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.15, Z:-10.33 [[-3.85279896e-01 9.12117642e-01 1.40002887e-01 1.18406711e+02] [-8.58213056e-01 -4.09926974e-01 3.08917832e-01 9.31476521e+01] [ 3.39160364e-01 -1.13247512e-03 9.40727891e-01 -1.03344698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.41, Y:93.15, Z:-10.34 [[-3.79144672e-01 9.14593044e-01 1.40601856e-01 1.18412875e+02] [-8.60656102e-01 -4.04358779e-01 3.09459291e-01 9.31543710e+01] [ 3.39882910e-01 -3.68000407e-03 9.40460560e-01 -1.03413865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.16, Z:-10.34 [[-3.80995657e-01 9.13516182e-01 1.42585044e-01 1.18410950e+02] [-8.59167839e-01 -4.06780336e-01 3.10419688e-01 9.31577699e+01] [ 3.41574200e-01 -4.23593149e-03 9.39845265e-01 -1.03370784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.14, Z:-10.33 [[-3.85398106e-01 9.12840983e-01 1.34868970e-01 1.18402475e+02] [-8.58475138e-01 -4.08297333e-01 3.10344527e-01 9.31390070e+01] [ 3.38361844e-01 3.82453547e-03 9.41008308e-01 -1.03332537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:93.16, Z:-10.34 [[-3.80452894e-01 9.14429581e-01 1.38109152e-01 1.18410470e+02] [-8.61492530e-01 -4.04738359e-01 3.06622703e-01 9.31604438e+01] [ 3.36282941e-01 -2.32450838e-03 9.41758133e-01 -1.03411526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.14, Z:-10.33 [[-3.86811869e-01 9.11641898e-01 1.38872705e-01 1.18395824e+02] [-8.58093718e-01 -4.10985452e-01 3.07841078e-01 9.31400870e+01] [ 3.37715486e-01 -8.92128713e-05 9.41248236e-01 -1.03303518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.14, Z:-10.33 [[-3.90017464e-01 9.10026285e-01 1.40493911e-01 1.18395336e+02] [-8.56213488e-01 -4.14550550e-01 3.08295807e-01 9.31376507e+01] [ 3.38799116e-01 -5.20322045e-05 9.40858733e-01 -1.03296647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.13, Z:-10.33 [[-3.92261336e-01 9.09001912e-01 1.40877848e-01 1.18394992e+02] [-8.54941020e-01 -4.16791372e-01 3.08805449e-01 9.31307818e+01] [ 3.39421415e-01 6.90186705e-04 9.40634162e-01 -1.03288356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.557628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.40, Y:93.13, Z:-10.33 [[-3.94144173e-01 9.08098370e-01 1.41448650e-01 1.18396469e+02] [-8.53649014e-01 -4.18754806e-01 3.09722092e-01 9.31288740e+01] [ 3.40490429e-01 1.32765730e-03 9.40247045e-01 -1.03314776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.12, Z:-10.33 [[-3.97106657e-01 9.06746730e-01 1.41833248e-01 1.18396411e+02] [-8.52028987e-01 -4.21669130e-01 3.10228546e-01 9.31230979e+01] [ 3.41105422e-01 2.34778196e-03 9.40022116e-01 -1.03283684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.617628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.40, Y:93.12, Z:-10.33 [[-3.97256553e-01 9.06642110e-01 1.42082072e-01 1.18396047e+02] [-8.51841078e-01 -4.21894335e-01 3.10438317e-01 9.31209368e+01] [ 3.41400072e-01 2.29231022e-03 9.39915281e-01 -1.03301057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.12, Z:-10.33 [[-3.97839486e-01 9.06421386e-01 1.41859137e-01 1.18395935e+02] [-8.51904604e-01 -4.22368147e-01 3.09618626e-01 9.31207475e+01] [ 3.40561725e-01 2.32806266e-03 9.40219278e-01 -1.03270631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.12, Z:-10.32 [[-3.95065155e-01 9.07618734e-01 1.41956887e-01 1.18392426e+02] [-8.53219390e-01 -4.19793887e-01 3.09499217e-01 9.31172969e+01] [ 3.40499921e-01 1.15198735e-03 9.40243839e-01 -1.03247205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.12, Z:-10.32 [[-3.93020553e-01 9.08488842e-01 1.42066422e-01 1.18391292e+02] [-8.54178141e-01 -4.17909033e-01 3.09405468e-01 9.31172974e+01] [ 3.40462257e-01 2.52676059e-04 9.40258150e-01 -1.03245443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.12, Z:-10.33 [[-3.89311831e-01 9.10112088e-01 1.41888285e-01 1.18391665e+02] [-8.56164905e-01 -4.14360092e-01 3.08686523e-01 9.31228014e+01] [ 3.39732179e-01 -1.30445481e-03 9.40521315e-01 -1.03266793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.12, Z:-10.32 [[-3.88419049e-01 9.10498845e-01 1.41853784e-01 1.18388612e+02] [-8.56722557e-01 -4.13507752e-01 3.08282012e-01 9.31192346e+01] [ 3.39348055e-01 -1.78673031e-03 9.40659187e-01 -1.03248203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.12, Z:-10.33 [[-3.88308829e-01 9.10563215e-01 1.41742317e-01 1.18388984e+02] [-8.56996314e-01 -4.13365080e-01 3.07711923e-01 9.31206390e+01] [ 3.38782482e-01 -1.98538655e-03 9.40862630e-01 -1.03252637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:93.12, Z:-10.33 [[-3.84412477e-01 9.13095393e-01 1.35955330e-01 1.18397506e+02] [-8.60465891e-01 -4.07745745e-01 3.05518999e-01 9.31248751e+01] [ 3.34403198e-01 4.60391031e-04 9.42429992e-01 -1.03336414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.39, Y:93.11, Z:-10.33 [[-3.90480911e-01 9.09435297e-01 1.43010834e-01 1.18389998e+02] [-8.56487902e-01 -4.15834046e-01 3.05794899e-01 9.31139103e+01] [ 3.37569449e-01 -3.07997841e-03 9.41295586e-01 -1.03252410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.11, Z:-10.32 [[-3.93187675e-01 9.08572431e-01 1.41065908e-01 1.18389853e+02] [-8.55673321e-01 -4.17726934e-01 3.05495297e-01 9.31078311e+01] [ 3.36491634e-01 -5.89348409e-04 9.41686271e-01 -1.03216414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.11, Z:-10.32 [[-3.95527036e-01 9.07573499e-01 1.40956405e-01 1.18391125e+02] [-8.54812857e-01 -4.19893237e-01 3.04933844e-01 9.31068808e+01] [ 3.35936517e-01 1.18231926e-04 9.41884623e-01 -1.03211069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:93.10, Z:-10.32 [[-3.99375446e-01 9.05921747e-01 1.40730384e-01 1.18391129e+02] [-8.53349943e-01 -4.23442937e-01 3.04121609e-01 9.31007272e+01] [ 3.35101667e-01 1.36643801e-03 9.42180983e-01 -1.03196555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:92.93, Z:-9.37 [[-3.20045671e-01 -9.35221602e-01 -1.51430919e-01 1.19147365e+02] [-8.86709183e-01 3.51981152e-01 -2.99760060e-01 9.29331660e+01] [ 3.33642913e-01 3.83382768e-02 -9.41919627e-01 -9.36573861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:92.76, Z:-10.02 [[ -0.31285215 -0.19864231 -0.92879748 119.2495371 ] [ -0.912797 0.33317963 0.23620535 92.75626686] [ 0.26253603 0.92170091 -0.28555607 -10.01873881] [ 0. 0. 0. 1. ]] SLAMing on 301.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:93.01, Z:-10.26 [[-3.17943802e-01 9.43971293e-01 8.84869316e-02 1.18318498e+02] [-9.07811988e-01 -3.30021837e-01 2.58772064e-01 9.30052286e+01] [ 2.73476019e-01 1.94547638e-03 9.61876854e-01 -1.02594216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.067628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.32, Y:93.00, Z:-10.26 [[-3.16769557e-01 9.44282629e-01 8.93720511e-02 1.18315235e+02] [-9.07492264e-01 -3.29131928e-01 2.61017172e-01 9.29963757e+01] [ 2.75889177e-01 1.57784874e-03 9.61188157e-01 -1.02599228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:93.00, Z:-10.26 [[-3.15494582e-01 9.44619445e-01 9.03176241e-02 1.18314911e+02] [-9.07144620e-01 -3.28165678e-01 2.63431067e-01 9.30006984e+01] [ 2.78481252e-01 1.17992753e-03 9.60440940e-01 -1.02610830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:93.00, Z:-10.26 [[-3.14534768e-01 9.44889542e-01 9.08384962e-02 1.18311858e+02] [-9.07084089e-01 -3.27388248e-01 2.64604216e-01 9.29951512e+01] [ 2.79761213e-01 8.29071110e-04 9.60069256e-01 -1.02597364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.26 [[-3.14416481e-01 9.44893815e-01 9.12028254e-02 1.18310710e+02] [-9.06879447e-01 -3.27376196e-01 2.65319609e-01 9.29947510e+01] [ 2.80556491e-01 7.10890107e-04 9.59837252e-01 -1.02593167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.98, Z:-10.26 [[-3.15667359e-01 9.44448196e-01 9.14971237e-02 1.18308570e+02] [-9.06265974e-01 -3.28658819e-01 2.65829579e-01 9.29840464e+01] [ 2.81133603e-01 9.92991335e-04 9.59668126e-01 -1.02559255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.26 [[-3.15358735e-01 9.44516689e-01 9.18536453e-02 1.18312758e+02] [-9.06135132e-01 -3.28462413e-01 2.66517476e-01 9.29921640e+01] [ 2.81900674e-01 8.16799233e-04 9.59443246e-01 -1.02604306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.247628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.26 [[-3.15535230e-01 9.44514603e-01 9.12671018e-02 1.18314271e+02] [-9.06731203e-01 -3.28468690e-01 2.64474659e-01 9.29913210e+01] [ 2.79778563e-01 6.96343473e-04 9.60064306e-01 -1.02594226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.26 [[-3.16537442e-01 9.44263764e-01 9.03880082e-02 1.18313776e+02] [-9.07305756e-01 -3.29188872e-01 2.61593105e-01 9.29899906e+01] [ 2.76767617e-01 7.94452460e-04 9.60936551e-01 -1.02558756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.25 [[-3.16428807e-01 9.44357374e-01 8.97884172e-02 1.18311696e+02] [-9.07996416e-01 -3.28920655e-01 2.59525936e-01 9.29857456e+01] [ 2.74618496e-01 5.93921217e-04 9.61553082e-01 -1.02537596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.98, Z:-10.25 [[-3.16408588e-01 9.44398686e-01 8.94244229e-02 1.18309446e+02] [-9.08433444e-01 -3.28802260e-01 2.58142889e-01 9.29830043e+01] [ 2.73192757e-01 4.42490505e-04 9.61959210e-01 -1.02517138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.25 [[-3.15546939e-01 9.44726786e-01 8.90024097e-02 1.18307992e+02] [-9.09212471e-01 -3.27858655e-01 2.56595764e-01 9.29861586e+01] [ 2.71593101e-01 4.59069487e-05 9.62412170e-01 -1.02516692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.99, Z:-10.25 [[-3.15359628e-01 9.44803350e-01 8.88534422e-02 1.18306716e+02] [-9.09505572e-01 -3.27637928e-01 2.55837847e-01 9.29853790e+01] [ 2.70828212e-01 -1.31772642e-04 9.62627686e-01 -1.02513971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:92.98, Z:-10.25 [[-3.15853612e-01 9.44633529e-01 8.89043990e-02 1.18304855e+02] [-9.09391722e-01 -3.28127237e-01 2.55615360e-01 9.29828589e+01] [ 2.70634794e-01 -1.11889911e-04 9.62682084e-01 -1.02507953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:92.98, Z:-10.25 [[-3.17074992e-01 9.44219764e-01 8.89521583e-02 1.18304180e+02] [-9.09015175e-01 -3.29315988e-01 2.55425903e-01 9.29807233e+01] [ 2.70471554e-01 1.30304387e-04 9.62727958e-01 -1.02502703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:92.98, Z:-10.25 [[-3.18687798e-01 9.43668996e-01 8.90332097e-02 1.18303701e+02] [-9.08469528e-01 -3.30890598e-01 2.55332193e-01 9.29781284e+01] [ 2.70409327e-01 4.87296554e-04 9.62745324e-01 -1.02491029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:92.97, Z:-10.25 [[-3.22430746e-01 9.42367562e-01 8.93408801e-02 1.18303506e+02] [-9.06962382e-01 -3.34576146e-01 2.55886772e-01 9.29716611e+01] [ 2.71030720e-01 1.47694532e-03 9.62569565e-01 -1.02471250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:92.93, Z:-10.23 [[-3.22517565e-01 9.42116540e-01 9.16452180e-02 1.18289380e+02] [-9.06242478e-01 -3.35285588e-01 2.57503680e-01 9.29253310e+01] [ 2.73325797e-01 -3.32967964e-06 9.61921519e-01 -1.02331859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:92.97, Z:-10.24 [[-3.24559567e-01 9.40925119e-01 9.65453649e-02 1.18305494e+02] [-9.03669459e-01 -3.38607821e-01 2.62156923e-01 9.29725723e+01] [ 2.79361050e-01 -2.15956009e-03 9.60183701e-01 -1.02444670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:92.79, Z:-10.19 [[-3.27058699e-01 9.38928530e-01 1.06985158e-01 1.18239638e+02] [-8.99519612e-01 -3.44015424e-01 2.69291394e-01 9.27936889e+01] [ 2.89649917e-01 -8.16115504e-03 9.57097864e-01 -1.01863963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:92.62, Z:-10.02 [[-3.23430311e-01 -8.29304446e-02 -9.42610935e-01 1.19160701e+02] [-9.25624277e-01 2.34590914e-01 2.96962626e-01 9.26208240e+01] [ 1.96500719e-01 9.68550280e-01 -1.52636245e-01 -1.00221302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.16689694e-01 9.46054265e-01 6.84760205e-02 1.18271699e+02] [-9.24189498e-01 -3.24007339e-01 2.02220215e-01 9.28836763e+01] [ 2.13498030e-01 7.56239128e-04 9.76943202e-01 -1.01909141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.14738340e-01 9.46709852e-01 6.84122335e-02 1.18270815e+02] [-9.24958208e-01 -3.22087574e-01 2.01771921e-01 9.28844770e+01] [ 2.13054196e-01 2.26902543e-04 9.77040357e-01 -1.01908884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.12057259e-01 9.47575208e-01 6.87131179e-02 1.18267437e+02] [-9.25707514e-01 -3.19532509e-01 2.02397073e-01 9.28771688e+01] [ 2.13742523e-01 -4.48773666e-04 9.76889928e-01 -1.01910319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.08701035e-01 9.48701827e-01 6.83265252e-02 1.18268654e+02] [-9.27165212e-01 -3.16169498e-01 2.01001291e-01 9.28841961e+01] [ 2.12293055e-01 -1.30067046e-03 9.77205182e-01 -1.01926861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.07990684e-01 9.48955236e-01 6.80124828e-02 1.18268978e+02] [-9.27679804e-01 -3.15406967e-01 1.99821487e-01 9.28845184e+01] [ 2.11073257e-01 -1.55065036e-03 9.77469015e-01 -1.01916078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.07347430e-01 9.49215351e-01 6.72887411e-02 1.18270529e+02] [-9.28454684e-01 -3.14622016e-01 1.97445909e-01 9.28812871e+01] [ 2.08589207e-01 -1.79005436e-03 9.78001707e-01 -1.01916009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.07735236e-01 9.49153438e-01 6.63835531e-02 1.18271731e+02] [-9.29003547e-01 -3.14808679e-01 1.94545380e-01 9.28794768e+01] [ 2.05551535e-01 -1.80208789e-03 9.78644634e-01 -1.01897295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.08097793e-01 9.49030497e-01 6.64594971e-02 1.18271017e+02] [-9.28883374e-01 -3.15179104e-01 1.94519434e-01 9.28772738e+01] [ 2.05551519e-01 -1.80211362e-03 9.78644637e-01 -1.01892163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.88, Z:-10.19 [[-3.08420172e-01 9.48946541e-01 6.61623740e-02 1.18271515e+02] [-9.29030447e-01 -3.15431705e-01 1.93404414e-01 9.28750787e+01] [ 2.04400160e-01 -1.81703724e-03 9.78885730e-01 -1.01888143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.87, Z:-10.19 [[-3.09242318e-01 9.48700072e-01 6.58586583e-02 1.18271666e+02] [-9.29013234e-01 -3.16172739e-01 1.92273792e-01 9.28695872e+01] [ 2.03232872e-01 -1.72437198e-03 9.79128912e-01 -1.01878145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.87, Z:-10.19 [[-3.10315643e-01 9.48348042e-01 6.58801375e-02 1.18270350e+02] [-9.28691050e-01 -3.17227862e-01 1.92092210e-01 9.28650535e+01] [ 2.03069286e-01 -1.57307646e-03 9.79163107e-01 -1.01872669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:92.52, Z:-10.11 [[-3.11685283e-01 9.48004662e-01 6.43385283e-02 1.18151647e+02] [-9.28101161e-01 -3.18256020e-01 1.93239078e-01 9.25167769e+01] [ 2.03667671e-01 5.17113810e-04 9.79039944e-01 -1.01119169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:92.85, Z:-10.18 [[-3.13759759e-01 9.47048765e-01 6.82162037e-02 1.18265816e+02] [-9.27147930e-01 -3.21078867e-01 1.93145224e-01 9.28500417e+01] [ 2.04820728e-01 -2.64531301e-03 9.78795930e-01 -1.01847343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.057628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.27, Y:92.85, Z:-10.19 [[-3.13656758e-01 9.47128187e-01 6.75842835e-02 1.18266237e+02] [-9.26737972e-01 -3.20852695e-01 1.95474498e-01 9.28462006e+01] [ 2.06824006e-01 -1.32102462e-03 9.78377271e-01 -1.01868996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:92.84, Z:-10.19 [[-3.14536218e-01 9.46801802e-01 6.80684657e-02 1.18264089e+02] [-9.26160713e-01 -3.21815035e-01 1.96625068e-01 9.28381046e+01] [ 2.08070424e-01 -1.19663336e-03 9.78113115e-01 -1.01859705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.117628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.27, Y:92.84, Z:-10.19 [[-3.13958257e-01 9.46932437e-01 6.89142372e-02 1.18265595e+02] [-9.25827193e-01 -3.21429690e-01 1.98813892e-01 9.28429100e+01] [ 2.10414405e-01 -1.38341178e-03 9.77611305e-01 -1.01884022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:92.65, Z:-10.14 [[-3.15370164e-01 9.46475162e-01 6.87490147e-02 1.18197401e+02] [-9.25515157e-01 -3.22774577e-01 1.98086514e-01 9.26484719e+01] [ 2.09674400e-01 -1.15767863e-03 9.77770579e-01 -1.01441950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:92.84, Z:-10.19 [[-3.16167990e-01 9.46176410e-01 6.91954042e-02 1.18262783e+02] [-9.24992662e-01 -3.23649632e-01 1.99096688e-01 9.28362437e+01] [ 2.10775657e-01 -1.05724139e-03 9.77533889e-01 -1.01851654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:92.83, Z:-10.18 [[-3.16972364e-01 9.45891279e-01 6.94133154e-02 1.18262338e+02] [-9.24646104e-01 -3.24482203e-01 1.99351152e-01 9.28328585e+01] [ 2.11087901e-01 -9.93945795e-04 9.77466577e-01 -1.01842396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.26, Y:92.83, Z:-10.19 [[-3.17655919e-01 9.45629429e-01 6.98548450e-02 1.18262708e+02] [-9.24158929e-01 -3.25244761e-01 2.00364964e-01 9.28297360e+01] [ 2.12190929e-01 -9.09862061e-04 9.77227805e-01 -1.01851709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.19 [[-3.18923318e-01 9.45199330e-01 6.99009535e-02 1.18263508e+02] [-9.23751124e-01 -3.26493048e-01 2.00215258e-01 9.28248414e+01] [ 2.12065503e-01 -7.17769976e-04 9.77255190e-01 -1.01853465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.19 [[-3.18723294e-01 9.45250622e-01 7.01193499e-02 1.18263339e+02] [-9.23722674e-01 -3.26344233e-01 2.00588793e-01 9.28219519e+01] [ 2.12489727e-01 -8.38512457e-04 9.77162941e-01 -1.01856413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.18 [[-3.18001280e-01 9.45546117e-01 6.94098485e-02 1.18264819e+02] [-9.24516402e-01 -3.25486277e-01 1.98313150e-01 9.28220423e+01] [ 2.10106182e-01 -1.10670786e-03 9.77677947e-01 -1.01844876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.18 [[-3.16760569e-01 9.45959655e-01 6.94483491e-02 1.18263183e+02] [-9.24970214e-01 -3.24281029e-01 1.98171435e-01 9.28176167e+01] [ 2.09982964e-01 -1.46475803e-03 9.77703948e-01 -1.01837767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.387628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.18 [[-3.14610286e-01 9.46646482e-01 6.98627653e-02 1.18262464e+02] [-9.25500377e-01 -3.22267291e-01 1.98979509e-01 9.28178708e+01] [ 2.10877736e-01 -2.05701534e-03 9.77510281e-01 -1.01844367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.26, Y:92.82, Z:-10.18 [[-3.10619195e-01 9.47966113e-01 6.98281092e-02 1.18260686e+02] [-9.26926913e-01 -3.18356862e-01 1.98633847e-01 9.28179764e+01] [ 2.10528414e-01 -3.02606807e-03 9.77583055e-01 -1.01840025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:92.81, Z:-10.17 [[-3.12073416e-01 9.46713196e-01 7.96511632e-02 1.18252210e+02] [-9.24985822e-01 -3.21901517e-01 2.01942177e-01 9.28130104e+01] [ 2.16821154e-01 -1.06554117e-02 9.76153189e-01 -1.01731205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:92.50, Z:-9.72 [[ -0.30795363 -0.46763722 -0.82854088 119.18752551] [ -0.9381911 0.29388439 0.18283717 92.49712637] [ 0.15799376 0.83363505 -0.52923584 -9.71647544] [ 0. 0. 0. 1. ]] SLAMing on 302.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:92.73, Z:-10.14 [[-2.77378131e-01 9.59655776e-01 4.60669437e-02 1.18215268e+02] [-9.48190777e-01 -2.81165017e-01 1.47920529e-01 9.27258773e+01] [ 1.54905204e-01 -2.65033120e-03 9.87925783e-01 -1.01400701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:92.72, Z:-10.12 [[-2.82647956e-01 9.56517858e-01 7.19980654e-02 1.18202930e+02] [-9.43799105e-01 -2.90724731e-01 1.57233522e-01 9.27236028e+01] [ 1.71328289e-01 -2.35099762e-02 9.84933449e-01 -1.01212756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.567628 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:118.87, Y:91.97, Z:-9.16 [[-2.37049179e-01 -9.43394685e-01 -2.31978780e-01 1.18865574e+02] [-9.63816530e-01 2.58339598e-01 -6.57141426e-02 9.19719524e+01] [ 1.21923678e-01 2.08007499e-01 -9.70498582e-01 -9.15734375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.02, Y:92.44, Z:-9.92 [[-2.30428683e-01 -4.89855431e-02 -9.71855462e-01 1.19015921e+02] [-9.70337055e-01 8.66285427e-02 2.25702228e-01 9.24426984e+01] [ 7.31342761e-02 9.95035634e-01 -6.74941886e-02 -9.91765102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:92.62, Z:-10.06 [[-2.08624481e-01 9.77502170e-01 3.10698158e-02 1.18141560e+02] [-9.74470590e-01 -2.10462507e-01 7.81831405e-02 9.26187025e+01] [ 8.29632208e-02 -1.39657046e-02 9.96454747e-01 -1.00602494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:92.33, Z:-9.75 [[-2.21602501e-01 -3.04616212e-01 -9.26337571e-01 1.19042421e+02] [-9.75134527e-01 6.70495306e-02 2.11227400e-01 9.23349933e+01] [-2.23279111e-03 9.50112269e-01 -3.11900130e-01 -9.74582492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:92.53, Z:-10.03 [[-1.83080369e-01 9.82971226e-01 1.57843987e-02 1.18118425e+02] [-9.82978144e-01 -1.83285115e-01 1.26702763e-02 9.25292157e+01] [ 1.53475624e-02 -1.31960401e-02 9.99795137e-01 -1.00283366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:92.25, Z:-9.89 [[-2.18999839e-01 1.47376238e-02 -9.75613588e-01 1.18922803e+02] [-9.74046559e-01 -6.19232960e-02 2.17712669e-01 9.22526305e+01] [-5.72046416e-02 9.97972098e-01 2.79163236e-02 -9.89345056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:92.43, Z:-10.00 [[-1.80818285e-01 9.83514877e-01 1.79820129e-03 1.18101835e+02] [-9.82186515e-01 -1.80478412e-01 -5.23181818e-02 9.24326550e+01] [-5.11311736e-02 -1.12262530e-02 9.98628847e-01 -9.99590086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:92.12, Z:-9.75 [[-1.97173697e-01 -2.26581611e-01 -9.53825617e-01 1.18970929e+02] [-9.72777692e-01 -7.56203237e-02 2.19055082e-01 9.21200978e+01] [-1.21762455e-01 9.71052182e-01 -2.05503198e-01 -9.74604047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.807628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.09, Y:92.33, Z:-9.99 [[-1.55729182e-01 9.87305631e-01 -3.12412020e-02 1.18090461e+02] [-9.79289603e-01 -1.58452880e-01 -1.26033958e-01 9.23288772e+01] [-1.29384295e-01 1.09670191e-02 9.91533877e-01 -9.98774471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83762800000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:118.08, Y:92.31, Z:-9.98 [[-1.59628776e-01 9.87072316e-01 -1.43838842e-02 1.18078090e+02] [-9.79198032e-01 -1.60170555e-01 -1.24565675e-01 9.23143145e+01] [-1.25259204e-01 -5.79959517e-03 9.92107099e-01 -9.98077522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:92.32, Z:-9.98 [[-1.55603380e-01 9.87382602e-01 -2.93800244e-02 1.18088243e+02] [-9.79027567e-01 -1.58109592e-01 -1.28477158e-01 9.23198597e+01] [-1.31501374e-01 8.77237380e-03 9.91277173e-01 -9.98428796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:92.31, Z:-9.98 [[-1.59245616e-01 9.87082768e-01 -1.75625673e-02 1.18079924e+02] [-9.78885931e-01 -1.60182501e-01 -1.26979923e-01 9.23090467e+01] [-1.28152910e-01 -3.02924604e-03 9.91749795e-01 -9.97833710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:92.30, Z:-9.99 [[-1.58527058e-01 9.86886992e-01 -3.03848243e-02 1.18086310e+02] [-9.78448277e-01 -1.61146783e-01 -1.29115005e-01 9.23048742e+01] [-1.32318335e-01 9.26175709e-03 9.91164002e-01 -9.98610355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:92.29, Z:-9.98 [[-1.67653488e-01 9.85694710e-01 -1.72698154e-02 1.18075222e+02] [-9.77420474e-01 -1.68480509e-01 -1.27528564e-01 9.22862375e+01] [-1.28613858e-01 -4.50073733e-03 9.91684536e-01 -9.98162340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:92.29, Z:-9.99 [[-1.66141625e-01 9.85521535e-01 -3.38269695e-02 1.18086908e+02] [-9.76720811e-01 -1.69184703e-01 -1.31882500e-01 9.22912483e+01] [-1.35696050e-01 1.11283323e-02 9.90688015e-01 -9.98999979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.08, Y:92.28, Z:-9.99 [[-1.71433665e-01 9.84708255e-01 -3.09863200e-02 1.18083819e+02] [-9.75363694e-01 -1.74071201e-01 -1.35517087e-01 9.22785278e+01] [-1.38838620e-01 6.99074067e-03 9.90290345e-01 -9.99358361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.08, Y:92.27, Z:-9.99 [[-1.76909680e-01 9.84023345e-01 -2.00255382e-02 1.18075712e+02] [-9.74865699e-01 -1.77990315e-01 -1.34001184e-01 9.22656210e+01] [-1.35424645e-01 -4.18389634e-03 9.90778815e-01 -9.98994315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:92.25, Z:-9.99 [[-1.80415649e-01 9.83191284e-01 -2.80194924e-02 1.18077663e+02] [-9.73851390e-01 -1.82555608e-01 -1.35229137e-01 9.22534223e+01] [-1.38071225e-01 2.88936907e-03 9.90418088e-01 -9.99388285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:91.98, Z:-10.02 [[-1.91882286e-01 9.81312018e-01 -1.44191103e-02 1.18015278e+02] [-9.73099108e-01 -1.92144183e-01 -1.27117031e-01 9.19768297e+01] [-1.27512018e-01 -1.03602832e-02 9.91782915e-01 -1.00213377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:91.72, Z:-9.04 [[-1.48257822e-01 -4.86403835e-01 8.61063835e-01 1.18078750e+02] [-9.86048852e-01 1.39333999e-01 -9.10697450e-02 9.17183789e+01] [-7.56787947e-02 -8.62552808e-01 -5.00275298e-01 -9.03875983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:91.84, Z:-9.92 [[-1.66645344e-01 5.03886769e-02 -9.84728547e-01 1.18799355e+02] [-9.74755533e-01 -1.58925955e-01 1.56825353e-01 9.18375457e+01] [-1.48596703e-01 9.86003814e-01 7.56009120e-02 -9.92491300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:91.98, Z:-10.02 [[-1.67290342e-01 9.85656726e-01 -2.22432051e-02 1.18005492e+02] [-9.76284839e-01 -1.68759827e-01 -1.35602488e-01 9.19761945e+01] [-1.37411264e-01 -9.69282796e-04 9.90513607e-01 -1.00154576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:91.97, Z:-10.02 [[-1.68100066e-01 9.85518418e-01 -2.22669238e-02 1.18005448e+02] [-9.76181818e-01 -1.69565385e-01 -1.35338977e-01 9.19682128e+01] [-1.37154754e-01 -1.01392478e-03 9.90549113e-01 -1.00169653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:91.96, Z:-10.02 [[-1.68137900e-01 9.85510648e-01 -2.23250784e-02 1.18004337e+02] [-9.76193779e-01 -1.69610975e-01 -1.35195502e-01 9.19631347e+01] [-1.37023185e-01 -9.37885027e-04 9.90567397e-01 -1.00180117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:91.95, Z:-10.02 [[-1.67282987e-01 9.85652213e-01 -2.24970456e-02 1.18001753e+02] [-9.76261424e-01 -1.68787328e-01 -1.35736767e-01 9.19539800e+01] [-1.37586461e-01 -7.43453915e-04 9.90489482e-01 -1.00183097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:91.96, Z:-10.02 [[-1.67049976e-01 9.85688370e-01 -2.26438078e-02 1.18002041e+02] [-9.76244175e-01 -1.68576497e-01 -1.36122279e-01 9.19560120e+01] [-1.37991361e-01 -6.33337993e-04 9.90433230e-01 -1.00179267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:91.73, Z:-10.05 [[-1.67074730e-01 9.85676345e-01 -2.29820951e-02 1.17963899e+02] [-9.76234760e-01 -1.68647710e-01 -1.36101592e-01 9.17289641e+01] [-1.38027997e-01 -3.03216598e-04 9.90428281e-01 -1.00512779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:91.60, Z:-9.04 [[-9.30004900e-02 -9.73720093e-01 2.07894417e-01 1.18528817e+02] [-9.86371715e-01 1.18564625e-01 1.14075716e-01 9.15980235e+01] [-1.35726740e-01 -1.94452075e-01 -9.71476527e-01 -9.03611287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:91.78, Z:-10.05 [[-1.02583408e-01 9.94649459e-01 -1.22105654e-02 1.17935943e+02] [-9.86925130e-01 -1.03305580e-01 -1.23720431e-01 9.17832553e+01] [-1.24319879e-01 -6.40749544e-04 9.92241985e-01 -1.00469279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:91.78, Z:-10.05 [[-1.04328943e-01 9.94466658e-01 -1.23100663e-02 1.17935698e+02] [-9.86708191e-01 -1.05049724e-01 -1.23981862e-01 9.17777915e+01] [-1.24588997e-01 -7.88453342e-04 9.92208123e-01 -1.00481552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:91.77, Z:-10.05 [[-1.07246985e-01 9.94155771e-01 -1.23445459e-02 1.17934776e+02] [-9.86443984e-01 -1.07949720e-01 -1.23592577e-01 9.17697239e+01] [-1.24202864e-01 -1.07772825e-03 9.92256261e-01 -1.00493828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:91.63, Z:-10.07 [[-1.08642897e-01 9.93962458e-01 -1.53412300e-02 1.17922151e+02] [-9.86368347e-01 -1.09705814e-01 -1.22646315e-01 9.16264042e+01] [-1.23588855e-01 1.80745268e-03 9.92331864e-01 -1.00701124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:91.49, Z:-9.04 [[-4.48195526e-02 -6.38569199e-01 7.68258151e-01 1.18102022e+02] [-9.95959357e-01 8.84693693e-02 1.54314816e-02 9.14920114e+01] [-7.78213829e-02 -7.64462261e-01 -6.39954126e-01 -9.03857028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:91.59, Z:-10.10 [[-5.64511033e-02 9.98394322e-01 -4.69585379e-03 1.17897859e+02] [-9.95914673e-01 -5.66416690e-02 -7.03255658e-02 9.15931564e+01] [-7.04786266e-02 7.06713908e-04 9.97513039e-01 -1.00991030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:91.58, Z:-10.10 [[-6.21866978e-02 9.98061487e-01 -2.46653044e-03 1.17893143e+02] [-9.95819521e-01 -6.22122918e-02 -6.68813365e-02 9.15822641e+01] [-6.69051347e-02 -1.70291030e-03 9.97757888e-01 -1.00978608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:91.58, Z:-10.10 [[-6.04290591e-02 9.98165228e-01 -3.80876588e-03 1.17893173e+02] [-9.95991471e-01 -6.05486880e-02 -6.58395538e-02 9.15777142e+01] [-6.59493690e-02 -1.85123965e-04 9.97822953e-01 -1.00988133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64762800000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:117.89, Y:91.58, Z:-10.10 [[-5.55093101e-02 9.98451491e-01 -3.65206577e-03 1.17893105e+02] [-9.96487951e-01 -5.56290738e-02 -6.25872980e-02 9.15774934e+01] [-6.26935420e-02 1.65061796e-04 9.98032811e-01 -1.00998058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.677628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.89, Y:91.57, Z:-10.10 [[-5.43159090e-02 9.98517156e-01 -3.64310287e-03 1.17893072e+02] [-9.96598240e-01 -5.44372787e-02 -6.18751244e-02 9.15707218e+01] [-6.19816938e-02 2.69906284e-04 9.98077250e-01 -1.00995059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.707628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.89, Y:91.57, Z:-10.10 [[-5.21166255e-02 9.98634436e-01 -3.62217097e-03 1.17894124e+02] [-9.96770257e-01 -5.22405621e-02 -6.09916274e-02 9.15703273e+01] [-6.10975637e-02 4.31794490e-04 9.98131705e-01 -1.01009140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:91.34, Z:-9.15 [[-3.71647880e-03 -9.99946560e-01 9.64700680e-03 1.18556973e+02] [-9.95459200e-01 4.61705959e-03 9.50771424e-02 9.13417892e+01] [-9.51166023e-02 -9.24984949e-03 -9.95423162e-01 -9.14528889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:91.38, Z:-10.11 [[ 1.99734890e-02 9.99800392e-01 4.85449818e-04 1.17853027e+02] [-9.97893041e-01 1.99653588e-02 -6.17321938e-02 9.13835721e+01] [-6.17295637e-02 7.48580296e-04 9.98092631e-01 -1.01123874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:91.36, Z:-10.11 [[ 2.19795564e-02 9.99758293e-01 5.04666181e-04 1.17852740e+02] [-9.97827816e-01 2.19684650e-02 -6.21050488e-02 9.13556068e+01] [-6.21011243e-02 8.61471470e-04 9.98069491e-01 -1.01138080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.827628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.85, Y:91.33, Z:-10.12 [[ 2.45109018e-02 9.99699424e-01 5.27289692e-04 1.17853106e+02] [-9.97734699e-01 2.44957765e-02 -6.26532385e-02 9.13276949e+01] [-6.26473228e-02 1.00959216e-03 9.98035217e-01 -1.01161774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:91.30, Z:-10.12 [[ 2.73066186e-02 9.99624532e-01 2.26789254e-03 1.17851931e+02] [-9.97520029e-01 2.73962183e-02 -6.48323976e-02 9.12983793e+01] [-6.48701868e-02 -4.91914674e-04 9.97893590e-01 -1.01151002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:91.23, Z:-9.17 [[ 6.85356020e-02 -9.97404472e-01 -2.20724035e-02 1.18568047e+02] [-9.93437987e-01 -7.02601949e-02 9.02467215e-02 9.12296734e+01] [-9.15632950e-02 1.57424507e-02 -9.95674816e-01 -9.16901069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:91.23, Z:-9.16 [[ 1.46783000e-01 -9.89130195e-01 -8.72968634e-03 1.18551312e+02] [-9.85052820e-01 -1.46970793e-01 8.98361191e-02 9.12269033e+01] [-9.01426270e-02 -4.58721297e-03 -9.95918302e-01 -9.16453756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:91.23, Z:-9.17 [[ 2.25594088e-01 -9.74106375e-01 -1.49692238e-02 1.18545355e+02] [-9.70346259e-01 -2.26039335e-01 8.56408627e-02 9.12264195e+01] [-8.68069437e-02 -4.79474203e-03 -9.96213614e-01 -9.16861393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97762800000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.85, Y:91.10, Z:-10.12 [[ 2.55113867e-01 9.66761821e-01 1.69851764e-02 1.17851027e+02] [-9.64361859e-01 2.55676753e-01 -6.80852574e-02 9.11023857e+01] [-7.01649422e-02 9.89637053e-04 9.97534912e-01 -1.01224553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:91.07, Z:-10.12 [[ 2.52331202e-01 9.67385210e-01 2.22445642e-02 1.17858033e+02] [-9.65050854e-01 2.53270150e-01 -6.73132924e-02 9.10720009e+01] [-7.07517676e-02 -4.48189170e-03 9.97483885e-01 -1.01209929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:91.04, Z:-10.13 [[ 2.45256563e-01 9.69380931e-01 1.22404523e-02 1.17869911e+02] [-9.66908597e-01 2.45507159e-01 -6.93830010e-02 9.10412799e+01] [-7.02636768e-02 5.18123782e-03 9.97514998e-01 -1.01284199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:91.01, Z:-10.13 [[ 2.42412421e-01 9.70028622e-01 1.67538446e-02 1.17875447e+02] [-9.67699080e-01 2.42990674e-01 -6.71864726e-02 9.10141547e+01] [-6.92438294e-02 7.41554968e-05 9.97599763e-01 -1.01295355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.99, Z:-10.14 [[ 2.41408580e-01 9.70304926e-01 1.51739498e-02 1.17887289e+02] [-9.67874678e-01 2.41877628e-01 -6.86572703e-02 9.09878086e+01] [-7.02887265e-02 1.88797237e-03 9.97524902e-01 -1.01352865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.96, Z:-10.14 [[ 2.38174545e-01 9.71058698e-01 1.78295339e-02 1.17893462e+02] [-9.68732017e-01 2.38837596e-01 -6.71928721e-02 9.09556815e+01] [-6.95065859e-02 -1.26840867e-03 9.97580686e-01 -1.01371262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.92, Z:-10.14 [[ 2.34310875e-01 9.72007062e-01 1.73402898e-02 1.17900033e+02] [-9.69727299e-01 2.34948453e-01 -6.65446480e-02 9.09234164e+01] [-6.87559421e-02 -1.22321772e-03 9.97632760e-01 -1.01388305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.89, Z:-10.14 [[ 2.31821134e-01 9.72589430e-01 1.81318341e-02 1.17904389e+02] [-9.70444673e-01 2.32514398e-01 -6.46079825e-02 9.08930798e+01] [-6.70529533e-02 -2.61844607e-03 9.97745982e-01 -1.01391245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.87, Z:-10.14 [[ 2.31335566e-01 9.72741576e-01 1.60524573e-02 1.17911458e+02] [-9.70601671e-01 2.31890896e-01 -6.44903699e-02 9.08663659e+01] [-6.64548828e-02 -6.61625661e-04 9.97789212e-01 -1.01417917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:90.84, Z:-10.14 [[ 2.30991383e-01 9.72824589e-01 1.59781064e-02 1.17917732e+02] [-9.70710376e-01 2.31542277e-01 -6.41056957e-02 9.08392237e+01] [-6.60632042e-02 -7.02250362e-04 9.97815193e-01 -1.01435460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:90.93, Z:-9.19 [[ 3.26510792e-01 -9.44911243e-01 -2.30964331e-02 1.18610441e+02] [-9.40784825e-01 -3.27248167e-01 8.85016954e-02 9.09336047e+01] [-9.11845124e-02 -7.16798492e-03 -9.95808217e-01 -9.19439005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.75, Z:-10.15 [[ 3.08076432e-01 9.51124444e-01 2.12415758e-02 1.17932888e+02] [-9.48858972e-01 3.08807852e-01 -6.56076410e-02 9.07533954e+01] [-6.89605964e-02 5.69081528e-05 9.97619383e-01 -1.01488155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:90.72, Z:-10.15 [[ 3.08224412e-01 9.51040562e-01 2.27938864e-02 1.17939889e+02] [-9.48814204e-01 3.09062077e-01 -6.50556622e-02 9.07234942e+01] [-6.89152994e-02 -1.57541995e-03 9.97621271e-01 -1.01493950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:90.69, Z:-10.15 [[ 3.12688297e-01 9.49595426e-01 2.22386033e-02 1.17948215e+02] [-9.47264852e-01 3.13477991e-01 -6.64894697e-02 9.06916423e+01] [-7.01094090e-02 -2.75368229e-04 9.97539270e-01 -1.01515068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:90.85, Z:-9.21 [[ 3.89277783e-01 -9.20691929e-01 -2.80923428e-02 1.18641295e+02] [-9.17048786e-01 -3.90241167e-01 8.20570274e-02 9.08451650e+01] [-8.65120315e-02 -6.18092892e-03 -9.96231632e-01 -9.20554755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:90.84, Z:-9.21 [[ 4.57004175e-01 -8.88805244e-01 -3.42406486e-02 1.18639698e+02] [-8.85291543e-01 -4.58247528e-01 7.91712484e-02 9.08405028e+01] [-8.60585134e-02 -5.86863436e-03 -9.96272800e-01 -9.20802352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:90.84, Z:-9.21 [[ 5.21811650e-01 -8.52115646e-01 -4.01438444e-02 1.18638770e+02] [-8.48747689e-01 -5.23324351e-01 7.58879719e-02 9.08360641e+01] [-8.56735795e-02 -5.52723274e-03 -9.96307928e-01 -9.21041910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.64, Y:90.83, Z:-9.21 [[ 5.80874027e-01 -8.12727409e-01 -4.53819741e-02 1.18638681e+02] [-8.09574787e-01 -5.82623514e-01 7.16833635e-02 9.08327007e+01] [-8.46996395e-02 -4.89890204e-03 -9.96394486e-01 -9.21269264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:90.83, Z:-9.21 [[ 6.40153034e-01 -7.66565869e-01 -5.08021767e-02 1.18638804e+02] [-7.63575289e-01 -6.42149116e-01 6.78033224e-02 9.08293122e+01] [-8.45982856e-02 -4.61321580e-03 -9.96404460e-01 -9.21478289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:90.81, Z:-9.22 [[ 6.93560366e-01 -7.16972125e-01 -7.01782787e-02 1.18648151e+02] [-7.15578759e-01 -6.96893261e-01 4.78207364e-02 9.08144223e+01] [-8.31929045e-02 1.70515181e-02 -9.96387568e-01 -9.22077550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:90.84, Z:-9.27 [[ 7.42969384e-01 -6.50826510e-01 -1.56273310e-01 1.18691550e+02] [-6.63048378e-01 -7.47560711e-01 -3.89850082e-02 9.08350913e+01] [-9.14513097e-02 1.32581432e-01 -9.86944184e-01 -9.27049077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:90.80, Z:-9.24 [[ 7.93093713e-01 -5.99537558e-01 -1.07503856e-01 1.18672181e+02] [-6.00895400e-01 -7.98999096e-01 2.29164157e-02 9.07956345e+01] [-9.96347360e-02 4.64237075e-02 -9.93940521e-01 -9.24197249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.66, Y:90.77, Z:-9.22 [[ 8.36949290e-01 -5.40711513e-01 -8.45396121e-02 1.18661760e+02] [-5.37454788e-01 -8.41197167e-01 5.94110835e-02 9.07695261e+01] [-1.03238739e-01 -4.28784487e-03 -9.94647363e-01 -9.22439899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:90.76, Z:-9.23 [[ 8.75902924e-01 -4.73881866e-01 -9.07195936e-02 1.18660982e+02] [-4.71884839e-01 -8.80576743e-01 4.36955168e-02 9.07629969e+01] [-1.00592077e-01 4.53616994e-03 -9.94917412e-01 -9.22786470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.67, Y:90.78, Z:-9.25 [[ 9.11368116e-01 -3.96163196e-01 -1.11637272e-01 1.18669268e+02] [-3.98093335e-01 -9.17329045e-01 5.39634798e-03 9.07761705e+01] [-1.04545946e-01 3.95239943e-02 -9.93734370e-01 -9.24752812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:90.75, Z:-9.23 [[ 9.40585103e-01 -3.25149545e-01 -9.78643841e-02 1.18663602e+02] [-3.22861139e-01 -9.45649822e-01 3.88213896e-02 9.07517065e+01] [-1.05168195e-01 -4.91821425e-03 -9.94442287e-01 -9.23429472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.67, Y:90.75, Z:-9.24 [[ 9.64258302e-01 -2.45287993e-01 -1.00198445e-01 1.18665320e+02] [-2.43394535e-01 -9.69435202e-01 3.08948273e-02 9.07476782e+01] [-1.04714030e-01 -5.40283978e-03 -9.94487698e-01 -9.23620203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.67, Y:90.75, Z:-9.24 [[ 9.80940772e-01 -1.65679139e-01 -1.01516618e-01 1.18666104e+02] [-1.64202998e-01 -9.86163333e-01 2.27871756e-02 9.07450739e+01] [-1.03887326e-01 -5.68353657e-03 -9.94572833e-01 -9.23854524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.67, Y:90.74, Z:-9.24 [[ 9.91063114e-01 -8.63021772e-02 -1.01714491e-01 1.18665808e+02] [-8.59269786e-02 -9.96268733e-01 8.07261198e-03 9.07441295e+01] [-1.02031651e-01 7.39550924e-04 -9.94780878e-01 -9.24125571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.66, Y:90.76, Z:-9.26 [[ 9.94645575e-01 4.38484004e-04 -1.03344028e-01 1.18662304e+02] [-2.90722318e-03 -9.99476521e-01 -3.22216116e-02 9.07628289e+01] [-1.03304059e-01 3.23495275e-02 -9.94123624e-01 -9.25602815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:90.75, Z:-9.26 [[ 9.91589507e-01 8.11254019e-02 -1.00841058e-01 1.18659143e+02] [ 7.84783065e-02 -9.96465763e-01 -2.99522866e-02 9.07488287e+01] [-1.02914554e-01 2.17865376e-02 -9.94451578e-01 -9.25504337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.66, Y:90.74, Z:-9.26 [[ 9.81420960e-01 1.62945529e-01 -1.01299821e-01 1.18658410e+02] [ 1.60321829e-01 -9.86493484e-01 -3.35785302e-02 9.07427981e+01] [-1.05403085e-01 1.67141007e-02 -9.94289107e-01 -9.25713505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.66, Y:90.71, Z:-9.23 [[ 9.65335423e-01 2.34643201e-01 -1.14324487e-01 1.18664224e+02] [ 2.40108219e-01 -9.70061747e-01 3.64451687e-02 9.07092671e+01] [-1.02350201e-01 -6.26320614e-02 -9.92774728e-01 -9.22980802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:90.74, Z:-9.25 [[ 9.43391949e-01 3.16829357e-01 -9.81365825e-02 1.18651819e+02] [ 3.15936358e-01 -9.48452965e-01 -2.49236943e-02 9.07377696e+01] [-1.00974491e-01 -7.49210197e-03 -9.94860805e-01 -9.25410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:90.74, Z:-9.26 [[ 9.15190860e-01 3.91471845e-01 -9.57887486e-02 1.18646692e+02] [ 3.90189487e-01 -9.20158854e-01 -3.25553012e-02 9.07424876e+01] [-1.00885349e-01 -7.58144857e-03 -9.94869171e-01 -9.25741418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:90.74, Z:-9.26 [[ 8.81496763e-01 4.62437690e-01 -9.54716701e-02 1.18644561e+02] [ 4.61794618e-01 -8.86477306e-01 -3.00618734e-02 9.07411947e+01] [-9.85352122e-02 -1.75888593e-02 -9.94978112e-01 -9.25612975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:90.72, Z:-9.24 [[ 8.42315584e-01 5.26023083e-01 -1.17491163e-01 1.18653913e+02] [ 5.30259458e-01 -8.47815957e-01 5.74546114e-03 9.07224202e+01] [-9.65886373e-02 -6.71402916e-02 -9.93057308e-01 -9.23962645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:90.75, Z:-9.26 [[ 7.97649227e-01 5.97492259e-01 -8.22113756e-02 1.18630177e+02] [ 5.95164359e-01 -8.01847729e-01 -5.30999546e-02 9.07474637e+01] [-9.76478167e-02 -6.57414294e-03 -9.95199319e-01 -9.26476484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.75, Z:-9.27 [[ 7.46575318e-01 6.60524130e-01 -7.95812045e-02 1.18624091e+02] [ 6.57840200e-01 -7.50766526e-01 -5.99657800e-02 9.07471622e+01] [-9.93557490e-02 -7.58274426e-03 -9.95023084e-01 -9.26603569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.74, Z:-9.27 [[ 6.91164363e-01 7.18797636e-01 -7.49785451e-02 1.18621383e+02] [ 7.15763571e-01 -6.95176115e-01 -6.64280100e-02 9.07447764e+01] [-9.98715902e-02 -7.75423792e-03 -9.94970119e-01 -9.26744292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.74, Z:-9.27 [[ 6.31766400e-01 7.71969143e-01 -7.02485486e-02 1.18618365e+02] [ 7.68549043e-01 -6.35611362e-01 -7.30107178e-02 9.07421759e+01] [-1.01012797e-01 -7.86373648e-03 -9.94854048e-01 -9.26942714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.73, Z:-9.27 [[ 5.69873840e-01 8.18247366e-01 -7.55979820e-02 1.18621076e+02] [ 8.15676063e-01 -5.74423702e-01 -6.86292208e-02 9.07345709e+01] [-9.95809518e-02 -2.25534667e-02 -9.94773831e-01 -9.26558664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:90.71, Z:-9.24 [[ 5.04485707e-01 8.53625923e-01 -1.29680201e-01 1.18652322e+02] [ 8.58127913e-01 -5.12309747e-01 -3.39883359e-02 9.07111864e+01] [-9.54497554e-02 -9.41355703e-02 -9.90973178e-01 -9.24181527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.73, Z:-9.28 [[ 4.38058827e-01 8.97648021e-01 -4.82959153e-02 1.18616677e+02] [ 8.93846068e-01 -4.40659226e-01 -8.28169883e-02 9.07260242e+01] [-9.56225463e-02 -6.89040127e-03 -9.95393817e-01 -9.27671695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.62, Y:90.72, Z:-9.28 [[ 3.70421479e-01 9.27955424e-01 -4.10689649e-02 1.18618066e+02] [ 9.24077809e-01 -3.72635059e-01 -8.49900917e-02 9.07197407e+01] [-9.41707527e-02 -6.46876363e-03 -9.95535044e-01 -9.27813706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.72, Z:-9.28 [[ 2.99080873e-01 9.53630029e-01 -3.37697907e-02 1.18616805e+02] [ 9.49723044e-01 -3.00917187e-01 -8.64579999e-02 9.07156764e+01] [-9.26108554e-02 -6.21401428e-03 -9.95682989e-01 -9.28111820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:118.61, Y:90.71, Z:-9.28 [[ 2.29763200e-01 9.72877981e-01 -2.67825731e-02 1.18613671e+02] [ 9.68857057e-01 -2.31250969e-01 -8.85380876e-02 9.07106601e+01] [-9.23302519e-02 -5.60569056e-03 -9.95712660e-01 -9.28075741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:90.71, Z:-9.28 [[ 1.55539048e-01 9.87636913e-01 -1.95175135e-02 1.18614882e+02] [ 9.83635579e-01 -1.56667190e-01 -8.89743774e-02 9.07058288e+01] [-9.09321334e-02 -5.35913075e-03 -9.95842672e-01 -9.28492857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.70, Z:-9.29 [[ 7.92062822e-02 9.96781222e-01 -1.23919623e-02 1.18617587e+02] [ 9.92775181e-01 -7.99997290e-02 -8.94286483e-02 9.07004047e+01] [-9.01321510e-02 -5.21912184e-03 -9.95916139e-01 -9.28782722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:90.70, Z:-9.29 [[ 1.79620573e-03 9.99984287e-01 -5.31027013e-03 1.18621773e+02] [ 9.95972918e-01 -2.26494602e-03 -8.96259803e-02 9.06950697e+01] [-8.96365995e-02 -5.12789854e-03 -9.95961337e-01 -9.29067828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:90.66, Z:-9.29 [[-7.56900954e-02 9.97129889e-01 1.73006932e-03 1.18657201e+02] [ 9.93133135e-01 7.55417036e-02 -8.93309928e-02 9.06572816e+01] [-8.92052953e-02 -5.04328220e-03 -9.96000492e-01 -9.29048927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:90.63, Z:-9.29 [[-1.54120316e-01 9.87990959e-01 1.09906130e-02 1.18692031e+02] [ 9.84058601e-01 1.54486988e-01 -8.81047146e-02 9.06349498e+01] [-8.87445682e-02 -2.76331917e-03 -9.96050584e-01 -9.29175731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.73, Y:90.61, Z:-9.29 [[-2.31565984e-01 9.72382224e-01 2.91548521e-02 1.18726182e+02] [ 9.68710693e-01 2.33235879e-01 -8.48564522e-02 9.06053267e+01] [-8.93128633e-02 8.59274911e-03 -9.95966554e-01 -9.29494416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:90.59, Z:-9.29 [[-3.09964988e-01 9.50480034e-01 2.25701577e-02 1.18771088e+02] [ 9.46548952e-01 3.10737714e-01 -8.65283418e-02 9.05896179e+01] [-8.92568604e-02 -5.45699730e-03 -9.95993692e-01 -9.29075565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:90.57, Z:-9.29 [[-3.84805334e-01 9.22536677e-01 2.91707675e-02 1.18812021e+02] [ 9.18707555e-01 3.85869036e-01 -8.41517416e-02 9.05713767e+01] [-8.88891641e-02 -5.58263459e-03 -9.96025879e-01 -9.29106115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:90.55, Z:-9.29 [[-4.56335104e-01 8.89072634e-01 3.61680140e-02 1.18857156e+02] [ 8.85257231e-01 4.57731704e-01 -8.24701273e-02 9.05497230e+01] [-8.98771800e-02 -5.61601820e-03 -9.95937023e-01 -9.29053131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:90.54, Z:-9.29 [[-5.25581595e-01 8.49659175e-01 4.29333482e-02 1.18900297e+02] [ 8.45906111e-01 5.27301248e-01 -7.99765310e-02 9.05372042e+01] [-9.05916015e-02 -5.71661118e-03 -9.95871720e-01 -9.29024539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:90.53, Z:-9.29 [[-5.90416281e-01 8.05612709e-01 4.89569062e-02 1.18945713e+02] [ 8.02025549e-01 5.92415144e-01 -7.61532413e-02 9.05280913e+01] [-9.03528316e-02 -5.69742399e-03 -9.95893521e-01 -9.29020326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:90.52, Z:-9.29 [[-6.51652358e-01 7.56526685e-01 5.49233876e-02 1.18991541e+02] [ 7.53095074e-01 6.53938100e-01 -7.21995139e-02 9.05229805e+01] [-9.05373547e-02 -5.68645083e-03 -9.95876826e-01 -9.28986445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:90.52, Z:-9.29 [[-7.09281154e-01 7.02314419e-01 6.06193155e-02 1.19037905e+02] [ 6.99055199e-01 7.11843814e-01 -6.78248675e-02 9.05221147e+01] [-9.07858672e-02 -5.73065265e-03 -9.95853948e-01 -9.28904626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.08, Y:90.52, Z:-9.29 [[-7.62676603e-01 6.43407120e-01 6.59672470e-02 1.19084006e+02] [ 6.40341936e-01 7.65502177e-01 -6.29970034e-02 9.05242371e+01] [-9.10307916e-02 -5.80474589e-03 -9.95831160e-01 -9.28870130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:90.53, Z:-9.29 [[-8.11072853e-01 5.80745621e-01 6.99667780e-02 1.19128418e+02] [ 5.77963852e-01 8.14064039e-01 -5.70747405e-02 9.05299494e+01] [-9.01033435e-02 -5.85350405e-03 -9.95915219e-01 -9.29024441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.18, Y:90.54, Z:-9.29 [[-8.54240766e-01 5.14649578e-01 7.35426771e-02 1.19175182e+02] [ 5.12153026e-01 8.57380479e-01 -5.09705087e-02 9.05377304e+01] [-8.92860065e-02 -5.87598180e-03 -9.95988696e-01 -9.29051243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:90.55, Z:-9.29 [[-8.92849950e-01 4.44163935e-01 7.44134760e-02 1.19216411e+02] [ 4.42061907e-01 8.95925355e-01 -4.35778484e-02 9.05524265e+01] [-8.60246285e-02 -6.01311673e-03 -9.96274865e-01 -9.29306600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:90.57, Z:-9.29 [[-9.24960026e-01 3.72250970e-01 7.66691905e-02 1.19262588e+02] [ 3.70436100e-01 9.28112656e-01 -3.72020648e-02 9.05678555e+01] [-8.50061508e-02 -6.00938698e-03 -9.96362304e-01 -9.29235254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:90.59, Z:-9.29 [[-9.51268114e-01 2.97991608e-01 7.93093751e-02 1.19301228e+02] [ 2.96432140e-01 9.54549557e-01 -3.10343496e-02 9.05885787e+01] [-8.49527046e-02 -6.01213943e-03 -9.96366846e-01 -9.29223079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:90.61, Z:-9.29 [[-9.71593875e-01 2.22007812e-01 8.19626305e-02 1.19343092e+02] [ 2.20700342e-01 9.75026409e-01 -2.47964048e-02 9.06110353e+01] [-8.54207248e-02 -6.00285445e-03 -9.96326887e-01 -9.29175380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:90.64, Z:-9.29 [[-9.85825999e-01 1.44721361e-01 8.48694735e-02 1.19382996e+02] [ 1.43666500e-01 9.89454343e-01 -1.84401753e-02 9.06358425e+01] [-8.66431564e-02 -5.98590400e-03 -9.96221427e-01 -9.29047955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:90.66, Z:-9.29 [[-9.93983699e-01 6.67343889e-02 8.68500337e-02 1.19417510e+02] [ 6.59603374e-02 9.97753001e-01 -1.17551665e-02 9.06632940e+01] [-8.74393555e-02 -5.95578630e-03 -9.96152040e-01 -9.29051331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.45, Y:90.69, Z:-9.29 [[-9.95991655e-01 -1.16424512e-02 8.86852673e-02 1.19452247e+02] [-1.21217896e-02 9.99914678e-01 -4.86826582e-03 9.06921429e+01] [-8.86210219e-02 -5.92377629e-03 -9.96047802e-01 -9.28975987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.51, Y:91.49, Z:-10.24 [[-9.98091803e-01 1.00812558e-02 -6.09189722e-02 1.19509703e+02] [-1.00569512e-02 -9.99949179e-01 -7.05575199e-04 9.14937049e+01] [-6.09229893e-02 -9.15696930e-05 9.98142465e-01 -1.02446829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:91.49, Z:-10.24 [[-9.98023025e-01 8.55155321e-03 -6.22648609e-02 1.19507426e+02] [-8.52471981e-03 -9.99963421e-01 -6.96600750e-04 9.14930398e+01] [-6.22685404e-02 -1.64433094e-04 9.98059418e-01 -1.02436840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:90.73, Z:-9.29 [[-9.91832161e-01 -9.31962566e-02 8.70828514e-02 1.19472774e+02] [-9.33856758e-02 9.95628187e-01 1.90512054e-03 9.07270142e+01] [-8.68796915e-02 -6.24273111e-03 -9.96199251e-01 -9.29186648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:91.53, Z:-10.24 [[-9.94658683e-01 8.26736030e-02 -6.17995091e-02 1.19470019e+02] [-8.24894013e-02 -9.96576597e-01 -5.53044262e-03 9.15269707e+01] [-6.20451660e-02 -4.03098268e-04 9.98073261e-01 -1.02439621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:91.53, Z:-10.24 [[-9.94824825e-01 8.05073250e-02 -6.19849836e-02 1.19465452e+02] [-8.03193172e-02 -9.96753884e-01 -5.52292072e-03 9.15260407e+01] [-6.22284087e-02 -5.15747078e-04 9.98061801e-01 -1.02438660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22762800000004 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:119.49, Y:90.76, Z:-9.29 [[-9.81131506e-01 -1.72667852e-01 8.69872463e-02 1.19493065e+02] [-1.72567529e-01 9.84959010e-01 8.72906072e-03 9.07624130e+01] [-8.71861002e-02 -6.44681767e-03 -9.96171181e-01 -9.29210232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:91.56, Z:-10.24 [[-9.85180962e-01 1.59921036e-01 -6.19978638e-02 1.19428457e+02] [-1.59579780e-01 -9.87129729e-01 -1.04495297e-02 9.15622158e+01] [-6.28710341e-02 -4.01072320e-04 9.98021579e-01 -1.02427574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28762800000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.51, Y:90.80, Z:-9.29 [[-9.65634637e-01 -2.45552824e-01 8.51678271e-02 1.19513003e+02] [-2.45152597e-01 9.69363927e-01 1.52899344e-02 9.07960069e+01] [-8.63131059e-02 -6.11462367e-03 -9.96249296e-01 -9.29409329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:90.83, Z:-9.30 [[-9.45739334e-01 -3.14473627e-01 8.17523727e-02 1.19520302e+02] [-3.13802431e-01 9.49250050e-01 2.12691614e-02 9.08306258e+01] [-8.42920342e-02 -5.53901074e-03 -9.96425698e-01 -9.29583701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.62, Z:-10.24 [[-9.45019117e-01 3.21425833e-01 -6.02021699e-02 1.19329584e+02] [-3.20795509e-01 -9.46934710e-01 -2.01220261e-02 9.16174739e+01] [-6.34752633e-02 2.96886437e-04 9.97983368e-01 -1.02441072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.62, Z:-10.24 [[-9.43137875e-01 3.26618088e-01 -6.17379451e-02 1.19330753e+02] [-3.25968017e-01 -9.45156152e-01 -2.06082669e-02 9.16166335e+01] [-6.50830314e-02 6.88158479e-04 9.97879615e-01 -1.02441310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.62, Z:-10.24 [[-9.42578895e-01 3.28163785e-01 -6.20770215e-02 1.19331192e+02] [-3.27511637e-01 -9.44620480e-01 -2.06948705e-02 9.16150390e+01] [-6.54305329e-02 8.24398760e-04 9.97856786e-01 -1.02444681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.61, Z:-10.24 [[-9.42193642e-01 3.29249133e-01 -6.21783697e-02 1.19332178e+02] [-3.28598947e-01 -9.44242633e-01 -2.07022133e-02 9.16137893e+01] [-6.55276533e-02 9.26253076e-04 9.97850324e-01 -1.02446580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.61, Z:-10.24 [[-9.41841872e-01 3.30290238e-01 -6.19858551e-02 1.19329958e+02] [-3.29648040e-01 -9.43878868e-01 -2.06119520e-02 9.16119297e+01] [-6.53150653e-02 1.02031616e-03 9.97864170e-01 -1.02446369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:91.61, Z:-10.24 [[-9.41945528e-01 3.29960752e-01 -6.21652979e-02 1.19330133e+02] [-3.29315842e-01 -9.43994095e-01 -2.06452278e-02 9.16114679e+01] [-6.54957890e-02 1.02533743e-03 9.97852319e-01 -1.02447528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.33, Y:91.61, Z:-10.25 [[-9.41954006e-01 3.30037703e-01 -6.16260097e-02 1.19325292e+02] [-3.29405786e-01 -9.43967171e-01 -2.04403368e-02 9.16089034e+01] [-6.49190118e-02 1.04610702e-03 9.97889988e-01 -1.02465218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:91.61, Z:-10.25 [[-9.42581027e-01 3.28064267e-01 -6.25687098e-02 1.19324697e+02] [-3.27410282e-01 -9.44654929e-01 -2.07261239e-02 9.16071594e+01] [-6.59053407e-02 9.49587801e-04 9.97825428e-01 -1.02455636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:91.61, Z:-10.25 [[-9.43023079e-01 3.26776641e-01 -6.26458236e-02 1.19322529e+02] [-3.26119956e-01 -9.45101181e-01 -2.07251417e-02 9.16053491e+01] [-6.59791340e-02 8.85766367e-04 9.97820610e-01 -1.02463264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:90.86, Z:-9.30 [[-9.24213628e-01 -3.73892664e-01 7.76752612e-02 1.19475569e+02] [-3.72994758e-01 9.27460300e-01 2.63116411e-02 9.08613348e+01] [-8.18784506e-02 -4.65488798e-03 -9.96631452e-01 -9.29851105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:91.61, Z:-10.25 [[-9.17739562e-01 3.92609049e-01 -6.01018450e-02 1.19233965e+02] [-3.91810441e-01 -9.19705283e-01 -2.50353933e-02 9.16066535e+01] [-6.51051063e-02 5.72559513e-04 9.97878248e-01 -1.02515600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.677628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.23, Y:91.61, Z:-10.25 [[-9.18545348e-01 3.90852719e-01 -5.92334006e-02 1.19234812e+02] [-3.90075076e-01 -9.20453114e-01 -2.46475058e-02 9.16066842e+01] [-6.41551127e-02 4.65621504e-04 9.97939830e-01 -1.02524466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.707628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.23, Y:91.60, Z:-10.25 [[-9.19426387e-01 3.88873146e-01 -5.85900588e-02 1.19226645e+02] [-3.88109951e-01 -9.21291244e-01 -2.43538502e-02 9.16037337e+01] [-6.34490665e-02 3.47812329e-04 9.97985017e-01 -1.02530337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:91.60, Z:-10.25 [[-9.20079008e-01 3.87170098e-01 -5.96148804e-02 1.19228241e+02] [-3.86378136e-01 -9.22008269e-01 -2.47525331e-02 9.16043078e+01] [-6.45488533e-02 2.59600290e-04 9.97914514e-01 -1.02513422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.767628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.23, Y:91.60, Z:-10.25 [[-9.20382883e-01 3.86440088e-01 -5.96607605e-02 1.19226162e+02] [-3.85647110e-01 -9.22314482e-01 -2.47447517e-02 9.16026512e+01] [-6.45883475e-02 2.33353895e-04 9.97911966e-01 -1.02534563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:91.60, Z:-10.25 [[-9.21085833e-01 3.84271041e-01 -6.27427680e-02 1.19222605e+02] [-3.83390915e-01 -9.23220317e-01 -2.59933166e-02 9.16008319e+01] [-6.79138771e-02 1.12931509e-04 9.97691181e-01 -1.02515288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:91.60, Z:-10.25 [[-9.21506392e-01 3.83054498e-01 -6.39939079e-02 1.19220531e+02] [-3.82137982e-01 -9.23725743e-01 -2.64823290e-02 9.16002046e+01] [-6.92569954e-02 5.08673807e-05 9.97598850e-01 -1.02515150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:91.61, Z:-10.25 [[-9.20045471e-01 3.86515009e-01 -6.42065404e-02 1.19238618e+02] [-3.85347223e-01 -9.22278173e-01 -3.01743311e-02 9.16065586e+01] [-7.08791226e-02 -3.01994468e-03 9.97480341e-01 -1.02491100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:91.60, Z:-10.25 [[-9.22288787e-01 3.80365874e-01 -6.85944265e-02 1.19215583e+02] [-3.79534368e-01 -9.24832108e-01 -2.52831268e-02 9.15978160e+01] [-7.30551667e-02 2.71559793e-03 9.97324204e-01 -1.02523723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:91.60, Z:-10.25 [[-9.22738389e-01 3.79309543e-01 -6.83968978e-02 1.19207898e+02] [-3.78257512e-01 -9.25269819e-01 -2.82314739e-02 9.15978332e+01] [-7.39940528e-02 -1.78624412e-04 9.97258667e-01 -1.02509890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:91.60, Z:-10.25 [[-9.23206508e-01 3.77986032e-01 -6.93995858e-02 1.19205179e+02] [-3.77099702e-01 -9.25808682e-01 -2.59634235e-02 9.15971246e+01] [-7.40645505e-02 2.20096160e-03 9.97251021e-01 -1.02514738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:91.59, Z:-9.38 [[-9.22342908e-01 -2.92487845e-02 3.85263635e-01 1.19066025e+02] [-3.86365931e-01 7.55499798e-02 -9.19246196e-01 9.15924908e+01] [-2.21982600e-03 -9.96712952e-01 -8.09837219e-02 -9.38029063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:91.57, Z:-9.41 [[-9.17861807e-01 -9.21804353e-02 3.86047239e-01 1.19012742e+02] [-3.91424888e-01 4.92313468e-02 -9.18892176e-01 9.15738308e+01] [ 6.56982553e-02 -9.94524531e-01 -8.12692895e-02 -9.41023930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:90.85, Z:-9.37 [[-8.83128239e-01 -4.66391347e-01 -5.06322458e-02 1.19349872e+02] [-4.65252826e-01 8.84560563e-01 -3.30517502e-02 9.08507928e+01] [ 6.02023382e-02 -5.63213852e-03 -9.98170305e-01 -9.36591426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:91.53, Z:-10.32 [[-8.86928678e-01 4.58288409e-01 5.76996832e-02 1.18932137e+02] [-4.57303175e-01 -8.88803505e-01 3.00355753e-02 9.15283692e+01] [ 6.50486367e-02 2.53164745e-04 9.97882063e-01 -1.03202982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09762800000004 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.93, Y:91.53, Z:-10.32 [[-8.86083736e-01 4.59741879e-01 5.91017477e-02 1.18929343e+02] [-4.58713332e-01 -8.88052582e-01 3.07358118e-02 9.15290330e+01] [ 6.66159995e-02 1.23743359e-04 9.97778680e-01 -1.03222422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:91.53, Z:-10.32 [[-8.85792595e-01 4.60256793e-01 5.94572394e-02 1.18924730e+02] [-4.59218937e-01 -8.87785830e-01 3.08915400e-02 9.15288364e+01] [ 6.70033358e-02 5.96071032e-05 9.97752750e-01 -1.03197430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.93, Y:91.53, Z:-10.32 [[-8.84387969e-01 4.62862459e-01 6.01353840e-02 1.18926303e+02] [-4.61808784e-01 -8.86430097e-01 3.12142611e-02 9.15306378e+01] [ 6.77537239e-02 -1.65531580e-04 9.97702063e-01 -1.03212492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:91.53, Z:-10.32 [[-8.84754751e-01 4.62243939e-01 5.94942945e-02 1.18925750e+02] [-4.61213164e-01 -8.86752796e-01 3.08528134e-02 9.15297195e+01] [ 6.70182580e-02 -1.42378552e-04 9.97751739e-01 -1.03189609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.92, Y:91.52, Z:-10.32 [[-8.85027851e-01 4.61784149e-01 5.90008761e-02 1.18924198e+02] [-4.60771293e-01 -8.86992324e-01 3.05684997e-02 9.15242161e+01] [ 6.64493728e-02 -1.31936398e-04 9.97789789e-01 -1.03212142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.247628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.92, Y:91.52, Z:-10.32 [[-8.85659289e-01 4.60686817e-01 5.80971681e-02 1.18923085e+02] [-4.59704246e-01 -8.87562759e-01 3.00724879e-02 9.15209589e+01] [ 6.54188816e-02 -7.35366383e-05 9.97857888e-01 -1.03212226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.92, Y:91.52, Z:-10.32 [[-8.86221767e-01 4.59714356e-01 5.72161734e-02 1.18921663e+02] [-4.58761131e-01 -8.88066839e-01 2.95890913e-02 9.15186602e+01] [ 6.44143163e-02 -2.60596491e-05 9.97923241e-01 -1.03211679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:91.53, Z:-10.31 [[-8.85938887e-01 4.58141614e-01 7.22395328e-02 1.18930099e+02] [-4.58055476e-01 -8.88726190e-01 1.87334120e-02 9.15311108e+01] [ 7.27837204e-02 -1.64930554e-02 9.97211366e-01 -1.03067636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.92, Y:91.51, Z:-10.33 [[-8.87215160e-01 4.58813969e-01 4.83632201e-02 1.18918717e+02] [-4.57021116e-01 -8.88373077e-01 4.38745562e-02 9.15074261e+01] [ 6.30948419e-02 1.68231587e-02 9.97865734e-01 -1.03259337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:91.51, Z:-10.32 [[-8.87714855e-01 4.57024414e-01 5.55969573e-02 1.18912581e+02] [-4.56122833e-01 -8.89454143e-01 2.86930129e-02 9.15138422e+01] [ 6.25643515e-02 1.12172124e-04 9.98040926e-01 -1.03170940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:91.51, Z:-10.32 [[-8.87710699e-01 4.57018505e-01 5.57117595e-02 1.18913280e+02] [-4.56114886e-01 -8.89457182e-01 2.87251186e-02 9.15145828e+01] [ 6.26811354e-02 8.86323176e-05 9.98033600e-01 -1.03171702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:90.87, Z:-9.37 [[-8.49933300e-01 -5.24154339e-01 -5.36247585e-02 1.19310736e+02] [-5.23453130e-01 8.51610368e-01 -2.75063815e-02 9.08659695e+01] [ 6.00849896e-02 4.69145807e-03 -9.98182240e-01 -9.36633619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:91.51, Z:-10.32 [[-8.48919249e-01 5.25792031e-01 5.36548978e-02 1.18844353e+02] [-5.24750063e-01 -8.50613152e-01 3.30852802e-02 9.15122016e+01] [ 6.30355384e-02 -6.86798097e-05 9.98011281e-01 -1.03170667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:91.51, Z:-10.32 [[-8.48427400e-01 5.26407219e-01 5.53749663e-02 1.18845281e+02] [-5.25300580e-01 -8.50232568e-01 3.41157106e-02 9.15124828e+01] [ 6.50403561e-02 -1.43798299e-04 9.97882624e-01 -1.03175467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:91.51, Z:-10.32 [[-8.48256521e-01 5.26641711e-01 5.57618496e-02 1.18841928e+02] [-5.25521989e-01 -8.50087333e-01 3.43244217e-02 9.15108053e+01] [ 6.54791142e-02 -1.88163547e-04 9.97853922e-01 -1.03172362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:91.51, Z:-10.32 [[-8.48212373e-01 5.26638832e-01 5.64562687e-02 1.18838491e+02] [-5.25493013e-01 -8.50089109e-01 3.47217492e-02 9.15094909e+01] [ 6.62786806e-02 -2.15957403e-04 9.97801127e-01 -1.03167755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:91.51, Z:-10.32 [[-8.48413716e-01 5.26312982e-01 5.64695643e-02 1.18836512e+02] [-5.25167881e-01 -8.50290891e-01 3.47001131e-02 9.15082006e+01] [ 6.62786762e-02 -2.15949537e-04 9.97801128e-01 -1.03166208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.47788319e-01 5.27261121e-01 5.70147034e-02 1.18834378e+02] [-5.26097956e-01 -8.49703247e-01 3.50047405e-02 9.15086225e+01] [ 6.69022173e-02 -3.18708793e-04 9.97759486e-01 -1.03161836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.47396280e-01 5.27833260e-01 5.75464456e-02 1.18834950e+02] [-5.26651662e-01 -8.49347923e-01 3.53006003e-02 9.15099603e+01] [ 6.75097850e-02 -3.93333792e-04 9.97718535e-01 -1.03163123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.46905905e-01 5.28585823e-01 5.78568609e-02 1.18832917e+02] [-5.27395262e-01 -8.48879730e-01 3.54604223e-02 9.15087723e+01] [ 6.78573929e-02 -4.81793255e-04 9.97694914e-01 -1.03163576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.45889184e-01 5.30241740e-01 5.75776477e-02 1.18833174e+02] [-5.29068521e-01 -8.47846266e-01 3.52591706e-02 9.15082057e+01] [ 6.75128776e-02 -6.37169804e-04 9.97718199e-01 -1.03169445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.45511877e-01 5.30895766e-01 5.70907327e-02 1.18832626e+02] [-5.29745809e-01 -8.47436831e-01 3.49312773e-02 9.15070979e+01] [ 6.69256568e-02 -7.08766607e-04 9.97757713e-01 -1.03168814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.51, Z:-10.32 [[-8.45263410e-01 5.31311629e-01 5.69009692e-02 1.18831068e+02] [-5.30172239e-01 -8.47176115e-01 3.47854564e-02 9.15056645e+01] [ 6.66870595e-02 -7.64440753e-04 9.97773648e-01 -1.03164887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:91.52, Z:-10.31 [[-8.40422575e-01 5.38155547e-01 6.38631583e-02 1.18854157e+02] [-5.37434800e-01 -8.42791131e-01 2.94439427e-02 9.15195621e+01] [ 6.96687245e-02 -9.57692959e-03 9.97524211e-01 -1.03140648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.50, Z:-10.32 [[-8.43490774e-01 5.34627167e-01 5.19336709e-02 1.18832445e+02] [-5.33020643e-01 -8.45051320e-01 4.21575771e-02 9.15001492e+01] [ 6.64252031e-02 7.87780873e-03 9.97760308e-01 -1.03192352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.50, Z:-10.32 [[-8.42852825e-01 5.35119303e-01 5.69775944e-02 1.18829235e+02] [-5.33989992e-01 -8.44775751e-01 3.47652101e-02 9.15033387e+01] [ 6.67368251e-02 -1.12350960e-03 9.97769980e-01 -1.03150773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.83, Y:91.50, Z:-10.32 [[-8.42233376e-01 5.36004615e-01 5.78099738e-02 1.18827730e+02] [-5.34846184e-01 -8.44214145e-01 3.52425424e-02 9.15023207e+01] [ 6.76941630e-02 -1.23699843e-03 9.97705352e-01 -1.03164071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:91.50, Z:-10.31 [[-8.42740033e-01 5.35181131e-01 5.80550879e-02 1.18825818e+02] [-5.34012962e-01 -8.44736476e-01 3.53616143e-02 9.15005203e+01] [ 6.79661190e-02 -1.20152138e-03 9.97686906e-01 -1.03147333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:91.50, Z:-10.32 [[-8.43350569e-01 5.34247752e-01 5.77854429e-02 1.18822281e+02] [-5.33090262e-01 -8.45327171e-01 3.51674100e-02 9.14972290e+01] [ 6.76357147e-02 -1.14640165e-03 9.97709425e-01 -1.03150239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:91.49, Z:-10.32 [[-8.45136879e-01 5.31428940e-01 5.76796065e-02 1.18820900e+02] [-5.30271152e-01 -8.47102349e-01 3.50729962e-02 9.14944475e+01] [ 6.74993353e-02 -9.44348874e-04 9.97718872e-01 -1.03154297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:91.49, Z:-10.32 [[-8.46296929e-01 5.29521646e-01 5.82094076e-02 1.18818080e+02] [-5.28340045e-01 -8.48296024e-01 3.53645626e-02 9.14912276e+01] [ 6.81051104e-02 -8.25440273e-04 9.97677810e-01 -1.03150733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.82, Y:91.49, Z:-10.32 [[-8.47345804e-01 5.27836029e-01 5.82598960e-02 1.18816573e+02] [-5.26650467e-01 -8.49345992e-01 3.53648399e-02 9.14886883e+01] [ 6.81496458e-02 -7.16352818e-04 9.97674853e-01 -1.03180558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:91.49, Z:-10.31 [[-8.50188732e-01 5.23256399e-01 5.81537648e-02 1.18810909e+02] [-5.22066486e-01 -8.52175217e-01 3.52701402e-02 9.14858111e+01] [ 6.80125237e-02 -3.73855890e-04 9.97684397e-01 -1.03147607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:91.48, Z:-10.31 [[-8.51391665e-01 5.21248427e-01 5.85859221e-02 1.18807427e+02] [-5.20038102e-01 -8.53404956e-01 3.55014540e-02 9.14835426e+01] [ 6.85025934e-02 -2.41269738e-04 9.97650909e-01 -1.03140501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:91.48, Z:-10.31 [[-8.52572641e-01 5.19332113e-01 5.84298602e-02 1.18804775e+02] [-5.18125821e-01 -8.54572492e-01 3.53764060e-02 9.14812242e+01] [ 6.83046549e-02 -1.13063344e-04 9.97664503e-01 -1.03142577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:91.48, Z:-10.31 [[-8.54527429e-01 5.16205601e-01 5.75730072e-02 1.18801830e+02] [-5.15029370e-01 -8.56464690e-01 3.48279041e-02 9.14788402e+01] [ 6.72876069e-02 1.09609699e-04 9.97733615e-01 -1.03143656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.177628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.80, Y:91.48, Z:-10.32 [[-8.55124841e-01 5.15211243e-01 5.76097285e-02 1.18796600e+02] [-5.14033290e-01 -8.57063211e-01 3.48199490e-02 9.14764039e+01] [ 6.73148082e-02 1.62085114e-04 9.97731773e-01 -1.03158498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:91.48, Z:-10.31 [[-8.56100646e-01 5.13811272e-01 5.55847181e-02 1.18796572e+02] [-5.12713643e-01 -8.57903211e-01 3.35678525e-02 9.14777548e+01] [ 6.49338492e-02 2.38416842e-04 9.97889542e-01 -1.03133006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:91.48, Z:-10.31 [[-8.56547810e-01 5.13152724e-01 5.47734553e-02 1.18791710e+02] [-5.12087402e-01 -8.58297276e-01 3.30496404e-02 9.14750406e+01] [ 6.39714205e-02 2.59800695e-04 9.97951697e-01 -1.03130270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:91.47, Z:-10.31 [[-8.56844507e-01 5.12668780e-01 5.46645566e-02 1.18788573e+02] [-5.11608537e-01 -8.58586425e-01 3.29553575e-02 9.14735576e+01] [ 6.38294291e-02 2.70763220e-04 9.97960786e-01 -1.03127779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:91.48, Z:-10.31 [[-8.57013696e-01 5.12370304e-01 5.48105576e-02 1.18788097e+02] [-5.11305622e-01 -8.58764577e-01 3.30145695e-02 9.14762553e+01] [ 6.39850503e-02 2.68991986e-04 9.97950821e-01 -1.03127306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:91.48, Z:-10.31 [[-8.57058006e-01 5.12263676e-01 5.51135192e-02 1.18785077e+02] [-5.11188829e-01 -8.58828191e-01 3.31680443e-02 9.14760278e+01] [ 6.43238283e-02 2.53522605e-04 9.97929046e-01 -1.03127501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:91.47, Z:-10.31 [[-8.57137531e-01 5.12050383e-01 5.58538978e-02 1.18779839e+02] [-5.10947912e-01 -8.58955379e-01 3.35840420e-02 9.14742350e+01] [ 6.51727276e-02 2.47710380e-04 9.97873967e-01 -1.03128332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.387628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:118.78, Y:91.47, Z:-10.32 [[-8.57156931e-01 5.11822804e-01 5.76143440e-02 1.18778793e+02] [-5.10651234e-01 -8.59091006e-01 3.46115589e-02 9.14746603e+01] [ 6.72109499e-02 2.46701703e-04 9.97738757e-01 -1.03166439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.47, Z:-10.32 [[-8.58048314e-01 5.10104891e-01 5.95490664e-02 1.18774366e+02] [-5.08851315e-01 -8.60112124e-01 3.57417585e-02 9.14713352e+01] [ 6.94509198e-02 3.66534847e-04 9.97585302e-01 -1.03152284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.47, Z:-10.32 [[-8.58856420e-01 5.08625682e-01 6.05439108e-02 1.18769061e+02] [-5.07395044e-01 -8.60987685e-01 3.53620674e-02 9.14661754e+01] [ 7.01136173e-02 -3.48741624e-04 9.97538951e-01 -1.03159946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.59668269e-01 5.07322481e-01 5.99530442e-02 1.18769389e+02] [-5.05960616e-01 -8.61754744e-01 3.71835497e-02 9.14618871e+01] [ 7.05288709e-02 1.63163858e-03 9.97508404e-01 -1.03175006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.60176372e-01 5.06330082e-01 6.10447182e-02 1.18773178e+02] [-5.05008713e-01 -8.62339529e-01 3.65614156e-02 9.14604517e+01] [ 7.11534181e-02 6.21151265e-04 9.97465190e-01 -1.03177355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.60098375e-01 5.06454445e-01 6.11120293e-02 1.18769564e+02] [-5.05132758e-01 -8.62266522e-01 3.65696926e-02 9.14576571e+01] [ 7.12157403e-02 5.83845212e-04 9.97460765e-01 -1.03165389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.59732418e-01 5.07122522e-01 6.07199950e-02 1.18770140e+02] [-5.05821663e-01 -8.61873831e-01 3.63035192e-02 9.14575892e+01] [ 7.07433069e-02 4.97823520e-04 9.97494429e-01 -1.03155940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.31 [[-8.58198069e-01 5.09825060e-01 5.97869747e-02 1.18768977e+02] [-5.08572611e-01 -8.60278065e-01 3.57148574e-02 9.14566300e+01] [ 6.96417522e-02 2.44403892e-04 9.97572036e-01 -1.03143868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.627628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.57095560e-01 5.11693932e-01 5.96365725e-02 1.18768706e+02] [-5.10454554e-01 -8.59167804e-01 3.55925837e-02 9.14568077e+01] [ 6.94503322e-02 6.44853931e-05 9.97585408e-01 -1.03171840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.31 [[-8.54574526e-01 5.15904018e-01 5.95434633e-02 1.18765437e+02] [-5.14681577e-01 -8.56646337e-01 3.54954593e-02 9.14557112e+01] [ 6.93199398e-02 -3.12408291e-04 9.97594431e-01 -1.03142935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.687628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.52951466e-01 5.18566674e-01 5.96858589e-02 1.18767834e+02] [-5.17347034e-01 -8.55037014e-01 3.55492841e-02 9.14577458e+01] [ 6.94682926e-02 -5.56488030e-04 9.97584005e-01 -1.03182717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:91.46, Z:-10.32 [[-8.51626622e-01 5.20787633e-01 5.92649786e-02 1.18764984e+02] [-5.19592625e-01 -8.53685930e-01 3.52680910e-02 9.14568150e+01] [ 6.89608639e-02 -7.58400547e-04 9.97619078e-01 -1.03156379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:91.46, Z:-10.32 [[-8.50336760e-01 5.22959753e-01 5.86556953e-02 1.18764269e+02] [-5.21796425e-01 -8.52356846e-01 3.48754650e-02 9.14576503e+01] [ 6.82340480e-02 -9.50442162e-04 9.97668889e-01 -1.03155749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.76, Y:91.46, Z:-10.32 [[-8.48048483e-01 5.26694760e-01 5.83643781e-02 1.18764589e+02] [-5.25553821e-01 -8.50053538e-01 3.46722415e-02 9.14593750e+01] [ 6.78745340e-02 -1.26988015e-03 9.97693057e-01 -1.03178163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.807628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.32 [[-8.47687140e-01 5.27296342e-01 5.81814417e-02 1.18765395e+02] [-5.26165992e-01 -8.49680395e-01 3.45336761e-02 9.14600899e+01] [ 6.76451114e-02 -1.33934284e-03 9.97708547e-01 -1.03178225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:91.46, Z:-10.31 [[-8.48197381e-01 5.26508175e-01 5.78821605e-02 1.18761469e+02] [-5.25389600e-01 -8.50169080e-01 3.43264383e-02 9.14581413e+01] [ 6.72827735e-02 -1.29509012e-03 9.97733106e-01 -1.03135918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:91.46, Z:-10.31 [[-8.46691173e-01 5.28519744e-01 6.14893252e-02 1.18765287e+02] [-5.27729051e-01 -8.48890243e-01 2.97893162e-02 9.14608259e+01] [ 6.79419300e-02 -7.22735220e-03 9.97663099e-01 -1.03123035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:91.45, Z:-10.32 [[-8.52133134e-01 5.20603713e-01 5.33000555e-02 1.18758485e+02] [-5.19188290e-01 -8.53781789e-01 3.87321124e-02 9.14503558e+01] [ 6.56706982e-02 5.33215161e-03 9.97827103e-01 -1.03150649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:91.45, Z:-10.31 [[-8.54227412e-01 5.16836301e-01 5.63539364e-02 1.18751961e+02] [-5.15759209e-01 -8.56084055e-01 3.33545938e-02 9.14487047e+01] [ 6.54825713e-02 -5.72653359e-04 9.97853549e-01 -1.03127947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:91.45, Z:-10.31 [[-8.58165209e-01 5.10226865e-01 5.67540392e-02 1.18746629e+02] [-5.09121847e-01 -8.60039847e-01 3.35619833e-02 9.14459973e+01] [ 6.59349607e-02 -9.29949103e-05 9.97823919e-01 -1.03120444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:91.44, Z:-10.31 [[-8.59833682e-01 5.07338451e-01 5.73910773e-02 1.18742685e+02] [-5.06204020e-01 -8.61746880e-01 3.39087686e-02 9.14432690e+01] [ 6.66598039e-02 1.04307296e-04 9.97775756e-01 -1.03117761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:91.44, Z:-10.31 [[-8.61146180e-01 5.04990592e-01 5.84102619e-02 1.18739339e+02] [-5.03812148e-01 -8.63124807e-01 3.44802511e-02 9.14395851e+01] [ 6.78275485e-02 2.64737006e-04 9.97697025e-01 -1.03120356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:91.44, Z:-10.31 [[-8.62564418e-01 5.02505806e-01 5.89112876e-02 1.18738173e+02] [-5.01303344e-01 -8.64573723e-01 3.47452743e-02 9.14364716e+01] [ 6.83928533e-02 4.37611796e-04 9.97658371e-01 -1.03126327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:91.44, Z:-10.31 [[-8.62900805e-01 5.01950847e-01 5.87158236e-02 1.18737313e+02] [-5.00757148e-01 -8.64896029e-01 3.45996638e-02 9.14354328e+01] [ 6.81504132e-02 4.53709334e-04 9.97674955e-01 -1.03124345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.43, Z:-10.31 [[-8.62970604e-01 5.01903631e-01 5.80902875e-02 1.18731607e+02] [-5.00737166e-01 -8.64923444e-01 3.42012693e-02 9.14321252e+01] [ 6.74093928e-02 4.26724029e-04 9.97725309e-01 -1.03115443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.43, Z:-10.31 [[-8.61995051e-01 5.03781646e-01 5.62901871e-02 1.18731084e+02] [-5.02692280e-01 -8.63830998e-01 3.31131335e-02 9.14339647e+01] [ 6.53069973e-02 2.46714714e-04 9.97865189e-01 -1.03103999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.43, Z:-10.31 [[-8.61212770e-01 5.05231559e-01 5.52597252e-02 1.18729331e+02] [-5.04186539e-01 -8.62983812e-01 3.24788362e-02 9.14342837e+01] [ 6.40975814e-02 1.09978914e-04 9.97943630e-01 -1.03097625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.43, Z:-10.31 [[-8.60268240e-01 5.06969259e-01 5.40437339e-02 1.18726982e+02] [-5.05974907e-01 -8.61964134e-01 3.17368016e-02 9.14340212e+01] [ 6.26733431e-02 -4.26107379e-05 9.98034093e-01 -1.03095481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.43, Z:-10.31 [[-8.59457242e-01 5.08403155e-01 5.34741196e-02 1.18727302e+02] [-5.07434142e-01 -8.61119157e-01 3.13749647e-02 9.14349144e+01] [ 6.19987199e-02 -1.69153355e-04 9.98076215e-01 -1.03097753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.44, Z:-10.31 [[-8.57607196e-01 5.11643269e-01 5.22595634e-02 1.18728531e+02] [-5.10725409e-01 -8.59197877e-01 3.06360125e-02 9.14367571e+01] [ 6.05760155e-02 -4.16622099e-04 9.98163500e-01 -1.03109752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.44, Z:-10.31 [[-8.57026153e-01 5.12726175e-01 5.11668124e-02 1.18728507e+02] [-5.11849787e-01 -8.58552045e-01 2.99696795e-02 9.14383543e+01] [ 5.92956106e-02 -5.04922907e-04 9.98240340e-01 -1.03106855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:91.44, Z:-10.31 [[-8.56569942e-01 5.13600992e-01 5.00195521e-02 1.18725067e+02] [-5.12766437e-01 -8.58028957e-01 2.92726735e-02 9.14382845e+01] [ 5.79526982e-02 -5.74255290e-04 9.98319165e-01 -1.03097845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:90.79, Z:-9.35 [[-8.27210332e-01 -5.59188198e-01 -5.50602061e-02 1.19123623e+02] [-5.57900616e-01 8.29040484e-01 -3.79312328e-02 9.07897751e+01] [ 6.68578376e-02 -6.58984800e-04 -9.97762294e-01 -9.34788124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:90.97, Z:-9.25 [[-7.87068615e-01 -5.95786092e-01 1.59880980e-01 1.18982252e+02] [-6.10477495e-01 7.15097938e-01 -3.40517499e-01 9.09746979e+01] [ 8.85450308e-02 -3.65614377e-01 -9.26545145e-01 -9.24595954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:91.39, Z:-10.31 [[-7.76051591e-01 6.27473488e-01 6.34109642e-02 1.18536580e+02] [-6.25452101e-01 -7.78637694e-01 5.03290246e-02 9.13858020e+01] [ 8.09542956e-02 -6.02601181e-04 9.96717632e-01 -1.03114827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:91.38, Z:-10.31 [[-7.77761703e-01 6.25300304e-01 6.39238864e-02 1.18533775e+02] [-6.23241988e-01 -7.80384111e-01 5.06957994e-02 9.13837030e+01] [ 8.15852840e-02 -4.10798742e-04 9.96666280e-01 -1.03113009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:91.37, Z:-10.31 [[-7.79797098e-01 6.22578759e-01 6.56671489e-02 1.18526611e+02] [-6.20400326e-01 -7.82557130e-01 5.20362735e-02 9.13747703e+01] [ 8.37849742e-02 -1.62185469e-04 9.96483844e-01 -1.03121674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:91.37, Z:-10.31 [[-7.80035979e-01 6.22277329e-01 6.56871183e-02 1.18524800e+02] [-6.20099952e-01 -7.82796844e-01 5.20110530e-02 9.13732621e+01] [ 8.37849681e-02 -1.62086289e-04 9.96483845e-01 -1.03119493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:91.38, Z:-10.31 [[-7.82977567e-01 6.18491345e-01 6.64423482e-02 1.18525040e+02] [-6.16253443e-01 -7.85791582e-01 5.25669475e-02 9.13750171e+01] [ 8.47220400e-02 2.13414806e-04 9.96404602e-01 -1.03120853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:91.37, Z:-10.31 [[-7.84385768e-01 6.16558357e-01 6.77846592e-02 1.18521770e+02] [-6.14225477e-01 -7.87309110e-01 5.35857091e-02 9.13711367e+01] [ 8.64061965e-02 3.96802960e-04 9.96259912e-01 -1.03126587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:91.38, Z:-10.32 [[-7.83189555e-01 6.17590503e-01 7.20839268e-02 1.18537562e+02] [-6.15343241e-01 -7.86493865e-01 5.27266247e-02 9.13787206e+01] [ 8.92570288e-02 -3.06141539e-03 9.96003921e-01 -1.03165959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:91.35, Z:-10.32 [[-7.86721046e-01 6.14029797e-01 6.35405647e-02 1.18516619e+02] [-6.10795854e-01 -7.89198670e-01 6.39834739e-02 9.13535310e+01] [ 8.94338887e-02 1.15268321e-02 9.95926057e-01 -1.03183491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:91.40, Z:-9.41 [[-7.67544849e-01 -1.97249973e-01 6.09891263e-01 1.18493963e+02] [-6.20572281e-01 -9.59646988e-03 -7.84090525e-01 9.14006772e+01] [ 1.60514638e-01 -9.80306256e-01 -1.15042144e-01 -9.41311638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:90.77, Z:-9.38 [[-7.18493895e-01 -6.83215464e-01 -1.30319425e-01 1.18980308e+02] [-6.79144065e-01 7.29573613e-01 -8.05337299e-02 9.07662706e+01] [ 1.50099503e-01 3.06426706e-02 -9.88195915e-01 -9.37711128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.25153372e-01 6.79593747e-01 1.10927573e-01 1.18334921e+02] [-6.71647220e-01 -7.33588393e-01 1.03624718e-01 9.12446199e+01] [ 1.51797890e-01 6.39617406e-04 9.88411347e-01 -1.03228266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.24098585e-01 6.80892797e-01 1.09846427e-01 1.18332262e+02] [-6.73128148e-01 -7.32383032e-01 1.02535804e-01 9.12424060e+01] [ 1.50265550e-01 3.05308860e-04 9.88645625e-01 -1.03216531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:91.26, Z:-10.33 [[-7.17555491e-01 6.89019967e-01 1.01811599e-01 1.18358414e+02] [-6.81432934e-01 -7.24732171e-01 1.02041352e-01 9.12581336e+01] [ 1.44094670e-01 3.84255582e-03 9.89556447e-01 -1.03329666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.25, Z:-10.32 [[-7.20697861e-01 6.84315391e-01 1.10937096e-01 1.18331398e+02] [-6.77155277e-01 -7.29175676e-01 9.88107564e-02 9.12483659e+01] [ 1.48510353e-01 -3.90893911e-03 9.88903127e-01 -1.03191611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.19834262e-01 6.85620761e-01 1.08456475e-01 1.18328798e+02] [-6.78131331e-01 -7.27958472e-01 1.01066122e-01 9.12442509e+01] [ 1.48244841e-01 -7.96875968e-04 9.88950369e-01 -1.03203668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.18571819e-01 6.86904817e-01 1.08702865e-01 1.18328106e+02] [-6.79412164e-01 -7.26746491e-01 1.01186210e-01 9.12437646e+01] [ 1.48504721e-01 -1.14448987e-03 9.88911037e-01 -1.03210009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.15689014e-01 6.89571453e-01 1.10817173e-01 1.18325297e+02] [-6.81826911e-01 -7.24215443e-01 1.03073060e-01 9.12407901e+01] [ 1.51331747e-01 -1.78987404e-03 9.88481410e-01 -1.03219263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.33, Y:91.24, Z:-10.32 [[-7.14758490e-01 6.90273013e-01 1.12443181e-01 1.18327305e+02] [-6.82319552e-01 -7.23546168e-01 1.04503455e-01 9.12423005e+01] [ 1.53493747e-01 -2.02744905e-03 9.88147539e-01 -1.03241374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:91.24, Z:-10.32 [[-7.14351185e-01 6.90423183e-01 1.14097381e-01 1.18324620e+02] [-6.82247560e-01 -7.23402515e-01 1.05957859e-01 9.12398124e+01] [ 1.55694095e-01 -2.15153829e-03 9.87802976e-01 -1.03235616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.32, Y:91.23, Z:-10.33 [[-7.15588761e-01 6.89655898e-01 1.10939025e-01 1.18323990e+02] [-6.80434716e-01 -7.24119797e-01 1.12512738e-01 9.12344812e+01] [ 1.57928218e-01 5.02608689e-03 9.87437804e-01 -1.03265002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:91.29, Z:-9.38 [[-7.05265791e-01 -2.91133461e-01 6.46406585e-01 1.18368524e+02] [-6.78276868e-01 1.18271754e-02 -7.34711242e-01 9.12936302e+01] [ 2.06253862e-01 -9.56609338e-01 -2.05810394e-01 -9.38338535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:91.14, Z:-10.34 [[-6.96563298e-01 7.00494803e-01 1.55263012e-01 1.18226935e+02] [-6.83362608e-01 -7.13656567e-01 1.53980036e-01 9.11431423e+01] [ 2.18666683e-01 1.15590508e-03 9.75798927e-01 -1.03362069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.067628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.21, Y:91.13, Z:-10.33 [[-7.05267559e-01 6.89826849e-01 1.63513269e-01 1.18211047e+02] [-6.72635146e-01 -7.23971526e-01 1.53059436e-01 9.11321472e+01] [ 2.23963459e-01 -2.03691662e-03 9.74595414e-01 -1.03287604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:91.13, Z:-10.34 [[-7.02655621e-01 6.95013018e-01 1.52420416e-01 1.18224153e+02] [-6.77342789e-01 -7.18969832e-01 1.55849692e-01 9.11307183e+01] [ 2.17903245e-01 6.26779233e-03 9.75950250e-01 -1.03366391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:91.14, Z:-10.33 [[-7.03617909e-01 6.90956300e-01 1.65834949e-01 1.18222853e+02] [-6.75010395e-01 -7.22852858e-01 1.47799564e-01 9.11405784e+01] [ 2.21997307e-01 -7.94589413e-03 9.75014902e-01 -1.03294392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.21, Y:91.13, Z:-10.33 [[-7.08292272e-01 6.87779201e-01 1.59002605e-01 1.18209117e+02] [-6.69716732e-01 -7.25906196e-01 1.56651504e-01 9.11271908e+01] [ 2.23162622e-01 4.46834466e-03 9.74770988e-01 -1.03277789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:91.13, Z:-10.32 [[-7.07752990e-01 6.87803290e-01 1.61283412e-01 1.18206942e+02] [-6.70478513e-01 -7.25896994e-01 1.53401818e-01 9.11287958e+01] [ 2.22585419e-01 4.33533354e-04 9.74913095e-01 -1.03248430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.20, Y:91.13, Z:-10.33 [[-7.06661496e-01 6.88746307e-01 1.62043373e-01 1.18204356e+02] [-6.71308061e-01 -7.25002429e-01 1.54003135e-01 9.11279088e+01] [ 2.23550929e-01 4.70631080e-05 9.74692249e-01 -1.03265029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.247628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.20, Y:91.13, Z:-10.33 [[-7.05880053e-01 6.89511949e-01 1.62193167e-01 1.18201094e+02] [-6.72088738e-01 -7.24274251e-01 1.54024469e-01 9.11257428e+01] [ 2.23674046e-01 -2.85400845e-04 9.74663962e-01 -1.03266173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.20, Y:91.12, Z:-10.32 [[-7.04904019e-01 6.90733892e-01 1.61235901e-01 1.18196542e+02] [-6.73577113e-01 -7.23108649e-01 1.52995931e-01 9.11243288e+01] [ 2.22270550e-01 -7.57366194e-04 9.74984733e-01 -1.03246653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:91.13, Z:-10.32 [[-7.05184411e-01 6.90775255e-01 1.59826450e-01 1.18199332e+02] [-6.73948580e-01 -7.23069031e-01 1.51540385e-01 9.11284615e+01] [ 2.20245904e-01 -8.50891710e-04 9.75444011e-01 -1.03226868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:91.13, Z:-10.32 [[-7.05412318e-01 6.90754508e-01 1.58907746e-01 1.18197251e+02] [-6.74148952e-01 -7.23088758e-01 1.50551782e-01 9.11282085e+01] [ 2.18898726e-01 -9.26408844e-04 9.75747144e-01 -1.03216965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.367628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.19, Y:91.13, Z:-10.32 [[-7.05461965e-01 6.90774257e-01 1.58601205e-01 1.18191526e+02] [-6.74260256e-01 -7.23069769e-01 1.50143988e-01 9.11254509e+01] [ 2.18395339e-01 -1.01761606e-03 9.75859847e-01 -1.03215183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.21, Y:91.14, Z:-10.33 [[-7.00487439e-01 6.96214020e-01 1.56854663e-01 1.18213805e+02] [-6.79681837e-01 -7.17833625e-01 1.50822704e-01 9.11406510e+01] [ 2.17600433e-01 -9.61855515e-04 9.76037462e-01 -1.03270782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.13, Z:-10.32 [[-7.05677408e-01 6.90973900e-01 1.56762448e-01 1.18192434e+02] [-6.74788200e-01 -7.22879195e-01 1.48682732e-01 9.11267669e+01] [ 2.16056200e-01 -8.59405598e-04 9.76380551e-01 -1.03202868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.13, Z:-10.32 [[-7.05449769e-01 6.91098421e-01 1.57237390e-01 1.18190293e+02] [-6.74935902e-01 -7.22759493e-01 1.48594228e-01 9.11253252e+01] [ 2.16338052e-01 -1.29939572e-03 9.76317653e-01 -1.03195295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:91.12, Z:-10.32 [[-7.04249636e-01 6.92308789e-01 1.57292692e-01 1.18183742e+02] [-6.76190288e-01 -7.21599232e-01 1.48530275e-01 9.11201727e+01] [ 2.16331100e-01 -1.75739879e-03 9.76318476e-01 -1.03178110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:91.14, Z:-10.31 [[-6.99023238e-01 6.94166800e-01 1.71752631e-01 1.18197278e+02] [-6.79405804e-01 -7.19625280e-01 1.43342976e-01 9.11395063e+01] [ 2.23101470e-01 -1.64896626e-02 9.74655747e-01 -1.03148010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.33 [[-7.01987008e-01 6.96856855e-01 1.46985590e-01 1.18191698e+02] [-6.78410111e-01 -7.17102444e-01 1.59761718e-01 9.11176243e+01] [ 2.16734774e-01 1.24341399e-02 9.76151336e-01 -1.03256249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.32 [[-7.00154661e-01 6.96030316e-01 1.59139089e-01 1.18186806e+02] [-6.79677880e-01 -7.18005589e-01 1.50019841e-01 9.11227915e+01] [ 2.18681113e-01 -3.12622714e-03 9.75791370e-01 -1.03213830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.32 [[-6.97331174e-01 6.99085726e-01 1.58140386e-01 1.18188920e+02] [-6.83043227e-01 -7.15025878e-01 1.48962893e-01 9.11234160e+01] [ 2.17212301e-01 -4.14025047e-03 9.76115605e-01 -1.03193300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.32 [[-6.95980944e-01 7.00402645e-01 1.58261367e-01 1.18188917e+02] [-6.84394680e-01 -7.13732871e-01 1.48960769e-01 9.11220204e+01] [ 2.17288857e-01 -4.63938124e-03 9.76096322e-01 -1.03193415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.32 [[-6.94908495e-01 7.01346882e-01 1.58791484e-01 1.18186632e+02] [-6.85280521e-01 -7.12802345e-01 1.49343311e-01 9.11180369e+01] [ 2.17928408e-01 -5.03677520e-03 9.75951761e-01 -1.03184751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.12, Z:-10.32 [[-6.93830120e-01 7.02281072e-01 1.59377101e-01 1.18190384e+02] [-6.86145054e-01 -7.11879026e-01 1.49777226e-01 9.11173399e+01] [ 2.18642926e-01 -5.43585871e-03 9.75789794e-01 -1.03194244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.11, Z:-10.32 [[-6.93994647e-01 7.02096410e-01 1.59474325e-01 1.18189160e+02] [-6.85961743e-01 -7.12060920e-01 1.49752240e-01 9.11141354e+01] [ 2.18695945e-01 -5.46603344e-03 9.75777744e-01 -1.03187674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.19, Y:91.11, Z:-10.32 [[-6.93836096e-01 7.01965741e-01 1.60734471e-01 1.18187454e+02] [-6.85595209e-01 -7.12189041e-01 1.50817705e-01 9.11101543e+01] [ 2.20342191e-01 -5.55601575e-03 9.75406812e-01 -1.03194926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.11, Z:-10.32 [[-6.94862633e-01 7.01235764e-01 1.59481423e-01 1.18188124e+02] [-6.85129264e-01 -7.12909266e-01 1.49526818e-01 9.11074417e+01] [ 2.18549337e-01 -5.36479183e-03 9.75811153e-01 -1.03177435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.10, Z:-10.32 [[-6.95968820e-01 6.99922076e-01 1.60425964e-01 1.18189066e+02] [-6.83613931e-01 -7.14201229e-01 1.50295034e-01 9.11018734e+01] [ 2.19771233e-01 -5.06876706e-03 9.75538268e-01 -1.03182377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:91.10, Z:-10.32 [[-6.96713156e-01 6.99063724e-01 1.60936910e-01 1.18186022e+02] [-6.82654201e-01 -7.15042586e-01 1.50656370e-01 9.10965111e+01] [ 2.20395147e-01 -4.89998246e-03 9.75398364e-01 -1.03170350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.19, Y:91.10, Z:-10.32 [[-6.97211920e-01 6.98348267e-01 1.61880317e-01 1.18187720e+02] [-6.81751344e-01 -7.15742103e-01 1.51421090e-01 9.10958051e+01] [ 2.21609214e-01 -4.78953449e-03 9.75123795e-01 -1.03183109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:118.83, Y:90.72, Z:-9.37 [[-6.73718959e-01 -7.22564730e-01 -1.54928936e-01 1.18828165e+02] [-7.08130326e-01 6.91189783e-01 -1.44250220e-01 9.07200689e+01] [ 2.11315419e-01 1.25257702e-02 -9.77337659e-01 -9.36611349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.13, Y:91.07, Z:-10.31 [[-6.44159771e-01 7.50306125e-01 1.48657018e-01 1.18131264e+02] [-7.32462965e-01 -6.61077989e-01 1.62708013e-01 9.10677707e+01] [ 2.20354701e-01 -4.07580407e-03 9.75411295e-01 -1.03100627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.07, Z:-10.31 [[-6.45344942e-01 7.49528092e-01 1.47436581e-01 1.18131508e+02] [-7.31988052e-01 -6.61961273e-01 1.61247526e-01 9.10654437e+01] [ 2.18456858e-01 -3.86154070e-03 9.75838967e-01 -1.03084350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.06, Z:-10.31 [[-6.45934002e-01 7.49074684e-01 1.47161076e-01 1.18130436e+02] [-7.31617258e-01 -6.62474743e-01 1.60821029e-01 9.10619935e+01] [ 2.17957458e-01 -3.78581217e-03 9.75950928e-01 -1.03074615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.06, Z:-10.31 [[-6.46242703e-01 7.49116957e-01 1.45582117e-01 1.18131035e+02] [-7.32064608e-01 -6.62426626e-01 1.58972874e-01 9.10584137e+01] [ 2.15526746e-01 -3.84045574e-03 9.76490385e-01 -1.03068659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.06, Z:-10.31 [[-6.46412831e-01 7.49094717e-01 1.44939841e-01 1.18130440e+02] [-7.32220653e-01 -6.62451437e-01 1.58148694e-01 9.10561517e+01] [ 2.14483957e-01 -3.89860012e-03 9.76719731e-01 -1.03061225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.05, Z:-10.31 [[-6.46137945e-01 7.49375250e-01 1.44715206e-01 1.18131043e+02] [-7.32587926e-01 -6.62133054e-01 1.57780699e-01 9.10549684e+01] [ 2.14057671e-01 -4.06851609e-03 9.76812551e-01 -1.03059913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.05, Z:-10.31 [[-6.45545371e-01 7.49803021e-01 1.45143391e-01 1.18129707e+02] [-7.32952892e-01 -6.61647096e-01 1.58123936e-01 9.10513610e+01] [ 2.14595508e-01 -4.30709308e-03 9.76693512e-01 -1.03050456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.05, Z:-10.31 [[-6.45010743e-01 7.50215606e-01 1.45388057e-01 1.18132747e+02] [-7.33345480e-01 -6.61177716e-01 1.58266973e-01 9.10504512e+01] [ 2.14861696e-01 -4.53577689e-03 9.76633953e-01 -1.03064048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.05, Z:-10.31 [[-6.45273426e-01 7.49922685e-01 1.45733223e-01 1.18131613e+02] [-7.32991340e-01 -6.61509953e-01 1.58519012e-01 9.10480665e+01] [ 2.15280981e-01 -4.53308441e-03 9.76541628e-01 -1.03056584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.04, Z:-10.30 [[-6.45293480e-01 7.49865459e-01 1.45938748e-01 1.18129208e+02] [-7.32911582e-01 -6.61574330e-01 1.58619099e-01 9.10437350e+01] [ 2.15492312e-01 -4.60432823e-03 9.76494682e-01 -1.03046786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.04, Z:-10.30 [[-6.45370642e-01 7.49701765e-01 1.46437691e-01 1.18127802e+02] [-7.32653751e-01 -6.61759502e-01 1.59037236e-01 9.10411643e+01] [ 2.16137030e-01 -4.65016056e-03 9.76351965e-01 -1.03042653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.04, Z:-10.31 [[-6.44378720e-01 7.50412717e-01 1.47162560e-01 1.18131309e+02] [-7.33239598e-01 -6.60950656e-01 1.59699475e-01 9.10415366e+01] [ 2.17107707e-01 -4.99847274e-03 9.76134857e-01 -1.03057554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.04, Z:-10.30 [[-6.44225974e-01 7.50451660e-01 1.47631979e-01 1.18128317e+02] [-7.33196383e-01 -6.60905564e-01 1.60084039e-01 9.10355435e+01] [ 2.17706129e-01 -5.11293734e-03 9.76000973e-01 -1.03048542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.04, Z:-10.31 [[-6.44455673e-01 7.50204535e-01 1.47885230e-01 1.18130391e+02] [-7.32910759e-01 -6.61185988e-01 1.60233918e-01 9.10350202e+01] [ 2.17987854e-01 -5.12301815e-03 9.75938036e-01 -1.03054655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.03, Z:-10.30 [[-6.45514330e-01 7.49085733e-01 1.48935606e-01 1.18128330e+02] [-7.31541453e-01 -6.62455196e-01 1.61245827e-01 9.10262987e+01] [ 2.19450114e-01 -4.86607810e-03 9.75611587e-01 -1.03046718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.02, Z:-10.30 [[-6.45798410e-01 7.48828409e-01 1.48998080e-01 1.18126776e+02] [-7.31290685e-01 -6.62746058e-01 1.61188079e-01 9.10245684e+01] [ 2.19450103e-01 -4.86590256e-03 9.75611590e-01 -1.03041274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:91.02, Z:-10.31 [[-6.46915452e-01 7.48545562e-01 1.45533295e-01 1.18126543e+02] [-7.30015478e-01 -6.63082828e-01 1.65525119e-01 9.10175780e+01] [ 2.20403723e-01 8.39199433e-04 9.75408373e-01 -1.03053850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.447628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.11, Y:91.01, Z:-10.30 [[-6.49270774e-01 7.44432105e-01 1.55782872e-01 1.18114331e+02] [-7.27138247e-01 -6.67630368e-01 1.59811331e-01 9.10098982e+01] [ 2.22974062e-01 -9.51485842e-03 9.74777942e-01 -1.02993572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47762800000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.74, Y:90.73, Z:-9.34 [[-6.21432679e-01 -7.70319873e-01 -1.42929067e-01 1.18735450e+02] [-7.55109735e-01 6.37526577e-01 -1.52869723e-01 9.07275722e+01] [ 2.08879664e-01 1.29288880e-02 -9.77855884e-01 -9.34405964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.507628 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.06, Y:90.99, Z:-10.30 [[-5.92647299e-01 7.93315519e-01 1.39354464e-01 1.18064886e+02] [-7.73572957e-01 -6.08800401e-01 1.75917455e-01 9.09852856e+01] [ 2.24397101e-01 -3.54384036e-03 9.74491346e-01 -1.02954572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:90.98, Z:-10.29 [[-5.94161430e-01 7.92346991e-01 1.38414017e-01 1.18063776e+02] [-7.72878991e-01 -6.10062077e-01 1.74591887e-01 9.09815100e+01] [ 2.22778499e-01 -3.24152041e-03 9.74863700e-01 -1.02947327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:90.98, Z:-10.29 [[-5.94964193e-01 7.91638365e-01 1.39019095e-01 1.18062334e+02] [-7.72010760e-01 -6.10982182e-01 1.75214610e-01 9.09776959e+01] [ 2.23644797e-01 -3.07781798e-03 9.74665856e-01 -1.02941761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:90.98, Z:-10.29 [[-5.96010502e-01 7.90744888e-01 1.39620929e-01 1.18061497e+02] [-7.70953089e-01 -6.12139231e-01 1.75832014e-01 9.09761028e+01] [ 2.24505714e-01 -2.84345998e-03 9.74468624e-01 -1.02940006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:90.74, Z:-9.33 [[-5.56497436e-01 -8.20759447e-01 -1.29091182e-01 1.18681412e+02] [-8.04874613e-01 5.71099162e-01 -1.61315233e-01 9.07356654e+01] [ 2.06124868e-01 1.41307019e-02 -9.78423662e-01 -9.33150461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:90.94, Z:-10.28 [[-5.37664586e-01 8.33821125e-01 1.25136422e-01 1.18000095e+02] [-8.12952673e-01 -5.52030906e-01 1.85391021e-01 9.09379654e+01] [ 2.23662122e-01 -2.05180249e-03 9.74664581e-01 -1.02844197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.687628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.00, Y:90.93, Z:-10.28 [[-5.38300518e-01 8.33243629e-01 1.26244236e-01 1.17997189e+02] [-8.12020175e-01 -5.52902680e-01 1.86873921e-01 9.09348975e+01] [ 2.25512280e-01 -1.91853790e-03 9.74238436e-01 -1.02837443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:90.93, Z:-10.28 [[-5.39749767e-01 8.32439943e-01 1.25355214e-01 1.17995795e+02] [-8.11532316e-01 -5.54112795e-01 1.85403100e-01 9.09349275e+01] [ 2.23797874e-01 -1.65852776e-03 9.74634168e-01 -1.02828514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:90.96, Z:-10.26 [[-5.35716831e-01 8.28812562e-01 1.61484409e-01 1.17991651e+02] [-8.08655445e-01 -5.58623110e-01 1.84435873e-01 9.09570574e+01] [ 2.43071692e-01 -3.17798453e-02 9.69487594e-01 -1.02624875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:90.92, Z:-10.29 [[-5.39769088e-01 8.36060130e-01 9.82486168e-02 1.18001925e+02] [-8.11824277e-01 -5.47857050e-01 2.01975237e-01 9.09193518e+01] [ 2.22689640e-01 2.92593769e-02 9.74450211e-01 -1.02922583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:90.93, Z:-10.28 [[-5.39376417e-01 8.32782246e-01 1.24686857e-01 1.17987849e+02] [-8.12217210e-01 -5.53596863e-01 1.83939437e-01 9.09296790e+01] [ 2.22207750e-01 -2.06021656e-03 9.74997165e-01 -1.02819411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:90.93, Z:-10.28 [[-5.39314346e-01 8.32776018e-01 1.24996558e-01 1.17982727e+02] [-8.12142657e-01 -5.53605885e-01 1.84241224e-01 9.09314195e+01] [ 2.22630503e-01 -2.15110118e-03 9.74900524e-01 -1.02802145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:90.95, Z:-10.27 [[-5.35388954e-01 8.32115806e-01 1.44713350e-01 1.17985738e+02] [-8.12260639e-01 -5.54233852e-01 1.81817190e-01 9.09516289e+01] [ 2.31497995e-01 -2.02020428e-02 9.72625599e-01 -1.02717204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:90.92, Z:-10.29 [[-5.41337830e-01 8.33697915e-01 1.09092347e-01 1.17984172e+02] [-8.10664715e-01 -5.51948718e-01 1.95385090e-01 9.09229623e+01] [ 2.23105523e-01 1.73320244e-02 9.74640204e-01 -1.02859039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:90.93, Z:-10.28 [[-5.43358009e-01 8.29939634e-01 1.26341911e-01 1.17970790e+02] [-8.08853638e-01 -5.57851953e-01 1.85895110e-01 9.09258911e+01] [ 2.24761801e-01 -1.18451760e-03 9.74413018e-01 -1.02790919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:90.93, Z:-10.28 [[-5.44188419e-01 8.29345039e-01 1.26671901e-01 1.17969961e+02] [-8.08167667e-01 -5.58735843e-01 1.86223734e-01 9.09266532e+01] [ 2.25219862e-01 -1.03133533e-03 9.74307421e-01 -1.02797165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:90.92, Z:-10.28 [[-5.44769862e-01 8.28902834e-01 1.27066479e-01 1.17966118e+02] [-8.07616189e-01 -5.59391818e-01 1.86646419e-01 9.09232794e+01] [ 2.25791694e-01 -9.41601097e-04 9.74175151e-01 -1.02790181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:117.96, Y:90.92, Z:-10.28 [[-5.43755189e-01 8.29754027e-01 1.25851295e-01 1.17964333e+02] [-8.07727535e-01 -5.58126901e-01 1.89922596e-01 9.09198575e+01] [ 2.27830032e-01 1.61784023e-03 9.73699573e-01 -1.02803726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:90.92, Z:-10.28 [[-5.43679908e-01 8.29755508e-01 1.26166372e-01 1.17955555e+02] [-8.08428942e-01 -5.58126917e-01 1.86914391e-01 9.09195562e+01] [ 2.25510093e-01 -3.74947782e-04 9.74240759e-01 -1.02777556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:90.92, Z:-10.27 [[-5.44102919e-01 8.28880408e-01 1.30035698e-01 1.17947348e+02] [-8.08244472e-01 -5.59403000e-01 1.83872665e-01 9.09174036e+01] [ 2.25150809e-01 -5.05498086e-03 9.74310813e-01 -1.02741571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.94, Y:90.92, Z:-10.27 [[-5.42917929e-01 8.30026025e-01 1.27659388e-01 1.17944472e+02] [-8.08813650e-01 -5.57721004e-01 1.86461152e-01 9.09152045e+01] [ 2.25965931e-01 -2.01955311e-03 9.74133112e-01 -1.02746995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:117.95, Y:90.93, Z:-10.28 [[-5.37044898e-01 8.33242319e-01 1.31491498e-01 1.17949934e+02] [-8.12211855e-01 -5.52865811e-01 1.86148592e-01 9.09261282e+01] [ 2.27804039e-01 -6.82880202e-03 9.73683053e-01 -1.02753180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.94, Y:90.92, Z:-10.28 [[-5.41886467e-01 8.31443762e-01 1.22720522e-01 1.17937952e+02] [-8.09875608e-01 -5.55602943e-01 1.88167132e-01 9.09178375e+01] [ 2.24634271e-01 2.57686486e-03 9.74439739e-01 -1.02753239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.93, Z:-10.26 [[-5.40803442e-01 8.28017215e-01 1.48051106e-01 1.17932445e+02] [-8.07968801e-01 -5.60308493e-01 1.82320620e-01 9.09343979e+01] [ 2.33918904e-01 -2.10210561e-02 9.72028838e-01 -1.02596705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:90.88, Z:-10.27 [[-5.48925422e-01 8.28965625e-01 1.07223479e-01 1.17917410e+02] [-8.05932992e-01 -5.58916001e-01 1.95153569e-01 9.08802860e+01] [ 2.21704518e-01 2.07098158e-02 9.74893948e-01 -1.02720282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.90, Y:90.89, Z:-10.26 [[-5.50745995e-01 8.24977990e-01 1.26847012e-01 1.17903023e+02] [-8.04463869e-01 -5.65163248e-01 1.82834314e-01 9.08882596e+01] [ 2.22523555e-01 -1.34857200e-03 9.74926381e-01 -1.02626688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28762800000004 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:117.90, Y:90.89, Z:-10.26 [[-5.52367973e-01 8.23868336e-01 1.27006249e-01 1.17899364e+02] [-8.03307885e-01 -5.66780366e-01 1.82911067e-01 9.08874946e+01] [ 2.22679285e-01 -9.90905627e-04 9.74891253e-01 -1.02620269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.88, Z:-10.26 [[-5.55296294e-01 8.22025148e-01 1.26177186e-01 1.17895580e+02] [-8.01722546e-01 -5.69451090e-01 1.81566561e-01 9.08849170e+01] [ 2.21104015e-01 -3.35855716e-04 9.75250174e-01 -1.02596034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.88, Z:-10.26 [[-5.61425810e-01 8.17805635e-01 1.26471355e-01 1.17892705e+02] [-7.97334728e-01 -5.75493167e-01 1.81837689e-01 9.08793424e+01] [ 2.21491287e-01 1.24836857e-03 9.75161551e-01 -1.02582229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.26 [[-5.63182476e-01 8.16346113e-01 1.28080136e-01 1.17889428e+02] [-7.95342641e-01 -5.77560337e-01 1.83994950e-01 9.08725221e+01] [ 2.24177569e-01 1.75513768e-03 9.74546734e-01 -1.02574683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.26 [[-5.65888098e-01 8.14560184e-01 1.27523988e-01 1.17889814e+02] [-7.93731133e-01 -5.80074243e-01 1.83043059e-01 9.08701944e+01] [ 2.23072969e-01 2.36212834e-03 9.74798888e-01 -1.02566615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.26 [[-5.67547503e-01 8.13368030e-01 1.27758679e-01 1.17890811e+02] [-7.92466677e-01 -5.81742997e-01 1.83225684e-01 9.08678473e+01] [ 2.23352630e-01 2.74478418e-03 9.74733845e-01 -1.02570773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.68239956e-01 8.12847682e-01 1.27992185e-01 1.17891302e+02] [-7.91891195e-01 -5.82469270e-01 1.83406341e-01 9.08615637e+01] [ 2.23632933e-01 2.86292678e-03 9.74669234e-01 -1.02566243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.25 [[-5.67615832e-01 8.13306928e-01 1.27844077e-01 1.17887808e+02] [-7.92446222e-01 -5.81829139e-01 1.83040537e-01 9.08555396e+01] [ 2.23251546e-01 2.58715093e-03 9.74757433e-01 -1.02546315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.66101616e-01 8.14379609e-01 1.27729453e-01 1.17890467e+02] [-7.93618819e-01 -5.80328841e-01 1.82722761e-01 9.08595918e+01] [ 2.22930776e-01 2.07115246e-03 9.74832078e-01 -1.02551928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.25 [[-5.64251804e-01 8.15672906e-01 1.27662102e-01 1.17888966e+02] [-7.95001894e-01 -5.78511497e-01 1.82473112e-01 9.08582994e+01] [ 2.22692368e-01 1.46917007e-03 9.74887661e-01 -1.02544619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.58765775e-01 8.19464738e-01 1.27508244e-01 1.17890184e+02] [-7.98975460e-01 -5.73129591e-01 1.82100761e-01 9.08633892e+01] [ 2.22303900e-01 -1.24284818e-04 9.74977415e-01 -1.02554200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.26 [[-5.56041927e-01 8.21341747e-01 1.27338569e-01 1.17889824e+02] [-8.00990520e-01 -5.70435635e-01 1.81706834e-01 9.08650769e+01] [ 2.21881866e-01 -9.60368076e-04 9.75073082e-01 -1.02557157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.26 [[-5.52723434e-01 8.23474423e-01 1.28010467e-01 1.17889188e+02] [-8.02996127e-01 -5.67350171e-01 1.82513024e-01 9.08652994e+01] [ 2.22921567e-01 -1.91268364e-03 9.74834507e-01 -1.02567898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.677628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.89, Y:90.87, Z:-10.25 [[-5.47150279e-01 8.24789476e-01 1.42649546e-01 1.17887441e+02] [-8.05323517e-01 -5.65185177e-01 1.78940628e-01 9.08737136e+01] [ 2.28211756e-01 -1.69716201e-02 9.73463589e-01 -1.02514662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.707628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.47461560e-01 8.28791070e-01 1.15720366e-01 1.17893903e+02] [-8.06577077e-01 -5.59446326e-01 1.90927283e-01 9.08565168e+01] [ 2.22978161e-01 1.11879541e-02 9.74759237e-01 -1.02630888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.47315472e-01 8.27071990e-01 1.28053496e-01 1.17888201e+02] [-8.06782929e-01 -5.62084211e-01 1.82106137e-01 9.08601308e+01] [ 2.22591734e-01 -3.64186817e-03 9.74904948e-01 -1.02562063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.26 [[-5.47449899e-01 8.26932385e-01 1.28380057e-01 1.17887937e+02] [-8.06569218e-01 -5.62289315e-01 1.82419358e-01 9.08589030e+01] [ 2.23035209e-01 -3.68194288e-03 9.74803436e-01 -1.02553414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.86, Z:-10.25 [[-5.47681634e-01 8.26704236e-01 1.28860133e-01 1.17887504e+02] [-8.06215153e-01 -5.62624639e-01 1.82949836e-01 9.08564732e+01] [ 2.23745290e-01 -3.69072668e-03 9.74640664e-01 -1.02548629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.827628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.89, Y:90.85, Z:-10.25 [[-5.48287912e-01 8.26179744e-01 1.29643340e-01 1.17888321e+02] [-8.05458423e-01 -5.63395210e-01 1.83909128e-01 9.08539030e+01] [ 2.24982432e-01 -3.58716830e-03 9.74356217e-01 -1.02549895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85762800000003 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.89, Y:90.85, Z:-10.26 [[-5.48627637e-01 8.25911498e-01 1.29915024e-01 1.17886906e+02] [-8.05129918e-01 -5.63788464e-01 1.84142292e-01 9.08512667e+01] [ 2.25329828e-01 -3.57292213e-03 9.74275989e-01 -1.02554376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.85, Z:-10.25 [[-5.49280372e-01 8.25577321e-01 1.29279387e-01 1.17886008e+02] [-8.05026621e-01 -5.64278125e-01 1.83091063e-01 9.08498451e+01] [ 2.24105360e-01 -3.50502067e-03 9.74558619e-01 -1.02527013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.89, Y:90.85, Z:-10.25 [[-5.49147370e-01 8.25703141e-01 1.29040649e-01 1.17885765e+02] [-8.05267136e-01 -5.64093166e-01 1.82602683e-01 9.08472851e+01] [ 2.23566557e-01 -3.63641102e-03 9.74681882e-01 -1.02526061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.947628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.48908489e-01 8.25839497e-01 1.29184353e-01 1.17884682e+02] [-8.05395690e-01 -5.63892553e-01 1.82655336e-01 9.08449791e+01] [ 2.23690086e-01 -3.78345689e-03 9.74652980e-01 -1.02533323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.48823538e-01 8.25829826e-01 1.29606415e-01 1.17882037e+02] [-8.05285086e-01 -5.63906059e-01 1.83100754e-01 9.08415752e+01] [ 2.24295907e-01 -3.88010967e-03 9.74513361e-01 -1.02526205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.007628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.49024678e-01 8.25654438e-01 1.29871674e-01 1.17880165e+02] [-8.05054521e-01 -5.64162658e-01 1.83324067e-01 9.08417578e+01] [ 2.24631079e-01 -3.90434149e-03 9.74436060e-01 -1.02514811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.49402784e-01 8.25447952e-01 1.29584948e-01 1.17876579e+02] [-8.04969068e-01 -5.64464774e-01 1.82768485e-01 9.08379200e+01] [ 2.24012010e-01 -3.89836017e-03 9.74578587e-01 -1.02499024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.067628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.49649921e-01 8.25368468e-01 1.29042072e-01 1.17877296e+02] [-8.05094968e-01 -5.64580734e-01 1.81853477e-01 9.08402927e+01] [ 2.22950793e-01 -3.93537347e-03 9.74821756e-01 -1.02503242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:90.84, Z:-10.25 [[-5.49632082e-01 8.25525809e-01 1.28108211e-01 1.17875219e+02] [-8.05585995e-01 -5.64349806e-01 1.80389860e-01 9.08386770e+01] [ 2.21214329e-01 -4.05412607e-03 9.75216789e-01 -1.02468383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.127628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.87, Y:90.84, Z:-10.25 [[-5.49262112e-01 8.26016306e-01 1.26523493e-01 1.17873340e+02] [-8.06617849e-01 -5.63629972e-01 1.78013766e-01 9.08373021e+01] [ 2.18354706e-01 -4.27989101e-03 9.75860085e-01 -1.02466134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.87, Y:90.84, Z:-10.25 [[-5.49260212e-01 8.26129181e-01 1.25792670e-01 1.17872573e+02] [-8.06991888e-01 -5.63463730e-01 1.76840937e-01 9.08358596e+01] [ 2.16973066e-01 -4.38197413e-03 9.76167756e-01 -1.02470519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.187628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.87, Y:90.84, Z:-10.25 [[-5.49551268e-01 8.25983437e-01 1.25478150e-01 1.17871953e+02] [-8.06971117e-01 -5.63677242e-01 1.76254312e-01 9.08354053e+01] [ 2.16312320e-01 -4.39646217e-03 9.76314320e-01 -1.02470325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:90.83, Z:-10.24 [[-5.50192069e-01 8.25659361e-01 1.24801072e-01 1.17870293e+02] [-8.06877315e-01 -5.64152367e-01 1.75160225e-01 9.08342757e+01] [ 2.15029500e-01 -4.32738704e-03 9.76597966e-01 -1.02435204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.247628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.87, Y:90.83, Z:-10.24 [[-5.52159617e-01 8.24403668e-01 1.24412015e-01 1.17868128e+02] [-8.05739637e-01 -5.65988802e-01 1.74471529e-01 9.08327000e+01] [ 2.14250776e-01 -3.90755954e-03 9.76770872e-01 -1.02449701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.83, Z:-10.24 [[-5.53820331e-01 8.23255200e-01 1.24635136e-01 1.17864084e+02] [-8.04526118e-01 -5.67660335e-01 1.74640972e-01 9.08260952e+01] [ 2.14524511e-01 -3.55250105e-03 9.76712145e-01 -1.02405559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.82, Z:-10.24 [[-5.54133549e-01 8.23034130e-01 1.24702972e-01 1.17862768e+02] [-8.04310419e-01 -5.67980811e-01 1.74592521e-01 9.08241953e+01] [ 2.14524499e-01 -3.55232618e-03 9.76712148e-01 -1.02400165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.86, Y:90.82, Z:-10.24 [[-5.55832178e-01 8.21809898e-01 1.25216139e-01 1.17863151e+02] [-8.02931126e-01 -5.69752928e-01 1.75166233e-01 9.08237274e+01] [ 2.15295606e-01 -3.17690695e-03 9.76543757e-01 -1.02434251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.82, Z:-10.24 [[-5.59540297e-01 8.19167775e-01 1.26011156e-01 1.17860074e+02] [-8.00011376e-01 -5.73549529e-01 1.76132722e-01 9.08184442e+01] [ 2.16555889e-01 -2.25700288e-03 9.76267613e-01 -1.02399083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.82, Z:-10.24 [[-5.61744472e-01 8.17679750e-01 1.25868882e-01 1.17858894e+02] [-7.98562054e-01 -5.75670662e-01 1.75789462e-01 9.08162104e+01] [ 2.16198506e-01 -1.76535484e-03 9.76347832e-01 -1.02395290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.81, Z:-10.24 [[-5.63838211e-01 8.16223867e-01 1.25956626e-01 1.17856788e+02] [-7.97075258e-01 -5.77734306e-01 1.75767190e-01 9.08127222e+01] [ 2.16234839e-01 -1.29265195e-03 9.76340526e-01 -1.02388869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.81, Z:-10.24 [[-5.65959181e-01 8.14661737e-01 1.26556153e-01 1.17853956e+02] [-7.95321957e-01 -5.79935891e-01 1.76457778e-01 9.08091615e+01] [ 2.17147855e-01 -7.84987447e-04 9.76138409e-01 -1.02374651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48762800000003 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:117.85, Y:90.80, Z:-10.24 [[-5.69820650e-01 8.11774316e-01 1.27776708e-01 1.17848179e+02] [-7.92016119e-01 -5.83971237e-01 1.78011409e-01 9.08030882e+01] [ 2.19123012e-01 2.33364130e-04 9.75697213e-01 -1.02390425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.80, Z:-10.24 [[-5.72020767e-01 8.10206515e-01 1.27897011e-01 1.17847422e+02] [-7.90404883e-01 -5.86144047e-01 1.78031673e-01 9.08028095e+01] [ 2.19208493e-01 7.47392329e-04 9.75677753e-01 -1.02357896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.80, Z:-10.23 [[-5.73968954e-01 8.08805350e-01 1.28037286e-01 1.17841635e+02] [-7.88958343e-01 -5.88075230e-01 1.78079355e-01 9.07960172e+01] [ 2.19327091e-01 1.19593616e-03 9.75650653e-01 -1.02337873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.80, Z:-10.23 [[-5.75753187e-01 8.07537233e-01 1.28030796e-01 1.17841822e+02] [-7.87694358e-01 -5.89814452e-01 1.77922767e-01 9.07988141e+01] [ 2.19193673e-01 1.59046482e-03 9.75680073e-01 -1.02342108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.80, Z:-10.23 [[-5.77590941e-01 8.06298426e-01 1.27559999e-01 1.17837061e+02] [-7.86605866e-01 -5.91505696e-01 1.77122056e-01 9.07966792e+01] [ 2.18265701e-01 1.96465158e-03 9.75887403e-01 -1.02329639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.80, Z:-10.23 [[-5.78151014e-01 8.05926907e-01 1.27370428e-01 1.17835225e+02] [-7.86317305e-01 -5.92011629e-01 1.76712557e-01 9.07959788e+01] [ 2.17822179e-01 2.01297288e-03 9.75986397e-01 -1.02325523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.79, Z:-10.23 [[-5.78307512e-01 8.05836094e-01 1.27234476e-01 1.17832389e+02] [-7.86299237e-01 -5.92135426e-01 1.76377851e-01 9.07928838e+01] [ 2.17471679e-01 1.95626488e-03 9.76064671e-01 -1.02317405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.79, Z:-10.23 [[-5.77431806e-01 8.06599687e-01 1.26370307e-01 1.17831652e+02] [-7.87380483e-01 -5.91096000e-01 1.75035696e-01 9.07927039e+01] [ 2.15880721e-01 1.56966423e-03 9.76418481e-01 -1.02313956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.79, Z:-10.23 [[-5.77369999e-01 8.06675476e-01 1.26168778e-01 1.17830043e+02] [-7.87551956e-01 -5.90992868e-01 1.74611990e-01 9.07903788e+01] [ 2.15420058e-01 1.45125631e-03 9.76520400e-01 -1.02304602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.79, Z:-10.23 [[-5.77131042e-01 8.06813955e-01 1.26376427e-01 1.17831385e+02] [-7.87661996e-01 -5.90804125e-01 1.74754302e-01 9.07903714e+01] [ 2.15657924e-01 1.31422333e-03 9.76468091e-01 -1.02305661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.79, Z:-10.23 [[-5.76799092e-01 8.06937304e-01 1.27102298e-01 1.17831561e+02] [-7.87597415e-01 -5.90635909e-01 1.75611885e-01 9.07881881e+01] [ 2.16778962e-01 1.18733458e-03 9.76219992e-01 -1.02302036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.75559598e-01 8.07627040e-01 1.28334378e-01 1.17831239e+02] [-7.87955714e-01 -5.89693009e-01 1.77166444e-01 9.07836041e+01] [ 2.18762296e-01 8.48040357e-04 9.75777812e-01 -1.02293256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.74942596e-01 8.08003387e-01 1.28730487e-01 1.17831885e+02] [-7.88251314e-01 -5.89177515e-01 1.77566103e-01 9.07820108e+01] [ 2.19319121e-01 6.18340768e-04 9.75652982e-01 -1.02293159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.73839657e-01 8.08747309e-01 1.28979991e-01 1.17832652e+02] [-7.88969289e-01 -5.88156212e-01 1.77763134e-01 9.07811851e+01] [ 2.19625839e-01 2.46283618e-04 9.75584148e-01 -1.02296594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.72249938e-01 8.09798309e-01 1.29447699e-01 1.17830596e+02] [-7.89934602e-01 -5.86708307e-01 1.78260164e-01 9.07768753e+01] [ 2.20302819e-01 -2.45848664e-04 9.75431498e-01 -1.02291578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.67432413e-01 8.13127692e-01 1.29783720e-01 1.17833624e+02] [-7.93278112e-01 -5.82083083e-01 1.78575252e-01 9.07796050e+01] [ 2.20749391e-01 -1.62519852e-03 9.75329209e-01 -1.02307741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.64826552e-01 8.14911364e-01 1.29963211e-01 1.17833634e+02] [-7.95085905e-01 -5.79580585e-01 1.78674985e-01 9.07796293e+01] [ 2.20928429e-01 -2.41154156e-03 9.75287042e-01 -1.02340018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.997628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.59965335e-01 8.18224653e-01 1.30181569e-01 1.17834346e+02] [-7.98452570e-01 -5.74886015e-01 1.78828306e-01 9.07825456e+01] [ 2.21161292e-01 -3.80615597e-03 9.75229817e-01 -1.02347439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.58347630e-01 8.19321918e-01 1.30228720e-01 1.17833780e+02] [-7.99597942e-01 -5.73317419e-01 1.78746380e-01 9.07821902e+01] [ 2.21113220e-01 -4.32799874e-03 9.75238541e-01 -1.02308264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.57411601e-01 8.19967070e-01 1.30177998e-01 1.17832433e+02] [-8.00313244e-01 -5.72391576e-01 1.78512171e-01 9.07796056e+01] [ 2.20886892e-01 -4.67842073e-03 9.75288211e-01 -1.02296785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.78, Z:-10.23 [[-5.57058765e-01 8.20230733e-01 1.30027217e-01 1.17831982e+02] [-8.00670962e-01 -5.72011974e-01 1.78124427e-01 9.07765757e+01] [ 2.20480254e-01 -4.88324353e-03 9.75379214e-01 -1.02291664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.77, Z:-10.23 [[-5.58850875e-01 8.19044186e-01 1.29816490e-01 1.17832202e+02] [-7.99549444e-01 -5.73712861e-01 1.77691420e-01 9.07736212e+01] [ 2.20014514e-01 -4.49169675e-03 9.75486257e-01 -1.02289108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.77, Z:-10.23 [[-5.61170164e-01 8.17448577e-01 1.29868668e-01 1.17829692e+02] [-7.97928272e-01 -5.75988027e-01 1.77618315e-01 9.07699462e+01] [ 2.19996637e-01 -3.95178318e-03 9.75492626e-01 -1.02273006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.177628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.80, Y:90.73, Z:-10.22 [[-5.63635188e-01 8.16948498e-01 1.22108668e-01 1.17804228e+02] [-7.96279235e-01 -5.76682062e-01 1.82694225e-01 9.07274539e+01] [ 2.19669651e-01 5.74029672e-03 9.75557427e-01 -1.02196180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.207628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.76, Y:90.92, Z:-9.45 [[-5.70616932e-01 -5.39347731e-02 8.19443321e-01 1.17756228e+02] [-7.76418266e-01 -2.89634659e-01 -5.59719967e-01 9.09230886e+01] [ 2.67527557e-01 -9.55616453e-01 1.23394498e-01 -9.45421361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:90.87, Z:-9.47 [[-5.59250371e-01 -9.49028680e-02 8.23548704e-01 1.17727388e+02] [-7.57976025e-01 -3.43776797e-01 -5.54337315e-01 9.08700564e+01] [ 3.35725137e-01 -9.34243522e-01 1.20323203e-01 -9.46824533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.67, Y:90.54, Z:-10.21 [[-5.63626519e-01 7.99086930e-01 2.09249194e-01 1.17665275e+02] [-7.48391436e-01 -6.01214165e-01 2.80092459e-01 9.05375938e+01] [ 3.49621803e-01 1.26723354e-03 9.36890062e-01 -1.02132555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29762800000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.66, Y:90.54, Z:-10.21 [[-5.64820630e-01 7.97356451e-01 2.12603731e-01 1.17662265e+02] [-7.47192100e-01 -6.03506442e-01 2.78359373e-01 9.05377749e+01] [ 3.50259363e-01 -1.63271228e-03 9.36651330e-01 -1.02116614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:90.38, Z:-9.30 [[-5.10229526e-01 -8.35339806e-01 -2.04629518e-01 1.18458843e+02] [-7.92034965e-01 5.49119835e-01 -2.66735863e-01 9.03773667e+01] [ 3.35181211e-01 2.59772202e-02 -9.41795487e-01 -9.30045916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:90.41, Z:-9.30 [[-4.42388502e-01 -8.75869741e-01 -1.92729373e-01 1.18431353e+02] [-8.32213160e-01 4.81017382e-01 -2.75759922e-01 9.04129883e+01] [ 3.34235949e-01 3.83989016e-02 -9.41706884e-01 -9.30031386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.387628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.40, Y:90.08, Z:-10.00 [[-4.46561251e-01 2.30475263e-02 -8.94456182e-01 1.18396037e+02] [-8.51089840e-01 2.97528731e-01 4.32576858e-01 9.00845344e+01] [ 2.76096239e-01 9.54434632e-01 -1.13249287e-01 -1.00013101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:90.48, Z:-10.15 [[-4.42500225e-01 8.84652852e-01 1.46911135e-01 1.17561315e+02] [-8.49310306e-01 -4.66008003e-01 2.48009163e-01 9.04773882e+01] [ 2.87863778e-01 -1.50290310e-02 9.57553431e-01 -1.01455706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:90.02, Z:-9.95 [[-4.42246256e-01 -1.28431237e-02 -8.96801708e-01 1.18358910e+02] [-8.72029742e-01 2.39962254e-01 4.26593772e-01 9.00242478e+01] [ 2.09719762e-01 9.70697260e-01 -1.17321994e-01 -9.94786088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:90.42, Z:-10.11 [[-4.44365501e-01 8.90909963e-01 9.39081481e-02 1.17538022e+02] [-8.71060904e-01 -4.54178091e-01 1.87016477e-01 9.04167740e+01] [ 2.09265866e-01 1.30395410e-03 9.77857913e-01 -1.01090191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:90.42, Z:-10.11 [[-4.44126195e-01 8.90910664e-01 9.50269042e-02 1.17536829e+02] [-8.71131033e-01 -4.54178568e-01 1.86688381e-01 9.04159991e+01] [ 2.09481853e-01 1.32315224e-04 9.77812526e-01 -1.01083643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:90.41, Z:-10.11 [[-4.42380803e-01 8.91930581e-01 9.35898703e-02 1.17533654e+02] [-8.71982251e-01 -4.52170261e-01 1.87587336e-01 9.04101775e+01] [ 2.09633438e-01 1.37633063e-03 9.77779079e-01 -1.01078526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:90.55, Z:-9.31 [[-4.42910072e-01 -4.48420075e-02 8.95443947e-01 1.17457193e+02] [-8.54090786e-01 -2.82665429e-01 -4.36611021e-01 9.05471343e+01] [ 2.72689562e-01 -9.58169844e-01 8.68962200e-02 -9.31278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:90.14, Z:-9.15 [[-3.81094084e-01 -9.18569679e-01 -1.04866787e-01 1.18212866e+02] [-8.81781380e-01 3.95218978e-01 -2.57417088e-01 9.01407450e+01] [ 2.77900876e-01 -5.63054892e-03 -9.60593254e-01 -9.14866280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:90.20, Z:-10.08 [[-3.72193200e-01 9.21780853e-01 1.08592268e-01 1.17402694e+02] [-8.85944920e-01 -3.87708508e-01 2.54526446e-01 9.01962463e+01] [ 2.76719751e-01 -1.47375593e-03 9.60949534e-01 -1.00828539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:90.19, Z:-10.08 [[-3.70747629e-01 9.22226511e-01 1.09747245e-01 1.17402815e+02] [-8.85710882e-01 -3.86645175e-01 2.56946965e-01 9.01939280e+01] [ 2.79396546e-01 -1.94185139e-03 9.60173838e-01 -1.00838196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.687628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.40, Y:90.19, Z:-10.09 [[-3.70213555e-01 9.22326448e-01 1.10706129e-01 1.17400608e+02] [-8.85266251e-01 -3.86405443e-01 2.58832954e-01 9.01883620e+01] [ 2.81505930e-01 -2.18093212e-03 9.59557010e-01 -1.00863793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:90.19, Z:-10.08 [[-3.70838598e-01 9.22036859e-01 1.11025963e-01 1.17400419e+02] [-8.84828864e-01 -3.87096493e-01 2.59295558e-01 9.01879077e+01] [ 2.82057823e-01 -2.08217559e-03 9.59395148e-01 -1.00830488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:90.18, Z:-10.08 [[-3.71389581e-01 9.22077821e-01 1.08822198e-01 1.17398228e+02] [-8.84574841e-01 -3.87004294e-01 2.60297961e-01 9.01775736e+01] [ 2.82129634e-01 4.10571848e-04 9.59376204e-01 -1.00819197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:90.36, Z:-9.15 [[ -0.35432449 -0.34186151 0.87039351 117.46314905] [ -0.87402977 -0.20983977 -0.43822281 90.36079614] [ 0.33245469 -0.91602291 -0.22444577 -9.15438475] [ 0. 0. 0. 1. ]] SLAMing on 314.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:90.07, Z:-10.08 [[-3.46351919e-01 9.28587878e-01 1.33285037e-01 1.17347293e+02] [-8.72394649e-01 -3.71062875e-01 3.18182209e-01 9.00668684e+01] [ 3.44917272e-01 -6.07413425e-03 9.38613435e-01 -1.00768576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.34, Y:90.04, Z:-10.07 [[-3.53742141e-01 9.26827639e-01 1.25924681e-01 1.17336881e+02] [-8.69439145e-01 -3.75464659e-01 3.21094789e-01 9.00384338e+01] [ 3.44879793e-01 4.10091102e-03 9.38637902e-01 -1.00700041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.867628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.34, Y:90.04, Z:-10.07 [[-3.55481824e-01 9.25471918e-01 1.30898440e-01 1.17335254e+02] [-8.68854497e-01 -3.78815978e-01 3.18732360e-01 9.00411666e+01] [ 3.44564269e-01 -4.28137163e-04 9.38762633e-01 -1.00675895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:90.04, Z:-10.06 [[-3.57537401e-01 9.24695970e-01 1.30783673e-01 1.17335651e+02] [-8.68265388e-01 -3.80706360e-01 3.18084711e-01 9.00406948e+01] [ 3.43921826e-01 1.72244462e-04 9.38998268e-01 -1.00643127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:90.03, Z:-10.06 [[-3.59999350e-01 9.23692936e-01 1.31117610e-01 1.17335741e+02] [-8.67034986e-01 -3.83132336e-01 3.18527779e-01 9.00349219e+01] [ 3.44457255e-01 9.86237867e-04 9.38801484e-01 -1.00636409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:90.03, Z:-10.06 [[-3.61693594e-01 9.23015885e-01 1.31222792e-01 1.17335890e+02] [-8.66355840e-01 -3.84758986e-01 3.18414951e-01 9.00332036e+01] [ 3.44391206e-01 1.48301548e-03 9.38825062e-01 -1.00635811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:90.03, Z:-10.06 [[-3.63042783e-01 9.22463879e-01 1.31378576e-01 1.17333819e+02] [-8.65764923e-01 -3.86078926e-01 3.18424498e-01 9.00275244e+01] [ 3.44457597e-01 1.85875310e-03 9.38800037e-01 -1.00621428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:90.02, Z:-10.06 [[-3.63874544e-01 9.22082757e-01 1.31752441e-01 1.17330985e+02] [-8.65162247e-01 -3.86987194e-01 3.18959555e-01 9.00241455e+01] [ 3.45093614e-01 2.07402432e-03 9.38565979e-01 -1.00612175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:90.03, Z:-10.06 [[-3.63687038e-01 9.22134092e-01 1.31910788e-01 1.17330829e+02] [-8.65211432e-01 -3.86865867e-01 3.18973320e-01 9.00260285e+01] [ 3.45167954e-01 1.87574042e-03 9.38539059e-01 -1.00617310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:90.02, Z:-10.06 [[-3.63127625e-01 9.22898063e-01 1.28052698e-01 1.17328043e+02] [-8.65626439e-01 -3.85006647e-01 3.20094908e-01 9.00169838e+01] [ 3.44716111e-01 5.38950295e-03 9.38691513e-01 -1.00601372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:90.03, Z:-10.06 [[-3.62585074e-01 9.22073643e-01 1.35322803e-01 1.17326075e+02] [-8.65970768e-01 -3.87007375e-01 3.16733202e-01 9.00254168e+01] [ 3.44422260e-01 -2.34286014e-03 9.38811918e-01 -1.00594118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.03, Z:-10.06 [[-3.60923952e-01 9.23281091e-01 1.31475958e-01 1.17324407e+02] [-8.67120049e-01 -3.84124759e-01 3.17097762e-01 9.00258590e+01] [ 3.43273538e-01 4.42738355e-04 9.39235371e-01 -1.00595324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.02, Z:-10.06 [[-3.60260597e-01 9.23944444e-01 1.28603915e-01 1.17321629e+02] [-8.67406890e-01 -3.82514091e-01 3.18258161e-01 9.00183605e+01] [ 3.43245669e-01 3.10395311e-03 9.39240532e-01 -1.00569273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.02, Z:-10.06 [[-3.60606323e-01 9.23437605e-01 1.31248123e-01 1.17319696e+02] [-8.67260553e-01 -3.83748213e-01 3.17169422e-01 9.00171524e+01] [ 3.43252404e-01 5.46979546e-04 9.39243040e-01 -1.00550830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.01, Z:-10.05 [[-3.60116542e-01 9.23145247e-01 1.34606572e-01 1.17315683e+02] [-8.67195334e-01 -3.84441526e-01 3.16507449e-01 9.00124090e+01] [ 3.43930703e-01 -2.75062337e-03 9.38991004e-01 -1.00519263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.02, Z:-10.06 [[-3.60359073e-01 9.23481004e-01 1.31621324e-01 1.17321433e+02] [-8.66773031e-01 -3.83643449e-01 3.18625510e-01 9.00200927e+01] [ 3.44740265e-01 7.33779535e-04 9.38697827e-01 -1.00579330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.02, Z:-10.06 [[-3.60117723e-01 9.23397131e-01 1.32864454e-01 1.17319443e+02] [-8.66574662e-01 -3.83845874e-01 3.18921151e-01 9.00179563e+01] [ 3.45490349e-01 -2.87810054e-04 9.38422259e-01 -1.00572104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.02, Z:-10.06 [[-3.59651808e-01 9.23511396e-01 1.33331459e-01 1.17317426e+02] [-8.66418728e-01 -3.83570593e-01 3.19675130e-01 9.00159687e+01] [ 3.46365653e-01 -5.49134084e-04 9.38099426e-01 -1.00565118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:90.01, Z:-10.06 [[-3.58970642e-01 9.23728815e-01 1.33660596e-01 1.17315628e+02] [-8.66494919e-01 -3.83046012e-01 3.20097341e-01 9.00147350e+01] [ 3.46881295e-01 -9.10679474e-04 9.37908598e-01 -1.00561687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.02, Z:-10.06 [[-3.56802110e-01 9.24496847e-01 1.34156009e-01 1.17313880e+02] [-8.67012550e-01 -3.81185387e-01 3.20915782e-01 9.00158177e+01] [ 3.47823939e-01 -1.81151566e-03 9.37558119e-01 -1.00568144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.06 [[-3.56330120e-01 9.24625254e-01 1.34525039e-01 1.17312038e+02] [-8.66959206e-01 -3.80872372e-01 3.21431131e-01 9.00141692e+01] [ 3.48440211e-01 -2.09212751e-03 9.37328674e-01 -1.00551907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.05 [[-3.56309012e-01 9.24651129e-01 1.34403042e-01 1.17310880e+02] [-8.67230276e-01 -3.80808569e-01 3.20774815e-01 9.00136415e+01] [ 3.47786625e-01 -2.26342980e-03 9.37570979e-01 -1.00541108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.05 [[-3.57236817e-01 9.24409705e-01 1.33598480e-01 1.17309916e+02] [-8.67812861e-01 -3.81394848e-01 3.18494596e-01 9.00116950e+01] [ 3.45373268e-01 -2.16048320e-03 9.38462913e-01 -1.00516541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.05 [[-3.58415378e-01 9.24020217e-01 1.33135478e-01 1.17309145e+02] [-8.67933035e-01 -3.82338775e-01 3.17032031e-01 9.00089624e+01] [ 3.43846862e-01 -1.92352461e-03 9.39023767e-01 -1.00498689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.05 [[-3.59423994e-01 9.23705389e-01 1.32599949e-01 1.17308603e+02] [-8.68192117e-01 -3.83099539e-01 3.15400048e-01 9.00066439e+01] [ 3.42135704e-01 -1.75988514e-03 9.39648904e-01 -1.00481995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.01, Z:-10.05 [[-3.61088937e-01 9.23120730e-01 1.32147257e-01 1.17308689e+02] [-8.68088540e-01 -3.84507879e-01 3.13968116e-01 9.00050695e+01] [ 3.40642138e-01 -1.34510592e-03 9.40192068e-01 -1.00455517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.00, Z:-10.04 [[-3.62510819e-01 9.22555160e-01 1.32203946e-01 1.17306687e+02] [-8.67566647e-01 -3.85864040e-01 3.13746801e-01 8.99989383e+01] [ 3.40461479e-01 -9.59123995e-04 9.40257976e-01 -1.00430565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:90.00, Z:-10.04 [[-3.64047013e-01 9.21915040e-01 1.32447842e-01 1.17306948e+02] [-8.66805275e-01 -3.87391793e-01 3.13968493e-01 8.99976641e+01] [ 3.40761483e-01 -5.07195925e-04 9.40149645e-01 -1.00430028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.99, Z:-10.04 [[-3.65242151e-01 9.21376396e-01 1.32904887e-01 1.17305749e+02] [-8.65969185e-01 -3.88671474e-01 3.14693272e-01 8.99919702e+01] [ 3.41607291e-01 -1.52288966e-04 9.39842772e-01 -1.00416710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.99, Z:-10.04 [[-3.67405785e-01 9.20387772e-01 1.33788408e-01 1.17307034e+02] [-8.64285927e-01 -3.91006342e-01 3.16423572e-01 8.99891897e+01] [ 3.43544503e-01 6.24412634e-04 9.39136191e-01 -1.00434481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.99, Z:-10.04 [[-3.68578127e-01 9.19838115e-01 1.34342870e-01 1.17307452e+02] [-8.63352457e-01 -3.92296902e-01 3.17373086e-01 8.99881368e+01] [ 3.44634153e-01 9.91530487e-04 9.38736554e-01 -1.00439199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.98, Z:-10.04 [[-3.69436322e-01 9.19445964e-01 1.34669679e-01 1.17306209e+02] [-8.62783694e-01 -3.93214514e-01 3.17783958e-01 8.99823353e+01] [ 3.45139250e-01 1.21013345e-03 9.38550709e-01 -1.00422199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.98, Z:-10.04 [[-3.69966596e-01 9.19220412e-01 1.34753672e-01 1.17307489e+02] [-8.62603128e-01 -3.93741311e-01 3.17621826e-01 8.99815582e+01] [ 3.45022553e-01 1.27052630e-03 9.38593535e-01 -1.00427610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.98, Z:-10.04 [[-3.69722944e-01 9.19241866e-01 1.35275039e-01 1.17308163e+02] [-8.62306661e-01 -3.93691725e-01 3.18487124e-01 8.99781264e+01] [ 3.46023361e-01 1.10343000e-03 9.38225248e-01 -1.00424455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.97, Z:-10.04 [[-3.69688036e-01 9.19168841e-01 1.35865368e-01 1.17306197e+02] [-8.61848774e-01 -3.93862402e-01 3.19513848e-01 8.99742378e+01] [ 3.47199433e-01 1.02504592e-03 9.37790756e-01 -1.00409144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.97, Z:-10.04 [[-3.69417746e-01 9.19185237e-01 1.36488200e-01 1.17305506e+02] [-8.61457895e-01 -3.93824527e-01 3.20612751e-01 8.99741153e+01] [ 3.48454909e-01 8.61202097e-04 9.37325149e-01 -1.00402879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:89.99, Z:-10.05 [[-3.62086316e-01 9.22707192e-01 1.32306230e-01 1.17318324e+02] [-8.66092453e-01 -3.85501013e-01 3.18233927e-01 8.99908694e+01] [ 3.44640919e-01 6.38723240e-04 9.38734376e-01 -1.00532351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:89.97, Z:-10.04 [[-3.69220806e-01 9.19543656e-01 1.34593691e-01 1.17303039e+02] [-8.61835580e-01 -3.92980621e-01 3.20633225e-01 8.99705772e+01] [ 3.47728960e-01 2.38682565e-03 9.37592061e-01 -1.00395553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:89.97, Z:-10.03 [[-3.61087410e-01 9.21043420e-01 1.45927722e-01 1.17300298e+02] [-8.64379065e-01 -3.89298434e-01 3.18269636e-01 8.99734929e+01] [ 3.49949588e-01 -1.12137095e-02 9.36701414e-01 -1.00338786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:89.97, Z:-10.04 [[-3.65578535e-01 9.22503032e-01 1.23856737e-01 1.17306264e+02] [-8.64284048e-01 -3.85835059e-01 3.22714101e-01 8.99687398e+01] [ 3.45493008e-01 1.09299463e-02 9.38357670e-01 -1.00425858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:89.97, Z:-10.04 [[-3.64236190e-01 9.21370061e-01 1.35680540e-01 1.17300357e+02] [-8.64961108e-01 -3.88682646e-01 3.17439887e-01 8.99716006e+01] [ 3.45216280e-01 -1.73529525e-03 9.38521555e-01 -1.00371972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03762800000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.30, Y:89.97, Z:-10.04 [[-3.62738033e-01 9.21937882e-01 1.35836891e-01 1.17298738e+02] [-8.65564380e-01 -3.87330171e-01 3.17448646e-01 8.99680284e+01] [ 3.45281658e-01 -2.42487668e-03 9.38495976e-01 -1.00378399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:89.97, Z:-10.04 [[-3.61279183e-01 9.22568282e-01 1.35444147e-01 1.17298170e+02] [-8.66703179e-01 -3.85820902e-01 3.16176900e-01 8.99713246e+01] [ 3.43951962e-01 -3.16174063e-03 9.38981923e-01 -1.00367193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:89.96, Z:-10.03 [[-3.60786529e-01 9.23248519e-01 1.32080480e-01 1.17295077e+02] [-8.67055084e-01 -3.84203286e-01 3.17180259e-01 8.99617638e+01] [ 3.43581959e-01 -8.66873726e-05 9.39122692e-01 -1.00342595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:90.21, Z:-9.15 [[ -0.35117674 -0.28832502 0.89081063 117.3571648 ] [ -0.85050826 -0.29963153 -0.43226918 90.21421865] [ 0.39154898 -0.90944468 -0.13999918 -9.15134454] [ 0. 0. 0. 1. ]] SLAMing on 316.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:89.84, Z:-10.02 [[-3.41564943e-01 9.26864778e-01 1.55740405e-01 1.17241469e+02] [-8.48094877e-01 -3.75370082e-01 3.73941681e-01 8.98417731e+01] [ 4.05053661e-01 -4.35727035e-03 9.14282531e-01 -1.00169557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:89.83, Z:-10.01 [[-3.42410072e-01 9.26564797e-01 1.55669584e-01 1.17238808e+02] [-8.48107846e-01 -3.76111190e-01 3.73166793e-01 8.98332938e+01] [ 4.04312286e-01 -4.24852690e-03 9.14611134e-01 -1.00131646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:89.93, Z:-9.12 [[-2.89471604e-01 -9.44672927e-01 -1.54270064e-01 1.18076518e+02] [-8.70077782e-01 3.26865183e-01 -3.68949598e-01 8.99265708e+01] [ 3.98962209e-01 2.74265235e-02 -9.16557113e-01 -9.12406939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:89.96, Z:-9.12 [[-2.13571612e-01 -9.69245560e-01 -1.22271052e-01 1.18033785e+02] [-8.92115947e-01 2.44504654e-01 -3.79929744e-01 8.99646341e+01] [ 3.98141059e-01 2.79377474e-02 -9.16898675e-01 -9.11976430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:90.00, Z:-9.12 [[-1.36695134e-01 -9.86579804e-01 -8.93013462e-02 1.17988047e+02] [-9.07431223e-01 1.60866085e-01 -3.88188972e-01 8.99991374e+01] [ 3.97344958e-01 2.79712862e-02 -9.17242929e-01 -9.11603068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:90.03, Z:-9.11 [[-5.88673181e-02 -9.96697573e-01 -5.59337653e-02 1.17939541e+02] [-9.16059638e-01 7.62007688e-02 -3.93736183e-01 9.00267904e+01] [ 3.96698094e-01 2.80604717e-02 -9.17520153e-01 -9.11070535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.05, Z:-9.11 [[ 1.95234959e-02 -9.99560886e-01 -2.22905541e-02 1.17888577e+02] [-9.18172172e-01 -9.10115008e-03 -3.96077053e-01 9.00508970e+01] [ 3.95700261e-01 2.81993752e-02 -9.17946675e-01 -9.10571871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.367628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.86, Y:90.06, Z:-9.09 [[ 9.93888567e-02 -9.94983985e-01 1.13456820e-02 1.17862373e+02] [-9.13500223e-01 -9.57582440e-02 -3.95408272e-01 9.00575657e+01] [ 3.94511341e-01 2.89348930e-02 -9.18435394e-01 -9.09374200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.06, Z:-9.08 [[ 1.78320498e-01 -9.82953422e-01 4.47701996e-02 1.17836004e+02] [-9.02159675e-01 -1.81488996e-01 -3.91368963e-01 9.00614468e+01] [ 3.92822759e-01 2.93992396e-02 -9.19144148e-01 -9.08230500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.06, Z:-9.07 [[ 2.55721948e-01 -9.63640876e-01 7.74761064e-02 1.17810528e+02] [-8.84236231e-01 -2.65540249e-01 -3.84206538e-01 9.00640830e+01] [ 3.90810149e-01 2.97428641e-02 -9.19990646e-01 -9.07128952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:89.46, Z:-9.95 [[ 2.59224663e-01 9.59449175e-01 -1.10724225e-01 1.17171581e+02] [-8.81582049e-01 2.81881167e-01 3.78623955e-01 8.94565671e+01] [ 3.94481515e-01 -5.36178013e-04 9.18903720e-01 -9.94698777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.04, Z:-9.05 [[ 3.32260499e-01 -9.36839021e-01 1.09250215e-01 1.17789177e+02] [-8.59505470e-01 -3.48441769e-01 -3.73950103e-01 9.00402024e+01] [ 3.88398387e-01 3.03476904e-02 -9.20991700e-01 -9.04742925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:90.04, Z:-9.04 [[ 4.04521929e-01 -9.03700078e-01 1.40314565e-01 1.17761721e+02] [-8.28441949e-01 -4.27090828e-01 -3.62322180e-01 9.00363282e+01] [ 3.87357646e-01 3.03247955e-02 -9.21430660e-01 -9.03555248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:90.03, Z:-9.03 [[ 4.74147355e-01 -8.63895816e-01 1.69906752e-01 1.17736757e+02] [-7.91403780e-01 -5.02751453e-01 -3.47737018e-01 9.00315958e+01] [ 3.85829422e-01 3.04137414e-02 -9.22068686e-01 -9.02515169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:90.02, Z:-9.01 [[ 5.40327867e-01 -8.17764293e-01 1.98260831e-01 1.17712219e+02] [-7.48382217e-01 -5.74744586e-01 -3.31047908e-01 9.00232161e+01] [ 3.84668498e-01 3.04995294e-02 -9.22550771e-01 -9.01457563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:90.01, Z:-9.00 [[ 6.02557575e-01 -7.65501710e-01 2.25680086e-01 1.17688438e+02] [-6.99314957e-01 -6.42700707e-01 -3.12880796e-01 9.00128590e+01] [ 3.84555535e-01 3.07072337e-02 -9.22590975e-01 -9.00438907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.00, Z:-8.99 [[ 6.59866256e-01 -7.08257445e-01 2.50894231e-01 1.17665161e+02] [-6.46016026e-01 -7.05292658e-01 -2.91934172e-01 9.00025616e+01] [ 3.83718410e-01 3.05558153e-02 -9.22944486e-01 -8.99372167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:89.99, Z:-8.98 [[ 7.12186301e-01 -6.46239758e-01 2.74162084e-01 1.17642253e+02] [-5.88386515e-01 -7.62535097e-01 -2.68963817e-01 8.99876399e+01] [ 3.82873323e-01 3.02390726e-02 -9.23305809e-01 -8.98291424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:89.97, Z:-8.97 [[ 7.59435060e-01 -5.79658182e-01 2.95389203e-01 1.17619269e+02] [-5.26558061e-01 -8.14310363e-01 -2.44203279e-01 8.99712504e+01] [ 3.82092918e-01 2.99169659e-02 -9.23639528e-01 -8.97176927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:89.95, Z:-8.96 [[ 8.01556628e-01 -5.08850665e-01 3.13971294e-01 1.17599927e+02] [-4.60949743e-01 -8.60343516e-01 -2.17564631e-01 8.99542890e+01] [ 3.80831074e-01 2.96653848e-02 -9.24168631e-01 -8.96022496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:89.94, Z:-8.95 [[ 8.38403480e-01 -4.34277557e-01 3.29366981e-01 1.17582597e+02] [-3.92005024e-01 -9.00295234e-01 -1.89210341e-01 8.99364399e+01] [ 3.78697328e-01 2.95210966e-02 -9.25049641e-01 -8.94920497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:89.92, Z:-8.94 [[ 8.69280681e-01 -3.57010915e-01 3.41898092e-01 1.17567673e+02] [-3.20632690e-01 -9.33643687e-01 -1.59700170e-01 8.99174706e+01] [ 3.76225699e-01 2.92005673e-02 -9.26067789e-01 -8.93787312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:89.90, Z:-8.93 [[ 8.93857450e-01 -2.79135778e-01 3.50859056e-01 1.17553111e+02] [-2.49030282e-01 -9.59840269e-01 -1.29192013e-01 8.98982898e+01] [ 3.72830764e-01 2.81047135e-02 -9.27473637e-01 -8.92696338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:89.88, Z:-8.92 [[ 9.12155898e-01 -1.98726461e-01 3.58440249e-01 1.17541774e+02] [-1.74700810e-01 -9.79674827e-01 -9.85741351e-02 8.98790865e+01] [ 3.70744178e-01 2.72951769e-02 -9.28333845e-01 -8.91572079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:89.86, Z:-8.90 [[ 9.24191628e-01 -1.17242382e-01 3.63488732e-01 1.17532032e+02] [-9.93436342e-02 -9.92752736e-01 -6.76228395e-02 8.98593520e+01] [ 3.68782696e-01 2.63861705e-02 -9.29141051e-01 -8.90470693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:89.85, Z:-8.89 [[ 9.29790843e-01 -3.83646512e-02 3.66083518e-01 1.17525869e+02] [-2.36145869e-02 -9.98721917e-01 -4.46865006e-02 8.98477817e+01] [ 3.67330015e-01 3.29041880e-02 -9.29508459e-01 -8.89465924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:117.53, Y:89.85, Z:-8.90 [[ 9.30474860e-01 2.67999209e-02 3.65374190e-01 1.17525538e+02] [ 5.01554321e-02 -9.97248936e-01 -5.45801445e-02 8.98534361e+01] [ 3.62906278e-01 6.91109527e-02 -9.29259226e-01 -8.90094112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.52, Y:89.80, Z:-8.87 [[ 9.23408667e-01 1.27369306e-01 3.62068354e-01 1.17516219e+02] [ 1.26908607e-01 -9.91595225e-01 2.51617920e-02 8.98049557e+01] [ 3.62230091e-01 2.27149736e-02 -9.31811886e-01 -8.87255986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.997628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:117.51, Y:89.78, Z:-8.86 [[ 9.10201998e-01 2.08307387e-01 3.57966975e-01 1.17514033e+02] [ 2.01953858e-01 -9.77821029e-01 5.55038296e-02 8.97798491e+01] [ 3.61589493e-01 2.17731149e-02 -9.32083135e-01 -8.86273537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:89.76, Z:-8.85 [[ 8.90319163e-01 2.86045357e-01 3.54273682e-01 1.17513876e+02] [ 2.73450984e-01 -9.58006503e-01 8.63023784e-02 8.97553021e+01] [ 3.64082885e-01 2.00398254e-02 -9.31150932e-01 -8.85442640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:89.74, Z:-8.85 [[ 8.65391000e-01 3.51061927e-01 3.57566694e-01 1.17515204e+02] [ 3.42485446e-01 -9.35263981e-01 8.93588627e-02 8.97364183e+01] [ 3.65789744e-01 4.51310330e-02 -9.29602632e-01 -8.84794448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:89.78, Z:-8.90 [[ 8.38140486e-01 3.75122125e-01 3.95984743e-01 1.17516005e+02] [ 4.13823635e-01 -9.10255481e-01 -1.35999476e-02 8.97771241e+01] [ 3.55345641e-01 1.75266512e-01 -9.18156373e-01 -8.89789200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:89.68, Z:-8.82 [[ 8.02561599e-01 5.10465042e-01 3.08739893e-01 1.17535111e+02] [ 4.83478199e-01 -8.59728240e-01 1.64669927e-01 8.96759987e+01] [ 3.49490646e-01 1.71112476e-02 -9.36783590e-01 -8.81920402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:89.65, Z:-8.81 [[ 7.62171044e-01 5.77410050e-01 2.92733554e-01 1.17543164e+02] [ 5.45777319e-01 -8.16305033e-01 1.89138074e-01 8.96532994e+01] [ 3.48170098e-01 1.56117708e-02 -9.37301368e-01 -8.80907985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:89.63, Z:-8.80 [[ 7.14951598e-01 6.41639313e-01 2.77746655e-01 1.17549332e+02] [ 6.07626026e-01 -7.66728437e-01 2.07166881e-01 8.96342760e+01] [ 3.45882674e-01 2.06518042e-02 -9.38050467e-01 -8.80065586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:89.63, Z:-8.80 [[ 6.62673034e-01 6.95528780e-01 2.77676370e-01 1.17552182e+02] [ 6.65251526e-01 -7.16978875e-01 2.08282740e-01 8.96276060e+01] [ 3.43954732e-01 4.67012738e-02 -9.37824149e-01 -8.80019571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.58, Y:89.59, Z:-8.78 [[ 6.05073968e-01 7.61725817e-01 2.31644715e-01 1.17575227e+02] [ 7.19617412e-01 -6.47719002e-01 2.50221653e-01 8.95914287e+01] [ 3.40640976e-01 1.52929617e-02 -9.40069067e-01 -8.77615493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:89.57, Z:-8.76 [[ 5.38673381e-01 8.18667640e-01 1.99033372e-01 1.17593488e+02] [ 7.71103279e-01 -5.74242966e-01 2.75035905e-01 8.95701041e+01] [ 3.39456509e-01 5.32076491e-03 -9.40606702e-01 -8.76341660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:89.53, Z:-8.73 [[ 4.69644797e-01 8.75477422e-01 1.13899288e-01 1.17636119e+02] [ 8.14147503e-01 -4.79373852e-01 3.27665306e-01 8.95260223e+01] [ 3.41463918e-01 -6.11554858e-02 -9.37903193e-01 -8.72921981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.327628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:117.62, Y:89.54, Z:-8.75 [[ 3.98058684e-01 9.02766015e-01 1.62980999e-01 1.17620617e+02] [ 8.51577200e-01 -4.29700646e-01 3.00289238e-01 8.95391937e+01] [ 3.41123960e-01 1.92581640e-02 -9.39821029e-01 -8.74665874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:117.64, Y:89.52, Z:-8.74 [[ 3.23783725e-01 9.36252971e-01 1.36361559e-01 1.17644619e+02] [ 8.83560017e-01 -3.50756257e-01 3.10309110e-01 8.95238725e+01] [ 3.38357496e-01 2.00105818e-02 -9.40804858e-01 -8.73742323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:89.51, Z:-8.73 [[ 2.42028591e-01 9.63980242e-01 1.10291676e-01 1.17668151e+02] [ 9.08829319e-01 -2.65040226e-01 3.22153609e-01 8.95112255e+01] [ 3.39781444e-01 2.22659243e-02 -9.40240819e-01 -8.73122987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41762800000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.69, Y:89.50, Z:-8.72 [[ 1.63649544e-01 9.82044479e-01 9.38481123e-02 1.17690809e+02] [ 9.26038212e-01 -1.85716660e-01 3.28576556e-01 8.95002919e+01] [ 3.40105950e-01 3.31355346e-02 -9.39803160e-01 -8.72122347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:89.50, Z:-8.73 [[ 8.15671952e-02 9.89438391e-01 1.19826803e-01 1.17692293e+02] [ 9.38774581e-01 -1.16651081e-01 3.24183298e-01 8.95038075e+01] [ 3.34737327e-01 8.60476341e-02 -9.38374513e-01 -8.73449602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:89.49, Z:-8.70 [[-3.31758354e-03 9.99644983e-01 2.64367378e-02 1.17749647e+02] [ 9.42941120e-01 -5.67481383e-03 3.32911162e-01 8.94856933e+01] [ 3.32942996e-01 2.60327478e-02 -9.42587533e-01 -8.70063110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:89.46, Z:-8.70 [[-8.47143707e-02 9.96404388e-01 -1.33081745e-03 1.17801057e+02] [ 9.39587237e-01 8.03282014e-02 3.32750963e-01 8.94598025e+01] [ 3.31661422e-01 2.69383693e-02 -9.43013799e-01 -8.69837529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.85, Y:89.43, Z:-8.70 [[-1.65402618e-01 9.85804661e-01 -2.88295808e-02 1.17854686e+02] [ 9.29314548e-01 1.65577807e-01 3.30088565e-01 8.94349204e+01] [ 3.30176385e-01 2.78057641e-02 -9.43509615e-01 -8.69587941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:89.41, Z:-8.70 [[-2.44707366e-01 9.67969970e-01 -5.61466123e-02 1.17909366e+02] [ 9.11823803e-01 2.49430449e-01 3.26131575e-01 8.94144795e+01] [ 3.29690246e-01 2.86109811e-02 -9.43655527e-01 -8.69666739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:89.40, Z:-8.70 [[-3.23067020e-01 9.42753854e-01 -8.27216524e-02 1.17963380e+02] [ 8.87596768e-01 3.32166602e-01 3.19119611e-01 8.94007025e+01] [ 3.28328613e-01 2.96735504e-02 -9.44097348e-01 -8.69569787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:89.39, Z:-8.70 [[-3.96584439e-01 9.11563703e-01 -1.08500681e-01 1.18018503e+02] [ 8.57757003e-01 4.10072444e-01 3.09989539e-01 8.93908251e+01] [ 3.27068352e-01 2.98698090e-02 -9.44528500e-01 -8.69524115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:89.38, Z:-8.69 [[-4.66723546e-01 8.74283630e-01 -1.33406395e-01 1.18074128e+02] [ 8.22131356e-01 4.84497212e-01 2.98935588e-01 8.93848065e+01] [ 3.25989518e-01 2.98426971e-02 -9.44902242e-01 -8.69449421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:89.38, Z:-8.70 [[-5.33124580e-01 8.31291748e-01 -1.57264781e-01 1.18132575e+02] [ 7.81120626e-01 5.55047112e-01 2.85960263e-01 8.93784058e+01] [ 3.25005769e-01 2.96096807e-02 -9.45248389e-01 -8.69629544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:89.38, Z:-8.70 [[-5.94182665e-01 7.83906271e-01 -1.80105297e-01 1.18188077e+02] [ 7.36002606e-01 6.20216697e-01 2.71351089e-01 8.93773374e+01] [ 3.24418133e-01 2.86741455e-02 -9.45479068e-01 -8.69811730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:89.38, Z:-8.70 [[-6.51518474e-01 7.31304452e-01 -2.01785718e-01 1.18245644e+02] [ 6.85918951e-01 6.81483632e-01 2.55137710e-01 8.93811982e+01] [ 3.24097008e-01 2.78182832e-02 -9.45614759e-01 -8.69912225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:89.39, Z:-8.70 [[-7.02494862e-01 6.76398044e-01 -2.21329290e-01 1.18302487e+02] [ 6.34203591e-01 7.36083432e-01 2.36573428e-01 8.93885777e+01] [ 3.22934627e-01 2.58237871e-02 -9.46068897e-01 -8.70032046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:89.40, Z:-8.70 [[-7.50765161e-01 6.15788799e-01 -2.39072850e-01 1.18359893e+02] [ 5.77008700e-01 7.87527968e-01 2.16473233e-01 8.94019711e+01] [ 3.21578348e-01 2.45734470e-02 -9.46564056e-01 -8.70072691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:89.42, Z:-8.70 [[-7.94383908e-01 5.51332392e-01 -2.54925089e-01 1.18415837e+02] [ 5.16212057e-01 8.33959306e-01 1.95030737e-01 8.94193735e+01] [ 3.20123913e-01 2.33338739e-02 -9.47088280e-01 -8.70127586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:89.44, Z:-8.70 [[-8.33415760e-01 4.83062682e-01 -2.68455985e-01 1.18466890e+02] [ 4.51860339e-01 8.75303209e-01 1.72239735e-01 8.94424291e+01] [ 3.18182974e-01 2.22426971e-02 -9.47768357e-01 -8.70118406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:89.47, Z:-8.70 [[-8.67007645e-01 4.11978789e-01 -2.80305586e-01 1.18518078e+02] [ 3.84790681e-01 9.10950318e-01 1.48679687e-01 8.94690821e+01] [ 3.16597340e-01 2.10474481e-02 -9.48326489e-01 -8.70216189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:89.50, Z:-8.70 [[-8.94231294e-01 3.40860954e-01 -2.90110674e-01 1.18573243e+02] [ 3.17931421e-01 9.39922258e-01 1.24361408e-01 8.94976355e+01] [ 3.15071428e-01 1.89725635e-02 -9.48878305e-01 -8.70491961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:89.53, Z:-8.71 [[-9.16991058e-01 2.64966566e-01 -2.98194765e-01 1.18619814e+02] [ 2.46199363e-01 9.64091740e-01 9.95640013e-02 8.95342239e+01] [ 3.13868241e-01 1.78839379e-02 -9.49298105e-01 -8.70503554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:89.57, Z:-8.71 [[-9.33913771e-01 1.87541097e-01 -3.04357364e-01 1.18665005e+02] [ 1.73004879e-01 9.82114124e-01 7.43044997e-02 8.95742611e+01] [ 3.12848813e-01 1.67386868e-02 -9.49655430e-01 -8.70529481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:89.62, Z:-8.71 [[-9.44616143e-01 1.11930324e-01 -3.08499506e-01 1.18708153e+02] [ 1.01821368e-01 9.93608530e-01 4.87288210e-02 8.96169296e+01] [ 3.11981973e-01 1.46181892e-02 -9.49975556e-01 -8.70643731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:89.66, Z:-8.71 [[-9.50021008e-01 3.17024527e-02 -3.10572115e-01 1.18743386e+02] [ 2.58288700e-02 9.99401581e-01 2.30075783e-02 8.96629088e+01] [ 3.11115660e-01 1.38359560e-02 -9.50271336e-01 -8.70674624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:89.71, Z:-8.71 [[-9.49301677e-01 -4.94342073e-02 -3.10455449e-01 1.18776788e+02] [-5.11183931e-02 9.98688912e-01 -2.71413659e-03 8.97116260e+01] [ 3.10182586e-01 1.32934492e-02 -9.50584056e-01 -8.70815098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:89.76, Z:-8.71 [[-9.42647194e-01 -1.31516902e-01 -3.06789134e-01 1.18802368e+02] [-1.29180159e-01 9.91225610e-01 -2.80049241e-02 8.97634319e+01] [ 3.07780367e-01 1.32323060e-02 -9.51365414e-01 -8.70805536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.82, Y:89.82, Z:-8.70 [[-9.29363351e-01 -2.13249952e-01 -3.01344023e-01 1.18820709e+02] [-2.07042931e-01 9.76906703e-01 -5.27874922e-02 8.98189714e+01] [ 3.05641926e-01 1.33323892e-02 -9.52053181e-01 -8.70363251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:89.88, Z:-8.71 [[-9.09063816e-01 -2.94294737e-01 -2.94946752e-01 1.18842297e+02] [-2.84324926e-01 9.55616498e-01 -7.71780085e-02 8.98784014e+01] [ 3.04569064e-01 1.37009785e-02 -9.52391710e-01 -8.70568200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.85, Y:89.94, Z:-8.70 [[-8.82662368e-01 -3.73137682e-01 -2.85789108e-01 1.18850904e+02] [-3.59621818e-01 9.27669402e-01 -1.00506856e-01 8.99352353e+01] [ 3.02620706e-01 1.40623788e-02 -9.53007323e-01 -8.70089970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.86, Y:89.99, Z:-8.70 [[-8.47738140e-01 -4.53057990e-01 -2.75823322e-01 1.18859398e+02] [-4.36208497e-01 8.91342844e-01 -1.23410220e-01 8.99929106e+01] [ 3.01765130e-01 1.56969261e-02 -9.53253069e-01 -8.70416772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.86, Y:90.05, Z:-8.70 [[-8.07591573e-01 -5.27746663e-01 -2.63209631e-01 1.18859230e+02] [-5.07764995e-01 8.49237627e-01 -1.44810783e-01 9.00493852e+01] [ 2.99950930e-01 1.67006691e-02 -9.53808433e-01 -8.70031199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:90.11, Z:-8.70 [[-7.60722897e-01 -5.99086183e-01 -2.49792755e-01 1.18852529e+02] [-5.76031558e-01 8.00483649e-01 -1.65570445e-01 9.01050954e+01] [ 2.99145982e-01 1.79352815e-02 -9.54038787e-01 -8.70096040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:90.16, Z:-8.70 [[-7.07764115e-01 -6.66267811e-01 -2.34855618e-01 1.18840076e+02] [-6.40301786e-01 7.45462732e-01 -1.85199726e-01 9.01580794e+01] [ 2.98468726e-01 1.93007515e-02 -9.54224240e-01 -8.69812907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:90.21, Z:-8.70 [[-6.45688059e-01 -7.31685751e-01 -2.18455699e-01 1.18822999e+02] [-7.03137193e-01 6.81282355e-01 -2.03598726e-01 9.02098193e+01] [ 2.97800299e-01 2.21430608e-02 -9.54371346e-01 -8.69642912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:90.26, Z:-8.69 [[-5.81913498e-01 -7.88055984e-01 -2.00859272e-01 1.18801659e+02] [-7.56857434e-01 6.15153537e-01 -2.20800704e-01 9.02597851e+01] [ 2.97562608e-01 2.35349230e-02 -9.54412176e-01 -8.69391528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:90.31, Z:-8.69 [[-5.14193604e-01 -8.38111134e-01 -1.82139137e-01 1.18774106e+02] [-8.04340655e-01 5.44938376e-01 -2.36808524e-01 9.03056832e+01] [ 2.97726466e-01 2.47364841e-02 -9.54330686e-01 -8.68986075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:90.34, Z:-8.68 [[-4.40580762e-01 -8.82873310e-01 -1.62552485e-01 1.18739890e+02] [-8.46591655e-01 4.68855570e-01 -2.51906775e-01 9.03407475e+01] [ 2.98615407e-01 2.66302987e-02 -9.54001921e-01 -8.68422555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.58093139e-01 8.76790191e-01 1.46251963e-01 1.17934175e+02] [-8.32781187e-01 -4.80857564e-01 2.74320065e-01 9.04274202e+01] [ 3.10847505e-01 3.86825606e-03 9.50451927e-01 -9.60427143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.59529521e-01 8.76083995e-01 1.45977579e-01 1.17933217e+02] [-8.32296242e-01 -4.82140198e-01 2.73539385e-01 9.04301889e+01] [ 3.10025136e-01 4.20283236e-03 9.50719071e-01 -9.60354403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.59706952e-01 8.76179218e-01 1.44843005e-01 1.17929109e+02] [-8.33176315e-01 -4.81969100e-01 2.71151276e-01 9.04279508e+01] [ 3.07386966e-01 3.97036532e-03 9.51576318e-01 -9.60117880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.58825376e-01 8.76654181e-01 1.44764362e-01 1.17929195e+02] [-8.33807144e-01 -4.81108175e-01 2.70740781e-01 9.04301050e+01] [ 3.06993355e-01 3.51718087e-03 9.51705159e-01 -9.60158961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.57791533e-01 8.77270220e-01 1.44304791e-01 1.17927724e+02] [-8.34815436e-01 -4.79987695e-01 2.69620106e-01 9.04287350e+01] [ 3.05794214e-01 2.96193443e-03 9.52093024e-01 -9.60159417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:90.43, Z:-9.60 [[-4.56364153e-01 8.77979154e-01 1.44514238e-01 1.17925344e+02] [-8.35516694e-01 -4.78693050e-01 2.69749546e-01 9.04252771e+01] [ 3.06012440e-01 2.35996472e-03 9.52024589e-01 -9.60090124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:90.43, Z:-9.60 [[-4.52877459e-01 8.79670351e-01 1.45196697e-01 1.17923824e+02] [-8.36964925e-01 -4.75582665e-01 2.70759750e-01 9.04271419e+01] [ 3.07232357e-01 1.09644460e-03 9.51633899e-01 -9.60290500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:90.43, Z:-9.60 [[-4.51357241e-01 8.80316513e-01 1.46011910e-01 1.17921887e+02] [-8.37236635e-01 -4.74386505e-01 2.72015187e-01 9.04273663e+01] [ 3.08725540e-01 5.29503666e-04 9.51151019e-01 -9.60304539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:90.43, Z:-9.60 [[-4.49846733e-01 8.80943690e-01 1.46888165e-01 1.17919544e+02] [-8.37450884e-01 -4.73221106e-01 2.73382154e-01 9.04262803e+01] [ 3.10344863e-01 -3.15549970e-05 9.50624040e-01 -9.60293838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.92, Y:90.43, Z:-9.60 [[-4.47428796e-01 8.81944559e-01 1.48260809e-01 1.17916290e+02] [-8.37755185e-01 -4.71352361e-01 2.75668646e-01 9.04278233e+01] [ 3.13007545e-01 -8.64171632e-04 9.49750246e-01 -9.60452905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.43, Z:-9.60 [[-4.47256263e-01 8.81948205e-01 1.48758862e-01 1.17913865e+02] [-8.37541974e-01 -4.71345265e-01 2.76327853e-01 9.04274802e+01] [ 3.13823639e-01 -1.00242773e-03 9.49480763e-01 -9.60245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.91, Y:90.42, Z:-9.60 [[-4.46808961e-01 8.82031896e-01 1.49604432e-01 1.17910759e+02] [-8.37199593e-01 -4.71188170e-01 2.77630242e-01 9.04236073e+01] [ 3.15370567e-01 -1.20108980e-03 9.48967841e-01 -9.60236938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.42, Z:-9.60 [[-4.47849071e-01 8.81499486e-01 1.49632433e-01 1.17911474e+02] [-8.36709570e-01 -4.72184007e-01 2.77415500e-01 9.04243710e+01] [ 3.15195663e-01 -9.58614957e-04 9.49026225e-01 -9.60102807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.42, Z:-9.60 [[-4.49826848e-01 8.80379576e-01 1.50291750e-01 1.17911131e+02] [-8.35211851e-01 -4.74269658e-01 2.78369278e-01 9.04159731e+01] [ 3.16349443e-01 -3.07475522e-04 9.48642680e-01 -9.59970435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.41, Z:-9.60 [[-4.51788080e-01 8.79411132e-01 1.50078617e-01 1.17911972e+02] [-8.34411315e-01 -4.76063025e-01 2.77708036e-01 9.04137008e+01] [ 3.15666419e-01 2.37883713e-04 9.48870200e-01 -9.59961568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.41, Z:-9.60 [[-4.53551599e-01 8.78491979e-01 1.50142563e-01 1.17912426e+02] [-8.33492379e-01 -4.77756515e-01 2.77559304e-01 9.04111219e+01] [ 3.15565210e-01 7.44784204e-04 9.48903601e-01 -9.59886955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.41, Z:-9.60 [[-4.55157514e-01 8.77645439e-01 1.50233552e-01 1.17912882e+02] [-8.32633473e-01 -4.79308925e-01 2.77460724e-01 9.04078819e+01] [ 3.15520421e-01 1.19884925e-03 9.48918029e-01 -9.59791724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.91, Y:90.40, Z:-9.60 [[-4.54432819e-01 8.77923340e-01 1.50802593e-01 1.17910333e+02] [-8.32664876e-01 -4.78800422e-01 2.78243346e-01 9.04025790e+01] [ 3.16480673e-01 8.74885590e-04 9.48598555e-01 -9.59841982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.007628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.91, Y:90.40, Z:-9.60 [[-4.53842536e-01 8.78261161e-01 1.50613032e-01 1.17910136e+02] [-8.33226359e-01 -4.78181010e-01 2.77627010e-01 9.04033714e+01] [ 3.15849312e-01 5.04198338e-04 9.48809231e-01 -9.59740840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.91, Y:90.40, Z:-9.60 [[-4.54177971e-01 8.78068553e-01 1.50724875e-01 1.17909077e+02] [-8.33043574e-01 -4.78534599e-01 2.77566281e-01 9.04013922e+01] [ 3.15849290e-01 5.04101510e-04 9.48809239e-01 -9.59663911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:90.40, Z:-9.60 [[-4.51092527e-01 8.79645837e-01 1.50793678e-01 1.17907148e+02] [-8.34548131e-01 -4.75629081e-01 2.78040276e-01 9.04015090e+01] [ 3.16298830e-01 -4.22691838e-04 9.48659513e-01 -9.59540063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.91, Y:90.40, Z:-9.60 [[-4.49814836e-01 8.80225314e-01 1.51228338e-01 1.17907024e+02] [-8.34888226e-01 -4.74555280e-01 2.78852894e-01 9.04024431e+01] [ 3.17219582e-01 -8.26589756e-04 9.48351756e-01 -9.59813619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.40, Z:-9.60 [[-4.49789677e-01 8.80166210e-01 1.51646593e-01 1.17904288e+02] [-8.34946053e-01 -4.74663684e-01 2.78495020e-01 9.04005555e+01] [ 3.17103037e-01 -1.35253914e-03 9.48390128e-01 -9.59525812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.90, Y:90.40, Z:-9.60 [[-4.49374789e-01 8.80281099e-01 1.52208688e-01 1.17903671e+02] [-8.34812227e-01 -4.74449902e-01 2.79259441e-01 9.04006775e+01] [ 3.18042205e-01 -1.57352147e-03 9.48075250e-01 -9.59708281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.51851359e-01 8.78639517e-01 1.54346842e-01 1.17895612e+02] [-8.33201348e-01 -4.77478750e-01 2.78907794e-01 9.03854972e+01] [ 3.18756747e-01 -2.57713106e-03 9.47833052e-01 -9.58800436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.53909829e-01 8.78314804e-01 1.50096540e-01 1.17903151e+02] [-8.31834326e-01 -4.78072515e-01 2.81954473e-01 9.03901271e+01] [ 3.19401818e-01 3.12645250e-03 9.47614217e-01 -9.59291740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.55320358e-01 8.77029184e-01 1.53307477e-01 1.17902790e+02] [-8.30968090e-01 -4.80436999e-01 2.80485868e-01 9.03887050e+01] [ 3.19648876e-01 3.17304992e-04 9.47536013e-01 -9.59206603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.54938751e-01 8.77188435e-01 1.53529090e-01 1.17904547e+02] [-8.31089958e-01 -4.80146274e-01 2.80622590e-01 9.03879930e+01] [ 3.19875311e-01 6.96056080e-05 9.47459646e-01 -9.59181651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.53456299e-01 8.78683611e-01 1.49306720e-01 1.17904859e+02] [-8.32091239e-01 -4.77389449e-01 2.82353473e-01 9.03860255e+01] [ 3.19376822e-01 3.79814731e-03 9.47620188e-01 -9.59203685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33762800000005 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.90, Y:90.38, Z:-9.59 [[-4.50209054e-01 8.78524711e-01 1.59706415e-01 1.17895701e+02] [-8.33573366e-01 -4.77626924e-01 2.77539125e-01 9.03831676e+01] [ 3.20105063e-01 -8.17638698e-03 9.47346766e-01 -9.58765152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.44810637e-01 8.82949102e-01 1.50147860e-01 1.17902807e+02] [-8.37259829e-01 -4.69467637e-01 2.80349989e-01 9.03913451e+01] [ 3.18024332e-01 -1.01011430e-03 9.48082013e-01 -9.59055357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.41665556e-01 8.84712130e-01 1.49050272e-01 1.17900466e+02] [-8.39012300e-01 -4.66136516e-01 2.80669038e-01 9.03882363e+01] [ 3.17789077e-01 -1.09316460e-03 9.48160803e-01 -9.58930866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.427628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.90, Y:90.39, Z:-9.59 [[-4.38529230e-01 8.84942736e-01 1.56743318e-01 1.17898549e+02] [-8.40399108e-01 -4.65590838e-01 2.77406761e-01 9.03937901e+01] [ 3.18467351e-01 -1.00759717e-02 9.47880278e-01 -9.58984177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:90.39, Z:-9.57 [[-4.33241442e-01 8.84854828e-01 1.71271093e-01 1.17888225e+02] [-8.40091664e-01 -4.65294689e-01 2.78831218e-01 9.03860847e+01] [ 3.26416679e-01 -2.30821780e-02 9.44944107e-01 -9.57463538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:89.95, Z:-9.44 [[-4.75704749e-01 1.34683029e-01 -8.69232693e-01 1.18652808e+02] [-8.38492909e-01 2.29151696e-01 4.94387644e-01 8.99504339e+01] [ 2.65771771e-01 9.64027998e-01 3.92221501e-03 -9.44167157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.88, Y:90.35, Z:-9.54 [[-4.42832229e-01 8.88262108e-01 1.22024767e-01 1.17877991e+02] [-8.60174888e-01 -4.59286860e-01 2.21708688e-01 9.03491014e+01] [ 2.52979798e-01 -6.78288785e-03 9.67447784e-01 -9.54386675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:90.35, Z:-9.54 [[-4.43844209e-01 8.87762300e-01 1.21985316e-01 1.17876797e+02] [-8.59728330e-01 -4.60254971e-01 2.21432969e-01 9.03471026e+01] [ 2.52724190e-01 -6.59249109e-03 9.67515903e-01 -9.54153050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.88, Y:90.34, Z:-9.54 [[-4.44895379e-01 8.87139655e-01 1.22683882e-01 1.17875433e+02] [-8.58809240e-01 -4.61457032e-01 2.22495160e-01 9.03444641e+01] [ 2.53997620e-01 -6.37498269e-03 9.67183834e-01 -9.54271344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.87, Y:90.34, Z:-9.54 [[-4.49920311e-01 8.84668584e-01 1.22201513e-01 1.17872398e+02] [-8.56526909e-01 -4.66193100e-01 2.21417360e-01 9.03380337e+01] [ 2.52850485e-01 -5.04871672e-03 9.67492193e-01 -9.53930131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.87, Y:90.33, Z:-9.54 [[-4.52876811e-01 8.83170540e-01 1.22116301e-01 1.17871010e+02] [-8.55068138e-01 -4.69032262e-01 2.21059305e-01 9.03341164e+01] [ 2.52509551e-01 -4.30512516e-03 9.67584824e-01 -9.53749175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:90.33, Z:-9.53 [[-4.60010857e-01 8.79555365e-01 1.21541640e-01 1.17867877e+02] [-8.51647755e-01 -4.75790537e-01 2.19816891e-01 9.03257386e+01] [ 2.51169488e-01 -2.39250846e-03 9.67940166e-01 -9.53228791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.87, Y:90.33, Z:-9.53 [[-4.62797099e-01 8.78038928e-01 1.21928198e-01 1.17868379e+02] [-8.49951830e-01 -4.78586293e-01 2.20311251e-01 9.03253976e+01] [ 2.51795019e-01 -1.67368738e-03 9.67779142e-01 -9.53403875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:90.32, Z:-9.53 [[-4.66516682e-01 8.76121790e-01 1.21543384e-01 1.17866100e+02] [-8.48202713e-01 -4.82089276e-01 2.19413053e-01 9.03210623e+01] [ 2.50827318e-01 -7.33578609e-04 9.68031569e-01 -9.53001697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.32, Z:-9.53 [[-4.69316571e-01 8.74614413e-01 1.21620656e-01 1.17864518e+02] [-8.46661908e-01 -4.84819169e-01 2.19349004e-01 9.03178821e+01] [ 2.50809826e-01 -2.74540114e-05 9.68036379e-01 -9.52935841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.31, Z:-9.53 [[-4.73066944e-01 8.72655205e-01 1.21163360e-01 1.17861428e+02] [-8.44904331e-01 -4.88336017e-01 2.18322252e-01 9.03137997e+01] [ 2.49688482e-01 9.09593113e-04 9.68325789e-01 -9.52796372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.31, Z:-9.53 [[-4.74274872e-01 8.72042194e-01 1.20854285e-01 1.17859832e+02] [-8.44467249e-01 -4.89429404e-01 2.17563611e-01 9.03117675e+01] [ 2.48874289e-01 1.12746779e-03 9.68535140e-01 -9.52672021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.31, Z:-9.53 [[-4.75301165e-01 8.71526662e-01 1.20540784e-01 1.17857544e+02] [-8.44132075e-01 -4.90346417e-01 2.16798134e-01 9.03086996e+01] [ 2.48052096e-01 1.29206349e-03 9.68745833e-01 -9.52556532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:90.31, Z:-9.52 [[-4.76001958e-01 8.71132102e-01 1.20627515e-01 1.17855553e+02] [-8.43736636e-01 -4.91046750e-01 2.16752344e-01 9.03070622e+01] [ 2.48053674e-01 1.39668669e-03 9.68745283e-01 -9.52480358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.31, Z:-9.52 [[-4.75676365e-01 8.71335087e-01 1.20445681e-01 1.17852712e+02] [-8.44081222e-01 -4.90687026e-01 2.16224728e-01 9.03065448e+01] [ 2.47505325e-01 1.18705537e-03 9.68885806e-01 -9.52428827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.85, Y:90.31, Z:-9.53 [[-4.74858521e-01 8.71732395e-01 1.20797421e-01 1.17851512e+02] [-8.44380899e-01 -4.89981485e-01 2.16654197e-01 9.03071008e+01] [ 2.48052981e-01 8.81056770e-04 9.68746067e-01 -9.52617649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.30, Z:-9.52 [[-4.74948414e-01 8.71771668e-01 1.20158908e-01 1.17848338e+02] [-8.44765018e-01 -4.89911817e-01 2.15310183e-01 9.03046308e+01] [ 2.46568586e-01 7.55187566e-04 9.69125050e-01 -9.52229623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.31, Z:-9.52 [[-4.74532161e-01 8.72062355e-01 1.19693266e-01 1.17846119e+02] [-8.45327348e-01 -4.89394522e-01 2.14277103e-01 9.03061832e+01] [ 2.45440223e-01 5.01385383e-04 9.69411597e-01 -9.52138577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.74716264e-01 8.71967351e-01 1.19655373e-01 1.17844003e+02] [-8.45296736e-01 -4.89563823e-01 2.14010962e-01 9.03046189e+01] [ 2.45189513e-01 4.50188269e-04 9.69475064e-01 -9.52026875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.74148231e-01 8.72256456e-01 1.19800374e-01 1.17842096e+02] [-8.45579446e-01 -4.89048703e-01 2.14071872e-01 9.03024448e+01] [ 2.45313790e-01 2.01065965e-04 9.69443709e-01 -9.51950322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.73287599e-01 8.72696176e-01 1.20000971e-01 1.17841401e+02] [-8.45992564e-01 -4.88263626e-01 2.14231684e-01 9.03024683e+01] [ 2.45551280e-01 -1.26729739e-04 9.69383594e-01 -9.51931778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.70549743e-01 8.74108965e-01 1.20484260e-01 1.17838913e+02] [-8.47282454e-01 -4.85728922e-01 2.14894994e-01 9.02999402e+01] [ 2.46364331e-01 -9.65414864e-04 9.69176808e-01 -9.51777320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.69586166e-01 8.74554463e-01 1.21009605e-01 1.17839898e+02] [-8.47555370e-01 -4.84925551e-01 2.15631875e-01 9.03020737e+01] [ 2.47262468e-01 -1.30459517e-03 9.68947661e-01 -9.51861897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.68670097e-01 8.74976187e-01 1.21511371e-01 1.17837996e+02] [-8.47814369e-01 -4.84163200e-01 2.16325663e-01 9.02977397e+01] [ 2.48111138e-01 -1.63371714e-03 9.68730197e-01 -9.51826681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.207628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.66488525e-01 8.75973605e-01 1.22713894e-01 1.17838437e+02] [-8.48348994e-01 -4.82353620e-01 2.18263533e-01 9.02965370e+01] [ 2.50384585e-01 -2.28677529e-03 9.68143755e-01 -9.52089915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.84, Y:90.30, Z:-9.52 [[-4.65955274e-01 8.76263786e-01 1.22668091e-01 1.17838171e+02] [-8.48721853e-01 -4.81824988e-01 2.17981416e-01 9.02952618e+01] [ 2.50113772e-01 -2.54149898e-03 9.68213118e-01 -9.52004429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.267628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:117.84, Y:90.29, Z:-9.52 [[-4.65584175e-01 8.76482549e-01 1.22514150e-01 1.17838188e+02] [-8.49069933e-01 -4.81425748e-01 2.17507467e-01 9.02939561e+01] [ 2.49622966e-01 -2.75504632e-03 9.68339189e-01 -9.51980778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.29, Z:-9.52 [[-4.64882881e-01 8.77024287e-01 1.21294298e-01 1.17841912e+02] [-8.50231365e-01 -4.80435974e-01 2.15146230e-01 9.02923924e+01] [ 2.46962613e-01 -3.11041705e-03 9.69020017e-01 -9.51726485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.327628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.84, Y:90.29, Z:-9.52 [[-4.64400383e-01 8.77221916e-01 1.21712755e-01 1.17842731e+02] [-8.50298252e-01 -4.80073590e-01 2.15690130e-01 9.02897672e+01] [ 2.47639188e-01 -3.32556359e-03 9.68846620e-01 -9.51957383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.29, Z:-9.52 [[-4.64762738e-01 8.77081020e-01 1.21344474e-01 1.17843475e+02] [-8.50367796e-01 -4.80330873e-01 2.14841488e-01 9.02880845e+01] [ 2.46718888e-01 -3.33711460e-03 9.69081345e-01 -9.51727333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.28, Z:-9.52 [[-4.64864430e-01 8.77071474e-01 1.21023516e-01 1.17841605e+02] [-8.50550788e-01 -4.80347726e-01 2.14078068e-01 9.02831275e+01] [ 2.45895137e-01 -3.41936793e-03 9.69290405e-01 -9.51555334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.28, Z:-9.52 [[-4.65207503e-01 8.76889279e-01 1.21025504e-01 1.17841400e+02] [-8.50411230e-01 -4.80680243e-01 2.13886053e-01 9.02827720e+01] [ 2.45728955e-01 -3.42005135e-03 9.69332545e-01 -9.51511967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.28, Z:-9.51 [[-4.65611718e-01 8.76634319e-01 1.21317762e-01 1.17841172e+02] [-8.50067579e-01 -4.81145270e-01 2.14206305e-01 9.02815036e+01] [ 2.46152066e-01 -3.39133100e-03 9.69225288e-01 -9.51477855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:90.29, Z:-9.52 [[-4.61303234e-01 8.78748444e-01 1.22476520e-01 1.17852558e+02] [-8.52075410e-01 -4.77256743e-01 2.14926727e-01 9.02907389e+01] [ 2.47319272e-01 -5.21283640e-03 9.68920020e-01 -9.52011745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.27, Z:-9.52 [[-4.66021101e-01 8.76547580e-01 1.20368909e-01 1.17842838e+02] [-8.49261665e-01 -4.81313973e-01 2.17005724e-01 9.02724005e+01] [ 2.48151080e-01 -1.09545378e-03 9.68720724e-01 -9.51584580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.27, Z:-9.52 [[-4.66812159e-01 8.75788020e-01 1.22807788e-01 1.17843049e+02] [-8.48643037e-01 -4.82685229e-01 2.16379217e-01 9.02724933e+01] [ 2.48779832e-01 -3.21152418e-03 9.68554739e-01 -9.51519241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.567628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.84, Y:90.27, Z:-9.52 [[-4.69206667e-01 8.74420263e-01 1.23427341e-01 1.17840877e+02] [-8.47000931e-01 -4.85162299e-01 2.17271643e-01 9.02678255e+01] [ 2.49869019e-01 -2.59776911e-03 9.68276161e-01 -9.51598941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.26, Z:-9.51 [[-4.71878854e-01 8.73086982e-01 1.22676277e-01 1.17838534e+02] [-8.46011242e-01 -4.87560476e-01 2.15753936e-01 9.02643857e+01] [ 2.48184057e-01 -1.97578960e-03 9.68710881e-01 -9.51168024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:90.26, Z:-9.51 [[-4.74091194e-01 8.71937180e-01 1.22323725e-01 1.17837427e+02] [-8.45031468e-01 -4.89615566e-01 2.14938170e-01 9.02626776e+01] [ 2.47304181e-01 -1.46710323e-03 9.68936783e-01 -9.51073573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.83, Y:90.26, Z:-9.51 [[-4.75828919e-01 8.70978204e-01 1.22408370e-01 1.17834759e+02] [-8.44053484e-01 -4.91320494e-01 2.14890408e-01 9.02585228e+01] [ 2.47306603e-01 -1.06814073e-03 9.68936687e-01 -9.51093224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.51 [[-4.78705339e-01 8.69470484e-01 1.21910931e-01 1.17830113e+02] [-8.42768661e-01 -4.93984745e-01 2.13822485e-01 9.02527911e+01] [ 2.46134480e-01 -3.84746633e-04 9.69235611e-01 -9.50608056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.51 [[-4.80030616e-01 8.68803413e-01 1.21454673e-01 1.17830950e+02] [-8.42332269e-01 -4.95157157e-01 2.12827955e-01 9.02540633e+01] [ 2.45044804e-01 -1.41255444e-04 9.69511745e-01 -9.50626080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.51 [[-4.80859344e-01 8.68377228e-01 1.21224094e-01 1.17830798e+02] [-8.42043663e-01 -4.95904214e-01 2.12229783e-01 9.02523310e+01] [ 2.44411049e-01 -2.33058099e-05 9.69671717e-01 -9.50637049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.51 [[-4.81365242e-01 8.68120019e-01 1.21058405e-01 1.17829904e+02] [-8.41900139e-01 -4.96354342e-01 2.11746363e-01 9.02501728e+01] [ 2.43909122e-01 8.25098191e-06 9.69798093e-01 -9.50580159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.26, Z:-9.51 [[-4.77426717e-01 8.70377380e-01 1.20444787e-01 1.17834565e+02] [-8.44746127e-01 -4.92382497e-01 2.09674646e-01 9.02556159e+01] [ 2.41800974e-01 -1.64098981e-03 9.70324480e-01 -9.50734247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.50 [[-4.80529114e-01 8.68946534e-01 1.18421669e-01 1.17827588e+02] [-8.42958854e-01 -4.94903599e-01 2.10928422e-01 9.02475351e+01] [ 2.41892831e-01 1.53265350e-03 9.70301762e-01 -9.50435961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.25, Z:-9.50 [[-4.76824206e-01 8.70698828e-01 1.20508201e-01 1.17823644e+02] [-8.44939985e-01 -4.91814041e-01 2.10226952e-01 9.02470599e+01] [ 2.42311987e-01 -1.58089797e-03 9.70197094e-01 -9.50205685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.82, Y:90.25, Z:-9.50 [[-4.74134957e-01 8.72078375e-01 1.21141858e-01 1.17822637e+02] [-8.46136448e-01 -4.89360373e-01 2.11138666e-01 9.02456559e+01] [ 2.43411490e-01 -2.39431883e-03 9.69920159e-01 -9.50433930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.927628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.50 [[-4.74468045e-01 8.71885644e-01 1.21224992e-01 1.17821520e+02] [-8.45949721e-01 -4.89703677e-01 2.11090926e-01 9.02436516e+01] [ 2.43411472e-01 -2.39434932e-03 9.69920163e-01 -9.50373395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.82, Y:90.25, Z:-9.51 [[-4.72089696e-01 8.73127190e-01 1.21573967e-01 1.17824357e+02] [-8.47128349e-01 -4.87482364e-01 2.11505331e-01 9.02469984e+01] [ 2.43936220e-01 -3.13926649e-03 9.69786196e-01 -9.50580410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:90.25, Z:-9.50 [[-4.70556141e-01 8.73978009e-01 1.21405754e-01 1.17825503e+02] [-8.48127973e-01 -4.85951611e-01 2.11021263e-01 9.02474206e+01] [ 2.43425265e-01 -3.67026461e-03 9.69912712e-01 -9.50443308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.51 [[-4.66659319e-01 8.75889920e-01 1.22661842e-01 1.17824653e+02] [-8.49607613e-01 -4.82486993e-01 2.13009872e-01 9.02440244e+01] [ 2.45755943e-01 -4.81139265e-03 9.69319796e-01 -9.50730954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.82, Y:90.25, Z:-9.51 [[-4.66068285e-01 8.76182087e-01 1.22822242e-01 1.17824972e+02] [-8.49888801e-01 -4.81953591e-01 2.13095665e-01 9.02450638e+01] [ 2.45905225e-01 -5.06811650e-03 9.69280627e-01 -9.50682790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.50 [[-4.65726083e-01 8.76389498e-01 1.22640380e-01 1.17820811e+02] [-8.50230749e-01 -4.81574223e-01 2.12588666e-01 9.02382783e+01] [ 2.45370920e-01 -5.26453490e-03 9.69414976e-01 -9.50419514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.50 [[-4.66105537e-01 8.76346066e-01 1.21503912e-01 1.17822422e+02] [-8.50722817e-01 -4.81653049e-01 2.10430582e-01 9.02433627e+01] [ 2.42932743e-01 -5.28329126e-03 9.70028747e-01 -9.50151091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.50 [[-4.67033388e-01 8.75916212e-01 1.21039677e-01 1.17820636e+02] [-8.50524010e-01 -4.82435952e-01 2.09438443e-01 9.02400336e+01] [ 2.41844419e-01 -5.13240646e-03 9.70301466e-01 -9.49950127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.24, Z:-9.50 [[-4.68594399e-01 8.75178021e-01 1.20344173e-01 1.17820076e+02] [-8.50103176e-01 -4.83777069e-01 2.08048885e-01 9.02374399e+01] [ 2.40299563e-01 -4.81442131e-03 9.70686840e-01 -9.49806252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.23, Z:-9.50 [[-4.70485665e-01 8.74261784e-01 1.19622626e-01 1.17819094e+02] [-8.49507312e-01 -4.85434738e-01 2.06616653e-01 9.02334131e+01] [ 2.38706022e-01 -4.41012188e-03 9.71081864e-01 -9.49710324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.23, Z:-9.50 [[-4.74225763e-01 8.72354493e-01 1.18775273e-01 1.17820549e+02] [-8.47940041e-01 -4.88861229e-01 2.04969234e-01 9.02298702e+01] [ 2.36870458e-01 -3.51261837e-03 9.71534893e-01 -9.49649969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.23, Z:-9.49 [[-4.76531892e-01 8.71125539e-01 1.18564964e-01 1.17819126e+02] [-8.46805795e-01 -4.91051289e-01 2.04422546e-01 9.02263302e+01] [ 2.36299179e-01 -2.98763630e-03 9.71675755e-01 -9.49483906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:90.22, Z:-9.49 [[-4.78618731e-01 8.69972057e-01 1.18628543e-01 1.17816341e+02] [-8.45635496e-01 -4.93094629e-01 2.04348466e-01 9.02213935e+01] [ 2.36272553e-01 -2.51150338e-03 9.71683577e-01 -9.49293142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.21, Z:-9.49 [[-4.82279626e-01 8.67944828e-01 1.18651331e-01 1.17813051e+02] [-8.43588483e-01 -4.96657978e-01 2.04179638e-01 9.02144293e+01] [ 2.36145791e-01 -1.62121681e-03 9.71716284e-01 -9.49100356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.21, Z:-9.49 [[-4.83553769e-01 8.67206213e-01 1.18866044e-01 1.17812704e+02] [-8.42783350e-01 -4.97947328e-01 2.04364095e-01 9.02118659e+01] [ 2.36414842e-01 -1.35729462e-03 9.71651265e-01 -9.49070900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.21, Z:-9.49 [[-4.84524202e-01 8.66574357e-01 1.19520634e-01 1.17812379e+02] [-8.41904558e-01 -4.99046651e-01 2.05302594e-01 9.02067778e+01] [ 2.37556335e-01 -1.15089118e-03 9.71373081e-01 -9.49117175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.21, Z:-9.49 [[-4.84768460e-01 8.66356769e-01 1.20106158e-01 1.17814550e+02] [-8.41480598e-01 -4.99424304e-01 2.06120761e-01 9.02082934e+01] [ 2.38558051e-01 -1.14615745e-03 9.71127562e-01 -9.49216038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.20, Z:-9.49 [[-4.84827961e-01 8.66275255e-01 1.20453440e-01 1.17813867e+02] [-8.41296531e-01 -4.99565540e-01 2.06529462e-01 9.02042872e+01] [ 2.39085750e-01 -1.20580296e-03 9.70997709e-01 -9.49196576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.20, Z:-9.49 [[-4.84563273e-01 8.66347297e-01 1.20999153e-01 1.17814323e+02] [-8.41187022e-01 -4.99440241e-01 2.07277207e-01 9.02025377e+01] [ 2.40005894e-01 -1.34399549e-03 9.70770500e-01 -9.49229072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.20, Z:-9.49 [[-4.83424967e-01 8.66840566e-01 1.22015308e-01 1.17813008e+02] [-8.41312441e-01 -4.98582532e-01 2.08827287e-01 9.01998605e+01] [ 2.41854665e-01 -1.70067233e-03 9.70310996e-01 -9.49179538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.20, Z:-9.49 [[-4.82713971e-01 8.67170387e-01 1.22485679e-01 1.17812039e+02] [-8.41499917e-01 -4.98007666e-01 2.09442723e-01 9.01985856e+01] [ 2.42621335e-01 -1.97076037e-03 9.70119067e-01 -9.49097419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.20, Z:-9.49 [[-4.82144017e-01 8.67471775e-01 1.22596357e-01 1.17811737e+02] [-8.41811105e-01 -4.97481442e-01 2.09442779e-01 9.01979728e+01] [ 2.42675112e-01 -2.22139158e-03 9.70105075e-01 -9.49016826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58762800000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.81, Y:90.19, Z:-9.49 [[-4.81007111e-01 8.68047343e-01 1.22987683e-01 1.17808862e+02] [-8.42292098e-01 -4.96474469e-01 2.09897887e-01 9.01919272e+01] [ 2.43261548e-01 -2.62917687e-03 9.69957168e-01 -9.49066986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.617628 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.81, Y:90.19, Z:-9.49 [[-4.79976131e-01 8.68676658e-01 1.22571517e-01 1.17810978e+02] [-8.43165019e-01 -4.95370230e-01 2.09000205e-01 9.01941195e+01] [ 2.42271880e-01 -3.03290557e-03 9.70203658e-01 -9.48948338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:90.19, Z:-9.49 [[-4.79981836e-01 8.68700197e-01 1.22382209e-01 1.17810728e+02] [-8.43315885e-01 -4.95328313e-01 2.08490242e-01 9.01934301e+01] [ 2.41734887e-01 -3.13533148e-03 9.70337268e-01 -9.48942291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.677628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.81, Y:90.19, Z:-9.49 [[-4.80253255e-01 8.68461905e-01 1.23007037e-01 1.17808793e+02] [-8.42853337e-01 -4.95746038e-01 2.09365992e-01 9.01900777e+01] [ 2.42806640e-01 -3.12819288e-03 9.70069663e-01 -9.49008731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.18, Z:-9.49 [[-4.83114157e-01 8.67263890e-01 1.20225026e-01 1.17804335e+02] [-8.41369566e-01 -4.97848500e-01 2.10342876e-01 9.01833776e+01] [ 2.42276630e-01 4.65943697e-04 9.70207100e-01 -9.48582244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.18, Z:-9.48 [[-4.84965832e-01 8.65546629e-01 1.25048691e-01 1.17800509e+02] [-8.40217436e-01 -5.00810380e-01 2.07902920e-01 9.01819511e+01] [ 2.42575354e-01 -4.24227774e-03 9.70123292e-01 -9.48316801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.18, Z:-9.48 [[-4.86838091e-01 8.64732459e-01 1.23395494e-01 1.17801402e+02] [-8.38948215e-01 -5.02230598e-01 2.09595606e-01 9.01802121e+01] [ 2.43217116e-01 -1.48330469e-03 9.69970739e-01 -9.48477421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.18, Z:-9.49 [[-4.89666787e-01 8.62913357e-01 1.24927879e-01 1.17801347e+02] [-8.36465021e-01 -5.05351429e-01 2.12005191e-01 9.01770325e+01] [ 2.46074593e-01 -6.85899544e-04 9.69250651e-01 -9.48680802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.17, Z:-9.49 [[-4.90448543e-01 8.62388317e-01 1.25485529e-01 1.17800154e+02] [-8.35731640e-01 -5.06247090e-01 2.12759277e-01 9.01747809e+01] [ 2.47007799e-01 -5.24749616e-04 9.69013350e-01 -9.48765884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:90.17, Z:-9.49 [[-4.90866698e-01 8.62088707e-01 1.25908481e-01 1.17797718e+02] [-8.35288648e-01 -5.06757175e-01 2.13283944e-01 9.01726999e+01] [ 2.47674706e-01 -4.75939593e-04 9.68843132e-01 -9.48710252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.17, Z:-9.49 [[-4.90992794e-01 8.61991864e-01 1.26079748e-01 1.17794473e+02] [-8.35163685e-01 -5.06921836e-01 2.13381986e-01 9.01707170e+01] [ 2.47846113e-01 -5.28209569e-04 9.68799270e-01 -9.48620359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.16, Z:-9.49 [[-4.85713673e-01 8.65604080e-01 1.21703754e-01 1.17786761e+02] [-8.39336806e-01 -5.00728638e-01 2.11623620e-01 9.01585572e+01] [ 2.44122824e-01 6.38045464e-04 9.69744110e-01 -9.48532113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.17, Z:-9.48 [[-4.89273002e-01 8.62818191e-01 1.27109007e-01 1.17788943e+02] [-8.36168951e-01 -5.05509704e-01 2.12794325e-01 9.01741438e+01] [ 2.47857651e-01 -2.17008641e-03 9.68794032e-01 -9.48412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.18, Z:-9.48 [[-4.86858527e-01 8.62945551e-01 1.35254389e-01 1.17788454e+02] [-8.36379643e-01 -5.05206181e-01 2.12687110e-01 9.01797532e+01] [ 2.51868749e-01 -9.57548448e-03 9.67714030e-01 -9.48077633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:90.17, Z:-9.49 [[-4.89707017e-01 8.63763496e-01 1.18741991e-01 1.17786438e+02] [-8.35881982e-01 -5.03842924e-01 2.17815563e-01 9.01670356e+01] [ 2.47968444e-01 7.41151900e-03 9.68739759e-01 -9.48604399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:90.17, Z:-9.48 [[-4.90438858e-01 8.62290418e-01 1.26194146e-01 1.17780589e+02] [-8.35595003e-01 -5.06413043e-01 2.12900966e-01 9.01688011e+01] [ 2.47488824e-01 -1.03229076e-03 9.68890198e-01 -9.48207335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:90.17, Z:-9.48 [[-4.91439585e-01 8.61698691e-01 1.26342789e-01 1.17778162e+02] [-8.34968984e-01 -5.07419617e-01 2.12960390e-01 9.01667914e+01] [ 2.47616498e-01 -8.35144418e-04 9.68857767e-01 -9.48114750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:90.16, Z:-9.48 [[-4.92440297e-01 8.61097550e-01 1.26544713e-01 1.17777227e+02] [-8.34310409e-01 -5.08439385e-01 2.13109207e-01 9.01648982e+01] [ 2.47848132e-01 -6.34010420e-04 9.68798690e-01 -9.48161199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:90.16, Z:-9.48 [[-4.94632762e-01 8.59723942e-01 1.27330965e-01 1.17775687e+02] [-8.32602241e-01 -5.10758986e-01 2.14239973e-01 9.01622591e+01] [ 2.49222669e-01 -4.59376597e-05 9.68446209e-01 -9.48327117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:90.16, Z:-9.48 [[-4.95375725e-01 8.59239471e-01 1.27712267e-01 1.17774009e+02] [-8.31986379e-01 -5.11573575e-01 2.14688477e-01 9.01605503e+01] [ 2.49803034e-01 9.65929501e-05 9.68296667e-01 -9.48313391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:90.16, Z:-9.48 [[-4.95960303e-01 8.58863954e-01 1.27969081e-01 1.17771014e+02] [-8.31536911e-01 -5.12203743e-01 2.14927179e-01 9.01559848e+01] [ 2.50139449e-01 1.84333963e-04 9.68209803e-01 -9.48200424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:90.12, Z:-9.47 [[-4.95547609e-01 8.58647540e-01 1.30984618e-01 1.17750758e+02] [-8.31634223e-01 -5.12557525e-01 2.13703772e-01 9.01239609e+01] [ 2.50633369e-01 -3.03089791e-03 9.68077336e-01 -9.47271576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.247628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:117.77, Y:90.15, Z:-9.49 [[-4.95334817e-01 8.59706455e-01 1.24692539e-01 1.17772784e+02] [-8.31870662e-01 -5.10774486e-01 2.17026787e-01 9.01533260e+01] [ 2.50269097e-01 3.77285878e-03 9.68168965e-01 -9.48520667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:90.15, Z:-9.48 [[-4.95390660e-01 8.59205707e-01 1.27881383e-01 1.17767565e+02] [-8.32040338e-01 -5.11630244e-01 2.14344045e-01 9.01503337e+01] [ 2.49593609e-01 -2.18431264e-04 9.68350651e-01 -9.48024480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.307628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.76, Y:90.15, Z:-9.48 [[-4.94951434e-01 8.59376630e-01 1.28432414e-01 1.17764853e+02] [-8.32028535e-01 -5.11342978e-01 2.15074117e-01 9.01522556e+01] [ 2.50502683e-01 -4.08190453e-04 9.68115819e-01 -9.47932521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:90.15, Z:-9.48 [[-4.96512748e-01 8.58467268e-01 1.28487511e-01 1.17763838e+02] [-8.31115147e-01 -5.12868353e-01 2.14973639e-01 9.01515500e+01] [ 2.50445011e-01 -5.07638001e-05 9.68130825e-01 -9.47654827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:90.15, Z:-9.48 [[-4.98772285e-01 8.57045791e-01 1.29223529e-01 1.17764331e+02] [-8.29377583e-01 -5.15239938e-01 2.16010721e-01 9.01466289e+01] [ 2.51712202e-01 5.65063309e-04 9.67801967e-01 -9.47759039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:90.14, Z:-9.48 [[-5.00058251e-01 8.56209979e-01 1.29792983e-01 1.17763751e+02] [-8.28316358e-01 -5.16627221e-01 2.16767906e-01 9.01427778e+01] [ 2.52653432e-01 8.86928904e-04 9.67556436e-01 -9.47739050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.427628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.76, Y:90.14, Z:-9.48 [[-5.00641317e-01 8.55737239e-01 1.30660051e-01 1.17760399e+02] [-8.27499447e-01 -5.17409626e-01 2.18018222e-01 9.01359488e+01] [ 2.54171080e-01 1.02780977e-03 9.67158728e-01 -9.47765633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.76, Y:90.14, Z:-9.48 [[-5.01404097e-01 8.55185048e-01 1.31348641e-01 1.17759796e+02] [-8.26683409e-01 -5.18321427e-01 2.18946203e-01 9.01354899e+01] [ 2.55320334e-01 1.19678094e-03 9.66855778e-01 -9.47748865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48762800000003 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:117.76, Y:90.14, Z:-9.48 [[-5.02283445e-01 8.54652753e-01 1.31453464e-01 1.17758741e+02] [-8.26138779e-01 -5.19198241e-01 2.18924426e-01 9.01354627e+01] [ 2.55354771e-01 1.36331061e-03 9.66846463e-01 -9.47734583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.76, Y:90.13, Z:-9.48 [[-5.02773061e-01 8.54414785e-01 1.31128277e-01 1.17756271e+02] [-8.26087480e-01 -5.19589726e-01 2.18187973e-01 9.01329047e+01] [ 2.54555936e-01 1.37560659e-03 9.67057073e-01 -9.47520220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:89.65, Z:-8.44 [[-4.28434206e-01 -8.95629172e-01 -1.19551314e-01 1.18342849e+02] [-8.74822761e-01 4.44265640e-01 -1.93166192e-01 8.96506732e+01] [ 2.26117817e-01 2.18272067e-02 -9.73855382e-01 -8.44341199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.41, Y:89.68, Z:-9.37 [[-4.59306852e-01 1.95780857e-01 -8.66433536e-01 1.18405754e+02] [-8.71467863e-01 8.95439763e-02 4.82209125e-01 8.96768657e+01] [ 1.71991220e-01 9.76550937e-01 1.29488563e-01 -9.36773102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:90.05, Z:-9.41 [[-4.47920933e-01 8.90150588e-01 8.36586427e-02 1.17680172e+02] [-8.74445467e-01 -4.55664273e-01 1.66478814e-01 9.00473443e+01] [ 1.86311469e-01 1.41442467e-03 9.82489713e-01 -9.41227247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:90.05, Z:-9.41 [[-4.47276528e-01 8.90441602e-01 8.40086991e-02 1.17678283e+02] [-8.74977031e-01 -4.55097347e-01 1.65231958e-01 9.00456707e+01] [ 1.85361545e-01 3.98694276e-04 9.82670310e-01 -9.41123078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.04, Z:-9.41 [[-4.46679336e-01 8.90776849e-01 8.36311872e-02 1.17673022e+02] [-8.75487804e-01 -4.54440943e-01 1.64330566e-01 9.00362254e+01] [ 1.84387300e-01 1.84983901e-04 9.82853646e-01 -9.40874754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:90.04, Z:-9.41 [[-4.45558891e-01 8.91354731e-01 8.34506946e-02 1.17676587e+02] [-8.76175311e-01 -4.53306436e-01 1.63798961e-01 9.00449072e+01] [ 1.83831716e-01 -1.35354894e-04 9.82957721e-01 -9.40980783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.04, Z:-9.41 [[-4.45716228e-01 8.91259140e-01 8.36312698e-02 1.17673931e+02] [-8.76041487e-01 -4.53494340e-01 1.63994504e-01 9.00407382e+01] [ 1.84087908e-01 -1.69450118e-04 9.82909769e-01 -9.40912458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.04, Z:-9.41 [[-4.45947747e-01 8.91104355e-01 8.40454373e-02 1.17673970e+02] [-8.75761540e-01 -4.53798410e-01 1.64647285e-01 9.00414633e+01] [ 1.84857599e-01 -1.79675553e-04 9.82765301e-01 -9.40969363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.67, Y:90.04, Z:-9.41 [[-4.45813025e-01 8.91113005e-01 8.46661572e-02 1.17672352e+02] [-8.75571272e-01 -4.53781384e-01 1.65702757e-01 9.00393766e+01] [ 1.86079808e-01 -2.58807661e-04 9.82534599e-01 -9.41207634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.03, Z:-9.41 [[-4.47327886e-01 8.90350199e-01 8.47011620e-02 1.17665642e+02] [-8.74811959e-01 -4.55276316e-01 1.65612537e-01 9.00275738e+01] [ 1.86015588e-01 -1.44834576e-05 9.82546793e-01 -9.40829025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:90.03, Z:-9.41 [[-4.47671504e-01 8.90171309e-01 8.47659424e-02 1.17664617e+02] [-8.74636170e-01 -4.55625987e-01 1.65579375e-01 9.00254808e+01] [ 1.86015575e-01 -1.41914130e-05 9.82546796e-01 -9.40785293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:90.03, Z:-9.41 [[-4.48172721e-01 8.89923572e-01 8.47186417e-02 1.17668077e+02] [-8.74431772e-01 -4.56109675e-01 1.65327070e-01 9.00311044e+01] [ 1.85769449e-01 1.44110858e-05 9.82593360e-01 -9.40943435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:90.00, Z:-9.40 [[-4.47645746e-01 8.89694341e-01 8.97622768e-02 1.17649927e+02] [-8.74595044e-01 -4.56524690e-01 1.63305590e-01 8.99995426e+01] [ 1.86270755e-01 -5.40258976e-03 9.82483597e-01 -9.40186858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:89.59, Z:-9.32 [[-4.72294442e-01 1.70345908e-01 -8.64823815e-01 1.18362271e+02] [-8.74370050e-01 3.34837244e-02 4.84103147e-01 8.95868862e+01] [ 1.11422512e-01 9.84815268e-01 1.33131183e-01 -9.32222158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:89.96, Z:-9.36 [[-4.58214207e-01 8.87109454e-01 5.54667215e-02 1.17636639e+02] [-8.80795008e-01 -4.61558904e-01 1.05657613e-01 8.99577343e+01] [ 1.19331026e-01 -4.40992279e-04 9.92854426e-01 -9.36390597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.997628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.64, Y:89.96, Z:-9.37 [[-4.56618524e-01 8.87930363e-01 5.54904786e-02 1.17637575e+02] [-8.81628379e-01 -4.59977367e-01 1.05604083e-01 8.99580337e+01] [ 1.19293436e-01 -7.01200145e-04 9.92858794e-01 -9.36658934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:89.97, Z:-9.36 [[-4.52878362e-01 8.88605312e-01 7.26759191e-02 1.17637074e+02] [-8.82549466e-01 -4.58370851e-01 1.04893295e-01 8.99699361e+01] [ 1.26521262e-01 -1.66361902e-02 9.91824383e-01 -9.35506713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:89.49, Z:-9.24 [[-4.76401876e-01 7.36469175e-02 -8.76137765e-01 1.18353995e+02] [-8.77746003e-01 1.79884289e-02 4.78788441e-01 8.94946252e+01] [ 5.10216348e-02 9.97122133e-01 5.60735662e-02 -9.24464861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.60, Y:89.89, Z:-9.33 [[-4.56892826e-01 8.89229375e-01 2.28049264e-02 1.17604452e+02] [-8.88192688e-01 -4.57461155e-01 4.29306546e-02 8.98850950e+01] [ 4.86075671e-02 -6.40460761e-04 9.98817748e-01 -9.32795674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.117628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.60, Y:89.88, Z:-9.33 [[-4.56037196e-01 8.89672748e-01 2.26379808e-02 1.17602231e+02] [-8.88653659e-01 -4.56598194e-01 4.25765651e-02 8.98802808e+01] [ 4.82156709e-02 -7.00827153e-04 9.98836702e-01 -9.32812971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14762800000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:117.60, Y:89.88, Z:-9.33 [[-4.55199556e-01 8.90119818e-01 2.19105767e-02 1.17603265e+02] [-8.89167693e-01 -4.55725967e-01 4.11662158e-02 8.98812967e+01] [ 4.66280833e-02 -7.43333821e-04 9.98912043e-01 -9.32719832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.177628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.60, Y:89.88, Z:-9.33 [[-4.55377271e-01 8.90020054e-01 2.22675651e-02 1.17602691e+02] [-8.89038789e-01 -4.55920734e-01 4.17889411e-02 8.98793928e+01] [ 4.73452402e-02 -7.66995135e-04 9.98878291e-01 -9.32788923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:89.87, Z:-9.33 [[-4.56897927e-01 8.89241361e-01 2.22280647e-02 1.17599352e+02] [-8.88264841e-01 -4.57437760e-01 4.16685571e-02 8.98724694e+01] [ 4.72213606e-02 -7.06131007e-04 9.98884200e-01 -9.32580236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:89.86, Z:-9.33 [[-4.58558125e-01 8.88383469e-01 2.23440811e-02 1.17595517e+02] [-8.87398551e-01 -4.59101723e-01 4.18260608e-02 8.98643516e+01] [ 4.74157871e-02 -6.48425160e-04 9.98875029e-01 -9.32578959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:89.86, Z:-9.33 [[-4.59894107e-01 8.87689608e-01 2.24626544e-02 1.17594236e+02] [-8.86695454e-01 -4.60441962e-01 4.20044260e-02 8.98616258e+01] [ 4.76296411e-02 -5.99945536e-04 9.98864884e-01 -9.32553626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:89.62, Z:-9.31 [[-4.62767031e-01 8.85929390e-01 3.12376603e-02 1.17457398e+02] [-8.84947370e-01 -4.63751238e-01 4.24610530e-02 8.96175695e+01] [ 5.21039984e-02 -7.99410984e-03 9.98609667e-01 -9.30903777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:89.28, Z:-8.91 [[-4.54554568e-01 -4.20015831e-01 -7.85472372e-01 1.18383132e+02] [-8.90600847e-01 1.99959116e-01 4.08468460e-01 8.92804628e+01] [-1.45008583e-02 8.85213564e-01 -4.64958784e-01 -8.91026710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:89.76, Z:-9.29 [[-4.34424181e-01 9.00671612e-01 -8.14115485e-03 1.17519669e+02] [-9.00600268e-01 -4.34494336e-01 -1.15684205e-02 8.97635691e+01] [-1.39566336e-02 2.30632463e-03 9.99899942e-01 -9.28702036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.387628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.52, Y:89.76, Z:-9.29 [[-4.34305527e-01 9.00743947e-01 -6.24906865e-03 1.17516306e+02] [-9.00655785e-01 -4.34350455e-01 -1.26031571e-02 8.97588588e+01] [-1.40665033e-02 1.54639052e-04 9.99901050e-01 -9.28814891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:117.51, Y:89.76, Z:-9.28 [[-4.35682029e-01 9.00023171e-01 1.18093770e-02 1.17507918e+02] [-9.00083897e-01 -4.35556390e-01 -1.18156357e-02 8.97598875e+01] [-5.49069624e-03 -1.57772902e-02 9.99860455e-01 -9.27720930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:89.25, Z:-9.06 [[-4.38899614e-01 -1.88055027e-01 -8.78636691e-01 1.18291270e+02] [-8.95289799e-01 8.47881177e-03 4.45403508e-01 8.92478976e+01] [-7.63105735e-02 9.82121895e-01 -1.72085094e-01 -9.06294443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.46, Y:89.66, Z:-9.26 [[-4.20630526e-01 9.06494926e-01 -3.65637790e-02 1.17461030e+02] [-9.03325619e-01 -4.22215092e-01 -7.57445841e-02 8.96573758e+01] [-8.40998604e-02 1.16851404e-03 9.96456646e-01 -9.26205833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:89.47, Z:-9.28 [[-4.20211301e-01 9.06600988e-01 -3.86925213e-02 1.17370275e+02] [-9.03253727e-01 -4.21983032e-01 -7.78654312e-02 8.94673284e+01] [-8.69204643e-02 2.22922987e-03 9.96212760e-01 -9.27868153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:89.64, Z:-9.26 [[-4.24874658e-01 9.04880792e-01 -2.59283194e-02 1.17447739e+02] [-9.01638280e-01 -4.25561633e-01 -7.71084190e-02 8.96353218e+01] [-8.08080252e-02 -9.38344780e-03 9.96685514e-01 -9.25500678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:89.13, Z:-9.12 [[-4.35020318e-01 -8.90078878e-02 -8.96010557e-01 1.18181414e+02] [-8.89552853e-01 -1.11656878e-01 4.42976821e-01 8.91297181e+01] [-1.39474172e-01 9.89752665e-01 -3.06042100e-02 -9.12057403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:89.36, Z:-8.45 [[-4.38313519e-01 7.18661567e-02 8.95944482e-01 1.17188452e+02] [-8.93099407e-01 7.74813666e-02 -4.43136645e-01 8.93610224e+01] [-1.01265530e-01 -9.94400268e-01 3.02224915e-02 -8.45097657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:88.88, Z:-9.15 [[-4.33524637e-01 -9.02219809e-02 -8.96613843e-01 1.18059598e+02] [-8.89835358e-01 -1.14258126e-01 4.41744401e-01 8.88840852e+01] [-1.42300472e-01 9.89345781e-01 -3.07489960e-02 -9.15316631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:89.12, Z:-8.49 [[-4.38896809e-01 7.09724310e-02 8.95730152e-01 1.17068684e+02] [-8.93056374e-01 7.54851770e-02 -4.43567696e-01 8.91161060e+01] [-9.90954267e-02 -9.94617968e-01 3.02521785e-02 -8.48644624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:89.02, Z:-8.53 [[-4.42682306e-01 4.09721959e-02 8.95741958e-01 1.17022458e+02] [-8.96156149e-01 1.38776097e-02 -4.43521779e-01 8.90212595e+01] [-3.06028185e-02 -9.99063907e-01 3.05741130e-02 -8.52783665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:88.92, Z:-8.56 [[-4.44296684e-01 1.02188797e-02 8.95821428e-01 1.16973997e+02] [-8.95029998e-01 -4.86037278e-02 -4.43349726e-01 8.89223713e+01] [ 3.90097234e-02 -9.98765865e-01 3.07406790e-02 -8.56186641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.747628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:116.93, Y:88.83, Z:-8.59 [[-4.42431932e-01 -1.96487968e-02 8.96586812e-01 1.16928840e+02] [-8.90486913e-01 -1.08812144e-01 -4.41806491e-01 8.88344758e+01] [ 1.06240499e-01 -9.93868121e-01 3.06449707e-02 -8.58827939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:88.23, Z:-9.26 [[-4.43507490e-01 -2.43916033e-03 -8.96267347e-01 1.17744070e+02] [-8.94520037e-01 6.36756499e-02 4.42469563e-01 8.82345968e+01] [ 5.59911515e-02 9.97967666e-01 -3.04225054e-02 -9.25695570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:88.62, Z:-9.38 [[-4.35677707e-01 8.99614942e-01 2.96292385e-02 1.16960496e+02] [-8.98597085e-01 -4.36616383e-01 4.34673670e-02 8.86221792e+01] [ 5.20405038e-02 -7.68698460e-03 9.98615390e-01 -9.38123575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:116.85, Y:88.39, Z:-9.38 [[-4.35888946e-01 8.99778546e-01 1.99848906e-02 1.16847119e+02] [-8.98635352e-01 -4.36343044e-01 4.53789850e-02 8.83871624e+01] [ 4.95513052e-02 1.82106871e-03 9.98769919e-01 -9.37596606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:88.16, Z:-9.28 [[-4.51697764e-01 9.87130777e-02 -8.86693215e-01 1.17646026e+02] [-8.92134885e-01 -5.89204906e-02 4.47910397e-01 8.81582032e+01] [-8.02978545e-03 9.93370074e-01 1.14679634e-01 -9.28435113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:88.52, Z:-9.35 [[-4.42692732e-01 8.96582928e-01 -1.27357579e-02 1.16919657e+02] [-8.96455790e-01 -4.42853543e-01 -1.57402387e-02 8.85207006e+01] [-1.97525048e-02 4.44895469e-03 9.99795002e-01 -9.34621275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:88.52, Z:-9.34 [[-4.41954306e-01 8.96986925e-01 -9.53142598e-03 1.16917309e+02] [-8.96790086e-01 -4.42057007e-01 -1.87921398e-02 8.85199551e+01] [-2.10697374e-02 2.42421205e-04 9.99777979e-01 -9.34451295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:88.51, Z:-9.34 [[-4.42296420e-01 8.96817953e-01 -9.56227589e-03 1.16914538e+02] [-8.96620226e-01 -4.42399707e-01 -1.88326836e-02 8.85145919e+01] [-2.11198368e-02 2.44101449e-04 9.99776922e-01 -9.34453480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:88.51, Z:-9.34 [[-4.43171701e-01 8.96385652e-01 -9.57115024e-03 1.16913364e+02] [-8.96187975e-01 -4.43274980e-01 -1.88256603e-02 8.85123120e+01] [-2.11177032e-02 2.34549872e-04 9.99776969e-01 -9.34416919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:88.50, Z:-9.35 [[-4.41085279e-01 8.97408367e-01 -1.00994898e-02 1.16911185e+02] [-8.97200769e-01 -4.41200552e-01 -1.93094168e-02 8.85027375e+01] [-2.17843327e-02 5.44170502e-04 9.99762545e-01 -9.34597094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:88.50, Z:-9.35 [[-4.45960550e-01 8.95007477e-01 -8.98912779e-03 1.16909230e+02] [-8.94818043e-01 -4.46051105e-01 -1.84142038e-02 8.85040814e+01] [-2.04904604e-02 -1.68374701e-04 9.99790034e-01 -9.34539633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:88.51, Z:-9.34 [[-4.45969099e-01 8.95046925e-01 -1.60164885e-03 1.16908567e+02] [-8.94891783e-01 -4.45923839e-01 -1.79060511e-02 8.85088635e+01] [-1.67409694e-02 -6.55224308e-03 9.99838391e-01 -9.34102913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:88.43, Z:-9.35 [[-4.57825400e-01 8.89006432e-01 -7.96660921e-03 1.16875617e+02] [-8.88897565e-01 -4.57894167e-01 -1.39301774e-02 8.84318681e+01] [-1.60318812e-02 7.03910496e-04 9.99871233e-01 -9.34556368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:87.96, Z:-9.29 [[-4.73693894e-01 1.15899565e-01 -8.73030003e-01 1.17526742e+02] [-8.77103802e-01 -1.51447729e-01 4.55798756e-01 8.79641834e+01] [-7.93915336e-02 9.81647022e-01 1.73395813e-01 -9.28784263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:87.86, Z:-9.27 [[-4.80403067e-01 8.30569388e-02 -8.73106201e-01 1.17479200e+02] [-8.64881475e-01 -2.10103660e-01 4.55890871e-01 8.78643134e+01] [-1.45577908e-01 9.74144752e-01 1.72768850e-01 -9.26797257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:88.05, Z:-8.41 [[-4.74338342e-01 -1.05644879e-01 8.73980719e-01 1.16628940e+02] [-8.75019655e-01 1.65586553e-01 -4.54886467e-01 8.80540189e+01] [-9.66630290e-02 -9.80520399e-01 -1.70985397e-01 -8.41452948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:87.63, Z:-9.30 [[-4.83174772e-01 8.29688676e-02 -8.71583792e-01 1.17348089e+02] [-8.63433578e-01 -2.10023893e-01 4.58663734e-01 8.76256415e+01] [-1.44998610e-01 9.74169457e-01 1.73116353e-01 -9.30335084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.27, Y:87.47, Z:-9.30 [[-4.89929454e-01 4.95452753e-02 -8.70353029e-01 1.17271417e+02] [-8.46480350e-01 -2.65732885e-01 4.61364336e-01 8.74735479e+01] [-2.08422999e-01 9.62772714e-01 1.72129470e-01 -9.30233390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.35, Y:87.30, Z:-9.06 [[-4.68334426e-01 -3.74898035e-01 -8.00071452e-01 1.17348713e+02] [-8.38499968e-01 -9.68721564e-02 5.36221586e-01 8.73010488e+01] [-2.78533066e-01 9.21990916e-01 -2.68983425e-01 -9.06149742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:87.72, Z:-9.35 [[-4.88400745e-01 8.62452293e-01 -1.32818501e-01 1.16497107e+02] [-8.27569524e-01 -5.06062812e-01 -2.42959076e-01 8.77170449e+01] [-2.76755117e-01 -8.74485015e-03 9.60900688e-01 -9.34964729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:87.71, Z:-9.36 [[-4.90320402e-01 8.59986602e-01 -1.41452988e-01 1.16498972e+02] [-8.26702301e-01 -5.10316042e-01 -2.36940589e-01 8.77103860e+01] [-2.75951461e-01 7.62706235e-04 9.61171270e-01 -9.35588718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:116.50, Y:87.70, Z:-9.36 [[-4.91628873e-01 8.59345748e-01 -1.40804602e-01 1.16495382e+02] [-8.26446113e-01 -5.11394702e-01 -2.35504311e-01 8.77039223e+01] [-2.74386356e-01 5.86697036e-04 9.61619355e-01 -9.36095972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40762800000005 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:116.49, Y:87.70, Z:-9.36 [[-4.94380298e-01 8.57790760e-01 -1.40652525e-01 1.16493054e+02] [-8.25001392e-01 -5.13999031e-01 -2.34899339e-01 8.76994490e+01] [-2.73789744e-01 -9.10758185e-05 9.61789565e-01 -9.36255568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:87.69, Z:-9.36 [[-4.95948076e-01 8.56777729e-01 -1.41306157e-01 1.16489711e+02] [-8.23737420e-01 -5.15685667e-01 -2.35637340e-01 8.76924916e+01] [-2.74758385e-01 -4.64716646e-04 9.61513190e-01 -9.36193207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:87.69, Z:-9.36 [[-4.96901019e-01 8.56153060e-01 -1.41743834e-01 1.16487203e+02] [-8.22979883e-01 -5.16721926e-01 -2.36013903e-01 8.76869513e+01] [-2.75306173e-01 -6.23225090e-04 9.61356397e-01 -9.36346196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:87.68, Z:-9.36 [[-4.97159108e-01 8.55921090e-01 -1.42238914e-01 1.16483978e+02] [-8.22603631e-01 -5.17106150e-01 -2.36483607e-01 8.76825124e+01] [-2.75963924e-01 -5.63731551e-04 9.61167829e-01 -9.36379110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.48, Y:87.68, Z:-9.37 [[-4.97020092e-01 8.56054679e-01 -1.41920451e-01 1.16478887e+02] [-8.22986605e-01 -5.16885177e-01 -2.35632684e-01 8.76759020e+01] [-2.75071039e-01 -3.15547831e-04 9.61423852e-01 -9.36783544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.557628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:116.47, Y:87.67, Z:-9.37 [[-4.96656610e-01 8.56242599e-01 -1.42059224e-01 1.16474924e+02] [-8.23216643e-01 -5.16573916e-01 -2.35511672e-01 8.76719995e+01] [-2.75039215e-01 -2.29111972e-05 9.61433008e-01 -9.36928011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.47, Y:87.67, Z:-9.37 [[-4.96187941e-01 8.56403180e-01 -1.42727438e-01 1.16472003e+02] [-8.23167668e-01 -5.16307591e-01 -2.36265662e-01 8.76703897e+01] [-2.76029924e-01 2.56439529e-04 9.61149008e-01 -9.36924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:87.66, Z:-9.37 [[-4.95350892e-01 8.56714723e-01 -1.43761529e-01 1.16464758e+02] [-8.23101920e-01 -5.15790164e-01 -2.37620994e-01 8.76608928e+01] [-2.77724187e-01 6.24618903e-04 9.60660651e-01 -9.37027389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64762800000005 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:116.47, Y:87.66, Z:-9.37 [[-4.94574154e-01 8.57254984e-01 -1.43214171e-01 1.16466907e+02] [-8.24017462e-01 -5.14890950e-01 -2.36394863e-01 8.76625488e+01] [-2.76390355e-01 1.09618879e-03 9.61044832e-01 -9.37314655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.677628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:116.46, Y:87.66, Z:-9.38 [[-4.94484523e-01 8.57311051e-01 -1.43188051e-01 1.16463662e+02] [-8.24189489e-01 -5.14797076e-01 -2.35999273e-01 8.76556924e+01] [-2.76037575e-01 1.31609831e-03 9.61145944e-01 -9.37595163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.707628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:116.46, Y:87.65, Z:-9.38 [[-4.95026257e-01 8.56972443e-01 -1.43343073e-01 1.16460549e+02] [-8.23864245e-01 -5.15360553e-01 -2.35905081e-01 8.76503541e+01] [-2.76037519e-01 1.31602375e-03 9.61145960e-01 -9.37784648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:87.60, Z:-9.39 [[-4.95203623e-01 8.57762990e-01 -1.37898602e-01 1.16429311e+02] [-8.24334286e-01 -5.14031573e-01 -2.37159287e-01 8.76030737e+01] [-2.74310695e-01 -3.76759277e-03 9.61633739e-01 -9.38873344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.767628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.14, Y:87.04, Z:-9.24 [[-4.90506417e-01 -2.48507637e-01 -8.35252901e-01 1.17144204e+02] [-8.02760396e-01 -2.44099857e-01 5.44050555e-01 8.70360427e+01] [-3.39085832e-01 9.37368238e-01 -7.97595428e-02 -9.23676423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:87.28, Z:-8.67 [[-4.87381364e-01 2.23890538e-01 8.43997887e-01 1.16083300e+02] [-8.23516018e-01 2.03499583e-01 -5.29536861e-01 8.72814827e+01] [-2.90311511e-01 -9.53132177e-01 8.51955402e-02 -8.67003128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:87.35, Z:-9.48 [[-4.94013396e-01 8.59444176e-01 -1.31554068e-01 1.16270400e+02] [-8.25779244e-01 -5.11148267e-01 -2.38361257e-01 8.73503485e+01] [-2.72101828e-01 -9.11903559e-03 9.62225254e-01 -9.47934381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:86.75, Z:-9.25 [[ -0.48415282 -0.37405002 -0.79100103 117.01632357] [ -0.80837781 -0.1547394 0.56796218 86.75193596] [ -0.33484529 0.91440817 -0.22745622 -9.25414734] [ 0. 0. 0. 1. ]] SLAMing on 324.887628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:115.90, Y:87.08, Z:-8.84 [[ -0.49094903 0.35035679 0.79763348 115.90282329] [ -0.81949716 0.12495893 -0.55929391 87.0786743 ] [ -0.29562384 -0.92824317 0.22576793 -8.84242851] [ 0. 0. 0. 1. ]] SLAMing on 324.91762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.86, Y:86.99, Z:-8.91 [[-5.14257527e-01 3.20772038e-01 7.95389525e-01 1.15855992e+02] [-8.25429940e-01 6.66439097e-02 -5.60556870e-01 8.69896847e+01] [-2.32818837e-01 -9.44808917e-01 2.30502712e-01 -8.90636670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:86.84, Z:-8.97 [[-5.31087798e-01 2.87013353e-01 7.97225869e-01 1.15774656e+02] [-8.30800080e-01 8.47866510e-03 -5.56506370e-01 8.68427258e+01] [-1.66484170e-01 -9.57889058e-01 2.33947801e-01 -8.97172485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.02, Y:86.89, Z:-9.70 [[-5.30938027e-01 8.43105469e-01 -8.53110732e-02 1.16023227e+02] [-8.34096884e-01 -5.37716723e-01 -1.23057366e-01 8.68937011e+01] [-1.49623529e-01 5.82186517e-03 9.88725900e-01 -9.70412318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:86.89, Z:-9.70 [[-5.31893124e-01 8.42757051e-01 -8.27662849e-02 1.16018069e+02] [-8.33377381e-01 -5.38289316e-01 -1.25406353e-01 8.68897287e+01] [-1.50239295e-01 2.27277267e-03 9.88647050e-01 -9.70160413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.01, Y:86.89, Z:-9.69 [[-5.35754854e-01 8.41866841e-01 -6.50150611e-02 1.16005729e+02] [-8.32782736e-01 -5.39545976e-01 -1.23947792e-01 8.68875375e+01] [-1.39426151e-01 -1.22622108e-02 9.90156547e-01 -9.69212896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:86.23, Z:-9.43 [[-5.30971782e-01 -3.56056104e-01 -7.68955797e-01 1.16723144e+02] [-8.21464305e-01 -6.46564342e-03 5.70223282e-01 8.62275421e+01] [-2.08003274e-01 9.34442211e-01 -2.89054306e-01 -9.43289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09762800000004 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:115.90, Y:86.72, Z:-9.71 [[-5.23014562e-01 8.44739468e-01 -1.13450426e-01 1.15898749e+02] [-8.25449101e-01 -5.35177706e-01 -1.79495415e-01 8.67184122e+01] [-2.12343000e-01 -2.31163186e-04 9.77195168e-01 -9.71145036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:86.71, Z:-9.71 [[-5.25739600e-01 8.42441965e-01 -1.17853335e-01 1.15895874e+02] [-8.22848118e-01 -5.38783378e-01 -1.80647302e-01 8.67098876e+01] [-2.15682286e-01 2.00195482e-03 9.76461542e-01 -9.71222459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.89, Y:86.71, Z:-9.72 [[-5.26891129e-01 8.41693761e-01 -1.18056559e-01 1.15893319e+02] [-8.22064693e-01 -5.39952102e-01 -1.80724564e-01 8.67055235e+01] [-2.15859625e-01 1.82795969e-03 9.76422696e-01 -9.71515265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:86.70, Z:-9.71 [[-5.28436765e-01 8.40537150e-01 -1.19381256e-01 1.15888469e+02] [-8.20483879e-01 -5.41751824e-01 -1.82513469e-01 8.66987218e+01] [-2.18084364e-01 1.50356857e-03 9.75928762e-01 -9.71424047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:86.69, Z:-9.72 [[-5.30488460e-01 8.39100729e-01 -1.20382558e-01 1.15880555e+02] [-8.18722866e-01 -5.43975051e-01 -1.83804280e-01 8.66907074e+01] [-2.19715413e-01 1.05390331e-03 9.75563441e-01 -9.71559452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:86.69, Z:-9.71 [[-5.32019058e-01 8.38109784e-01 -1.20530958e-01 1.15879350e+02] [-8.17709686e-01 -5.45501039e-01 -1.83791963e-01 8.66912509e+01] [-2.19787605e-01 7.78504710e-04 9.75547437e-01 -9.71474888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:86.69, Z:-9.72 [[-5.33547446e-01 8.37111304e-01 -1.20713660e-01 1.15874702e+02] [-8.16677091e-01 -5.47032370e-01 -1.83831760e-01 8.66854991e+01] [-2.19921923e-01 5.01114789e-04 9.75517348e-01 -9.71582095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.307628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.87, Y:86.68, Z:-9.72 [[-5.36454806e-01 8.35369521e-01 -1.19891636e-01 1.15869855e+02] [-8.15225369e-01 -5.49688781e-01 -1.82345392e-01 8.66786353e+01] [-2.18228870e-01 -8.13592727e-05 9.75897614e-01 -9.71981100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:86.68, Z:-9.72 [[-5.38434967e-01 8.34013925e-01 -1.20451486e-01 1.15867994e+02] [-8.13698751e-01 -5.51743168e-01 -1.82958517e-01 8.66752805e+01] [-2.19048235e-01 -5.00039167e-04 9.75713903e-01 -9.71970201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:86.67, Z:-9.72 [[-5.40150101e-01 8.32947320e-01 -1.20152528e-01 1.15863797e+02] [-8.12760721e-01 -5.53351720e-01 -1.82268716e-01 8.66686612e+01] [-2.18306847e-01 -7.97210191e-04 9.75879852e-01 -9.72231937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:86.66, Z:-9.72 [[-5.41376019e-01 8.32202546e-01 -1.19795360e-01 1.15858258e+02] [-8.12171489e-01 -5.54470918e-01 -1.81492350e-01 8.66606809e+01] [-2.17461439e-01 -9.61229926e-04 9.76068439e-01 -9.72483532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:86.67, Z:-9.72 [[-5.38875930e-01 8.34733427e-01 -1.13282113e-01 1.15862846e+02] [-8.14993518e-01 -5.50631935e-01 -1.80527112e-01 8.66716483e+01] [-2.13068764e-01 -4.95752768e-03 9.77024629e-01 -9.71832540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:86.66, Z:-9.73 [[-5.40489496e-01 8.32359340e-01 -1.22674502e-01 1.15855966e+02] [-8.13184713e-01 -5.54223807e-01 -1.77669905e-01 8.66552765e+01] [-2.15874334e-01 3.72831260e-03 9.76414037e-01 -9.72824235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.85, Y:86.65, Z:-9.73 [[-5.39543080e-01 8.33629240e-01 -1.18133630e-01 1.15851629e+02] [-8.14351279e-01 -5.52324442e-01 -1.78240582e-01 8.66521047e+01] [-2.13834653e-01 3.38001695e-05 9.76869869e-01 -9.72953541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.85, Y:86.65, Z:-9.73 [[-5.38190197e-01 8.34486872e-01 -1.18249617e-01 1.15848842e+02] [-8.15241495e-01 -5.51027590e-01 -1.78185015e-01 8.66457480e+01] [-2.13851858e-01 5.04566238e-04 9.76865973e-01 -9.73122244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.85, Y:86.64, Z:-9.73 [[-5.34879062e-01 8.36688192e-01 -1.17716854e-01 1.15850575e+02] [-8.17719839e-01 -5.47677468e-01 -1.77154328e-01 8.66444290e+01] [-2.12693803e-01 1.50326563e-03 9.77117744e-01 -9.73273378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:115.85, Y:86.64, Z:-9.73 [[-5.33540778e-01 8.37465002e-01 -1.18264995e-01 1.15849994e+02] [-8.18386691e-01 -5.46487481e-01 -1.77748858e-01 8.66420578e+01] [-2.13488787e-01 1.95023405e-03 9.76943568e-01 -9.73298475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:86.64, Z:-9.73 [[-5.31437086e-01 8.38636129e-01 -1.19432267e-01 1.15848512e+02] [-8.19255226e-01 -5.44685979e-01 -1.79270908e-01 8.66358530e+01] [-2.15396141e-01 2.57430006e-03 9.76523361e-01 -9.73255244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:86.63, Z:-9.73 [[-5.30510867e-01 8.39189868e-01 -1.19660293e-01 1.15847444e+02] [-8.19803311e-01 -5.43830578e-01 -1.79362299e-01 8.66322665e+01] [-2.15593950e-01 2.94425593e-03 9.76478663e-01 -9.73400351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:86.62, Z:-9.74 [[-5.29581392e-01 8.39763572e-01 -1.19752629e-01 1.15843010e+02] [-8.20411931e-01 -5.42942170e-01 -1.79270923e-01 8.66245007e+01] [-2.15563943e-01 3.30794099e-03 9.76484124e-01 -9.73648983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:86.62, Z:-9.74 [[-5.27730198e-01 8.40959122e-01 -1.19534903e-01 1.15843105e+02] [-8.21759092e-01 -5.41084493e-01 -1.78716438e-01 8.66240009e+01] [-2.14971701e-01 3.91483242e-03 9.76612432e-01 -9.73713290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:86.62, Z:-9.74 [[-5.27492931e-01 8.41100536e-01 -1.19587191e-01 1.15840706e+02] [-8.21937409e-01 -5.40863265e-01 -1.78566024e-01 8.66201115e+01] [-2.14872297e-01 4.10087049e-03 9.76633544e-01 -9.73851361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:86.61, Z:-9.74 [[-5.27415432e-01 8.41129942e-01 -1.19722107e-01 1.15836025e+02] [-8.21974010e-01 -5.40816429e-01 -1.78539400e-01 8.66122450e+01] [-2.14922518e-01 4.24402547e-03 9.76621882e-01 -9.74105861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:86.61, Z:-9.74 [[-5.27496209e-01 8.41060743e-01 -1.19852309e-01 1.15837089e+02] [-8.21911128e-01 -5.40923220e-01 -1.78505371e-01 8.66099343e+01] [-2.14964757e-01 4.34703996e-03 9.76612132e-01 -9.74202812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:115.84, Y:86.61, Z:-9.75 [[-5.28390431e-01 8.40553492e-01 -1.19471253e-01 1.15836789e+02] [-8.21563625e-01 -5.41711868e-01 -1.77711739e-01 8.66058780e+01] [-2.14095219e-01 4.25205346e-03 9.76803541e-01 -9.74539594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.83, Y:86.60, Z:-9.75 [[-5.29736135e-01 8.39650279e-01 -1.19862572e-01 1.15834885e+02] [-8.20561580e-01 -5.43112507e-01 -1.78065997e-01 8.65995325e+01] [-2.14612026e-01 4.02662860e-03 9.76691079e-01 -9.74686174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:86.59, Z:-9.75 [[-5.31765348e-01 8.38216464e-01 -1.20908122e-01 1.15832745e+02] [-8.18799261e-01 -5.45325800e-01 -1.79408868e-01 8.65946206e+01] [-2.16317786e-01 3.59606172e-03 9.76316385e-01 -9.74673440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:86.59, Z:-9.75 [[-5.35816183e-01 8.35587796e-01 -1.21219029e-01 1.15825867e+02] [-8.16048986e-01 -5.49350511e-01 -1.79660980e-01 8.65863658e+01] [-2.16714258e-01 2.65540567e-03 9.76231468e-01 -9.74802096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.82, Y:86.58, Z:-9.75 [[-5.37660854e-01 8.34471984e-01 -1.20736551e-01 1.15823553e+02] [-8.15112576e-01 -5.51045469e-01 -1.78718717e-01 8.65842535e+01] [-2.15667091e-01 2.32382304e-03 9.76464186e-01 -9.75007199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:86.58, Z:-9.75 [[-5.39707704e-01 8.33022431e-01 -1.21610955e-01 1.15817300e+02] [-8.13388642e-01 -5.53236034e-01 -1.79802137e-01 8.65759934e+01] [-2.17058776e-01 1.87637104e-03 9.76156733e-01 -9.75070586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:86.57, Z:-9.75 [[-5.42860794e-01 8.30827644e-01 -1.22587048e-01 1.15814642e+02] [-8.10870143e-01 -5.56528645e-01 -1.81012371e-01 8.65718868e+01] [-2.18613286e-01 1.13765791e-03 9.75810913e-01 -9.75328077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:86.57, Z:-9.76 [[-5.44717832e-01 8.29589942e-01 -1.22731460e-01 1.15811147e+02] [-8.09605623e-01 -5.58372573e-01 -1.80993937e-01 8.65658562e+01] [-2.18680631e-01 7.73454817e-04 9.75796179e-01 -9.75599120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:86.56, Z:-9.76 [[-5.46167775e-01 8.28618247e-01 -1.22851793e-01 1.15806409e+02] [-8.08617344e-01 -5.59813849e-01 -1.80959788e-01 8.65587109e+01] [-2.18720717e-01 5.05685509e-04 9.75787370e-01 -9.75897894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:86.56, Z:-9.76 [[-5.47157645e-01 8.27973128e-01 -1.22796629e-01 1.15805032e+02] [-8.08021660e-01 -5.60767656e-01 -1.80667190e-01 8.65583812e+01] [-2.18447956e-01 3.68901946e-04 9.75848531e-01 -9.75968752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:86.56, Z:-9.76 [[-5.47911954e-01 8.27463379e-01 -1.22869227e-01 1.15799168e+02] [-8.07522664e-01 -5.61519611e-01 -1.80562661e-01 8.65569078e+01] [-2.18402470e-01 2.87245439e-04 9.75858739e-01 -9.76018682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.55, Z:-9.76 [[-5.48596339e-01 8.26992105e-01 -1.22988274e-01 1.15794725e+02] [-8.07052241e-01 -5.62213486e-01 -1.80506721e-01 8.65537972e+01] [-2.18423300e-01 2.32635707e-04 9.75854092e-01 -9.76135130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.177628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.79, Y:86.55, Z:-9.76 [[-5.49710144e-01 8.26293299e-01 -1.22711619e-01 1.15790583e+02] [-8.06478033e-01 -5.63240070e-01 -1.79871638e-01 8.65479274e+01] [-2.17742830e-01 8.69604840e-05 9.76006174e-01 -9.76421924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.54, Z:-9.76 [[-5.52250165e-01 8.24452311e-01 -1.23685660e-01 1.15789460e+02] [-8.04328374e-01 -5.65931213e-01 -1.81046207e-01 8.65405774e+01] [-2.19261540e-01 -4.98911922e-04 9.75665992e-01 -9.76497305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.54, Z:-9.77 [[-5.52550323e-01 8.24289499e-01 -1.23429992e-01 1.15788558e+02] [-8.04292788e-01 -5.66168374e-01 -1.80461859e-01 8.65353891e+01] [-2.18634973e-01 -4.40406112e-04 9.75806617e-01 -9.76635588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.53, Z:-9.77 [[-5.52075284e-01 8.24661787e-01 -1.23068345e-01 1.15789428e+02] [-8.04839356e-01 -5.65626120e-01 -1.79723965e-01 8.65310075e+01] [-2.17822157e-01 -1.70911122e-04 9.75988462e-01 -9.76812395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.53, Z:-9.77 [[-5.48954333e-01 8.26924407e-01 -1.21840734e-01 1.15792684e+02] [-8.07600226e-01 -5.62312482e-01 -1.77726046e-01 8.65270435e+01] [-2.15478571e-01 8.35121037e-04 9.76508212e-01 -9.77029572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:86.52, Z:-9.77 [[-5.47369555e-01 8.27927862e-01 -1.22155745e-01 1.15789657e+02] [-8.08572850e-01 -5.60832977e-01 -1.77978423e-01 8.65222060e+01] [-2.15862265e-01 1.35184877e-03 9.76422887e-01 -9.77154844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.79, Y:86.52, Z:-9.77 [[-5.45616205e-01 8.29070632e-01 -1.22249103e-01 1.15787572e+02] [-8.09768454e-01 -5.59140501e-01 -1.77867790e-01 8.65215055e+01] [-2.15819386e-01 1.94591889e-03 9.76431363e-01 -9.77267185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:86.51, Z:-9.77 [[-5.44082185e-01 8.29537697e-01 -1.25864154e-01 1.15779483e+02] [-8.10395547e-01 -5.58423110e-01 -1.77264455e-01 8.65130788e+01] [-2.17333000e-01 5.55331779e-03 9.76081722e-01 -9.77259211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:86.51, Z:-9.77 [[-5.45023795e-01 8.29757903e-01 -1.20211832e-01 1.15772771e+02] [-8.09736844e-01 -5.58121707e-01 -1.81180581e-01 8.65093071e+01] [-2.17428852e-01 -1.40777795e-03 9.76075157e-01 -9.77203225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:86.50, Z:-9.78 [[-5.45579553e-01 8.28912589e-01 -1.23478221e-01 1.15770144e+02] [-8.09396091e-01 -5.59373102e-01 -1.78828692e-01 8.65007408e+01] [-2.17303750e-01 2.37751183e-03 9.76101136e-01 -9.77673116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.77, Y:86.50, Z:-9.78 [[-5.46396267e-01 8.28512847e-01 -1.22546243e-01 1.15774404e+02] [-8.09328459e-01 -5.59965258e-01 -1.77274802e-01 8.65034438e+01] [-2.15496090e-01 2.31787152e-03 9.76501952e-01 -9.78012034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.507628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.77, Y:86.50, Z:-9.78 [[-5.47716923e-01 8.27670811e-01 -1.22340511e-01 1.15770729e+02] [-8.08580154e-01 -5.61209915e-01 -1.76752838e-01 8.64963666e+01] [-2.14951872e-01 2.11158860e-03 9.76622360e-01 -9.78242065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:115.77, Y:86.49, Z:-9.78 [[-5.49236002e-01 8.26736118e-01 -1.21849107e-01 1.15765309e+02] [-8.07821795e-01 -5.62586840e-01 -1.75840825e-01 8.64872661e+01] [-2.13924665e-01 1.85425272e-03 9.76848402e-01 -9.78475513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:86.49, Z:-9.77 [[-5.51924773e-01 8.26767606e-01 -1.08785891e-01 1.15760755e+02] [-8.07747946e-01 -5.62461936e-01 -1.76578102e-01 8.64911410e+01] [-2.07176978e-01 -9.58624840e-03 9.78256512e-01 -9.77284621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:85.88, Z:-9.67 [[-5.53625049e-01 -1.37477103e-01 -8.21339973e-01 1.16386422e+02] [-7.84392271e-01 -2.45165624e-01 5.69756599e-01 8.58816639e+01] [-2.79692813e-01 9.59684252e-01 2.78938537e-02 -9.67126223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.627628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.41, Y:86.17, Z:-8.99 [[-5.51483173e-01 1.05901440e-01 8.27436520e-01 1.15406372e+02] [-8.03578441e-01 1.98782184e-01 -5.61023470e-01 8.61694830e+01] [-2.23892832e-01 -9.74305152e-01 -2.45249154e-02 -8.99473236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.35, Y:86.08, Z:-9.05 [[-5.57358872e-01 6.75618874e-02 8.27518265e-01 1.15345988e+02] [-8.15227741e-01 1.44339438e-01 -5.60865275e-01 8.60836800e+01] [-1.57336637e-01 -9.87219083e-01 -2.53705413e-02 -9.04895710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:85.99, Z:-9.10 [[-5.62514092e-01 2.76695735e-02 8.26324568e-01 1.15284850e+02] [-8.22181588e-01 8.66299435e-02 -5.62594604e-01 8.59938404e+01] [-8.71512034e-02 -9.95856238e-01 -2.59811501e-02 -9.09768871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:85.90, Z:-9.14 [[-5.62594154e-01 -1.14832093e-02 8.26653466e-01 1.15217290e+02] [-8.26525861e-01 3.02060331e-02 -5.62087712e-01 8.58984529e+01] [-1.85153511e-02 -9.99477729e-01 -2.64849070e-02 -9.13811253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:85.47, Z:-8.94 [[-5.10963439e-01 -8.09016649e-01 2.90531282e-01 1.15690980e+02] [-8.59601633e-01 4.80429233e-01 -1.73990762e-01 8.54681265e+01] [ 1.18170216e-03 -3.38644083e-01 -9.40913805e-01 -8.94131852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:85.74, Z:-10.03 [[-5.12636280e-01 8.58589759e-01 5.26023733e-03 1.15217737e+02] [-8.58544496e-01 -5.12663267e-01 8.81603121e-03 8.57402194e+01] [ 1.02660846e-02 3.26962943e-06 9.99947302e-01 -1.00286123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:85.74, Z:-10.03 [[-5.11897204e-01 8.59026243e-01 5.93015928e-03 1.15213483e+02] [-8.58968865e-01 -5.11931552e-01 9.92849885e-03 8.57372956e+01] [ 1.15646767e-02 -1.14513847e-05 9.99933127e-01 -1.00296962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.21, Y:85.74, Z:-10.03 [[-5.10534659e-01 8.59830895e-01 6.72272286e-03 1.15211762e+02] [-8.59757376e-01 -5.10578918e-01 1.12438233e-02 8.57389768e+01] [ 1.31002672e-02 -3.95490740e-05 9.99914187e-01 -1.00301288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:85.74, Z:-10.03 [[-5.10801944e-01 8.59677400e-01 6.01187333e-03 1.15210241e+02] [-8.59618706e-01 -5.10837319e-01 1.00455503e-02 8.57376839e+01] [ 1.17070218e-02 -3.66321518e-05 9.99931470e-01 -1.00277630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.21, Y:85.73, Z:-10.03 [[-5.11196624e-01 8.59436896e-01 6.79949731e-03 1.15207819e+02] [-8.59361949e-01 -5.11241841e-01 1.13499478e-02 8.57282652e+01] [ 1.32307514e-02 -4.11742654e-05 9.99912469e-01 -1.00300503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.927628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.21, Y:85.73, Z:-10.03 [[-5.11567190e-01 8.59217808e-01 6.61580116e-03 1.15208466e+02] [-8.59146975e-01 -5.11609966e-01 1.10326232e-02 8.57263198e+01] [ 1.28641361e-02 -4.00175267e-05 9.99917253e-01 -1.00291022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:85.73, Z:-10.03 [[-5.10405176e-01 8.59908404e-01 6.64024776e-03 1.15209035e+02] [-8.59837245e-01 -5.10448365e-01 1.10625463e-02 8.57265547e+01] [ 1.29022802e-02 -6.31514178e-05 9.99916760e-01 -1.00294328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:85.74, Z:-10.03 [[-5.06793060e-01 8.61996007e-01 1.11210392e-02 1.15213001e+02] [-8.61935123e-01 -5.06899205e-01 1.10018512e-02 8.57357352e+01] [ 1.51207977e-02 -4.00995241e-03 9.99877633e-01 -1.00258296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.21, Y:85.72, Z:-10.03 [[-5.08828959e-01 8.60862607e-01 2.94326853e-03 1.15206658e+02] [-8.60778987e-01 -5.08822651e-01 1.26113208e-02 8.57218664e+01] [ 1.23542162e-02 3.88350154e-03 9.99916142e-01 -1.00301440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.20, Y:85.72, Z:-10.03 [[-5.08054493e-01 8.61302722e-01 6.18493566e-03 1.15202194e+02] [-8.61241449e-01 -5.08092127e-01 1.02740903e-02 8.57202794e+01] [ 1.19916191e-02 -1.06925209e-04 9.99928092e-01 -1.00282847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.20, Y:85.72, Z:-10.03 [[-5.06132400e-01 8.62428155e-01 6.90443585e-03 1.15202375e+02] [-8.62352056e-01 -5.06179468e-01 1.14576260e-02 8.57217666e+01] [ 1.33762629e-02 -1.54978714e-04 9.99910522e-01 -1.00297623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:85.72, Z:-10.03 [[-5.06642244e-01 8.62125763e-01 7.26674284e-03 1.15200623e+02] [-8.62041617e-01 -5.06694329e-01 1.20460880e-02 8.57190040e+01] [ 1.40672602e-02 -1.61177685e-04 9.99901038e-01 -1.00290864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.20, Y:85.71, Z:-10.03 [[-5.07781747e-01 8.61439966e-01 8.88154809e-03 1.15199029e+02] [-8.61314431e-01 -5.07859382e-01 1.47071111e-02 8.57136668e+01] [ 1.71798708e-02 -1.81802954e-04 9.99852399e-01 -1.00322232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:85.71, Z:-10.03 [[-5.09904112e-01 8.60191177e-01 8.30275223e-03 1.15196857e+02] [-8.60081532e-01 -5.09971685e-01 1.37345862e-02 8.57080529e+01] [ 1.60485384e-02 -1.37721885e-04 9.99871204e-01 -1.00310766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.19, Y:85.70, Z:-10.03 [[-5.11200358e-01 8.59414457e-01 8.99918252e-03 1.15194637e+02] [-8.59285791e-01 -5.11279546e-01 1.48712786e-02 8.57033580e+01] [ 1.73816898e-02 -1.30666700e-04 9.99848919e-01 -1.00320065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.19, Y:85.70, Z:-10.03 [[-5.11988962e-01 8.58946747e-01 8.81974719e-03 1.15193238e+02] [-8.58823332e-01 -5.12064909e-01 1.45606843e-02 8.57005938e+01] [ 1.70231355e-02 -1.19695018e-04 9.99855089e-01 -1.00316950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:85.70, Z:-10.03 [[-5.11597335e-01 8.59195793e-01 7.12428409e-03 1.15191965e+02] [-8.59115439e-01 -5.11646926e-01 1.17510282e-02 8.57009598e+01] [ 1.37415520e-02 -1.08787764e-04 9.99905575e-01 -1.00284534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:115.19, Y:85.70, Z:-10.03 [[-5.10852020e-01 8.59639889e-01 7.03379925e-03 1.15189757e+02] [-8.59561756e-01 -5.10900426e-01 1.15905870e-02 8.56978596e+01] [ 1.35573019e-02 -1.24910064e-04 9.99908088e-01 -1.00288039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:85.70, Z:-10.03 [[-5.11110686e-01 8.59494837e-01 5.87302859e-03 1.15188704e+02] [-8.59440453e-01 -5.11144417e-01 9.66916002e-03 8.56958588e+01] [ 1.13125589e-02 -1.05507334e-04 9.99936005e-01 -1.00271958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:85.69, Z:-10.03 [[-5.11124810e-01 8.59487430e-01 5.72586283e-03 1.15188207e+02] [-8.59435837e-01 -5.11156870e-01 9.41785802e-03 8.56938220e+01] [ 1.10213447e-02 -1.07310821e-04 9.99939257e-01 -1.00275081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.18, Y:85.69, Z:-10.03 [[-5.11146023e-01 8.59471778e-01 6.16494468e-03 1.15184687e+02] [-8.59412102e-01 -5.11183185e-01 1.01286595e-02 8.56876572e+01] [ 1.18567130e-02 -1.21004062e-04 9.99929699e-01 -1.00292598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.18, Y:85.69, Z:-10.03 [[-5.11392115e-01 8.59323102e-01 6.47386128e-03 1.15183232e+02] [-8.59257428e-01 -5.11433074e-01 1.06246543e-02 8.56861103e+01] [ 1.24409577e-02 -1.29348974e-04 9.99922600e-01 -1.00296364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:85.68, Z:-10.03 [[-5.12029253e-01 8.58942785e-01 6.58299295e-03 1.15181190e+02] [-8.58874980e-01 -5.12071553e-01 1.07932440e-02 8.56837954e+01] [ 1.26417425e-02 -1.27511246e-04 9.99920082e-01 -1.00299678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:85.68, Z:-10.03 [[-5.14049384e-01 8.57730611e-01 7.17147462e-03 1.15178013e+02] [-8.57650183e-01 -5.14099394e-01 1.17463525e-02 8.56792799e+01] [ 1.37620569e-02 -1.12411243e-04 9.99905292e-01 -1.00303435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:85.69, Z:-10.03 [[-5.11295709e-01 8.59373270e-01 7.36749905e-03 1.15185670e+02] [-8.59296361e-01 -5.11348591e-01 1.15057372e-02 8.56860281e+01] [ 1.36550833e-02 -4.48031038e-04 9.99906665e-01 -1.00314524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:85.67, Z:-10.03 [[-5.17204702e-01 8.55833516e-01 6.94905961e-03 1.15176416e+02] [-8.55747989e-01 -5.17251288e-01 1.21031204e-02 8.56749309e+01] [ 1.39526661e-02 3.13146987e-04 9.99902608e-01 -1.00299368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:85.67, Z:-10.03 [[-5.19016355e-01 8.54733805e-01 7.22120555e-03 1.15174566e+02] [-8.54652427e-01 -5.19066586e-01 1.17944551e-02 8.56706748e+01] [ 1.38294060e-02 -5.01057454e-05 9.99904368e-01 -1.00289747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:85.67, Z:-10.03 [[-5.20460030e-01 8.53860881e-01 6.55382097e-03 1.15175332e+02] [-8.53793898e-01 -5.20501292e-01 1.06951334e-02 8.56661345e+01] [ 1.25434283e-02 -2.92228939e-05 9.99921328e-01 -1.00286064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.617628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.18, Y:85.66, Z:-10.03 [[-5.19901898e-01 8.54198995e-01 6.78922904e-03 1.15175559e+02] [-8.54127267e-01 -5.19946223e-01 1.10696307e-02 8.56629316e+01] [ 1.29857014e-02 -4.37436228e-05 9.99915681e-01 -1.00308141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:85.66, Z:-10.03 [[-5.19581421e-01 8.54398519e-01 6.19007612e-03 1.15174828e+02] [-8.54339036e-01 -5.19618290e-01 1.00819078e-02 8.56594943e+01] [ 1.18304439e-02 -5.00516900e-05 9.99930017e-01 -1.00294844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:85.66, Z:-10.03 [[-5.19055643e-01 8.54718650e-01 6.10480515e-03 1.15171992e+02] [-8.54660944e-01 -5.19091538e-01 9.93202872e-03 8.56550716e+01] [ 1.16580429e-02 -6.22629789e-05 9.99932041e-01 -1.00293385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.707628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.17, Y:85.66, Z:-10.03 [[-5.16202103e-01 8.56446518e-01 5.89499620e-03 1.15168090e+02] [-8.56392925e-01 -5.16235752e-01 9.58158496e-03 8.56558076e+01] [ 1.12493229e-02 -1.02398728e-04 9.99936719e-01 -1.00295375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:85.66, Z:-10.03 [[-5.15381576e-01 8.56943715e-01 5.41308884e-03 1.15166955e+02] [-8.56898637e-01 -5.15409990e-01 8.79018131e-03 8.56572241e+01] [ 1.03226507e-02 -1.08170957e-04 9.99946714e-01 -1.00277616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:85.65, Z:-10.03 [[-5.14503734e-01 8.57471642e-01 5.31893068e-03 1.15164267e+02] [-8.57428231e-01 -5.14531212e-01 8.62905383e-03 8.56537788e+01] [ 1.01359248e-02 -1.20920910e-04 9.99948623e-01 -1.00280625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79762800000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.16, Y:85.65, Z:-10.03 [[-5.14046583e-01 8.57744060e-01 5.58900987e-03 1.15164290e+02] [-8.57696240e-01 -5.14076948e-01 9.05829277e-03 8.56535793e+01] [ 1.06428780e-02 -1.37288295e-04 9.99943354e-01 -1.00313645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.827628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.16, Y:85.65, Z:-10.03 [[-5.15212433e-01 8.57042983e-01 5.78573209e-03 1.15161923e+02] [-8.56991793e-01 -5.15244901e-01 9.36798820e-03 8.56503927e+01] [ 1.10098375e-02 -1.31820927e-04 9.99939381e-01 -1.00315235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:85.65, Z:-10.03 [[-5.17707419e-01 8.55538210e-01 5.77925044e-03 1.15158699e+02] [-8.55487138e-01 -5.17739665e-01 9.34852979e-03 8.56463857e+01] [ 1.09901716e-02 -1.04271191e-04 9.99939601e-01 -1.00286140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:85.64, Z:-10.03 [[-5.20192961e-01 8.54027342e-01 6.04827897e-03 1.15155732e+02] [-8.53971413e-01 -5.20228115e-01 9.77412616e-03 8.56407747e+01] [ 1.14938558e-02 -8.06257119e-05 9.99933940e-01 -1.00282054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.15, Y:85.63, Z:-10.03 [[-5.23548525e-01 8.51981410e-01 4.96175900e-03 1.15153858e+02] [-8.51906527e-01 -5.23569084e-01 1.14317110e-02 8.56321358e+01] [ 1.23374289e-02 1.75810055e-03 9.99922345e-01 -1.00305338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:85.63, Z:-10.03 [[-5.21843319e-01 8.53014470e-01 6.77236069e-03 1.15152188e+02] [-8.52975734e-01 -5.21885203e-01 8.26031983e-03 8.56281981e+01] [ 1.05805672e-02 -1.46606661e-03 9.99942950e-01 -1.00285375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:85.63, Z:-10.03 [[-5.24932561e-01 8.51123057e-01 5.94547329e-03 1.15150265e+02] [-8.51076830e-01 -5.24966078e-01 8.87958391e-03 8.56275119e+01] [ 1.06787904e-02 -3.98871835e-04 9.99942901e-01 -1.00270582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:85.63, Z:-10.03 [[-5.22991319e-01 8.52322226e-01 5.18689946e-03 1.15151019e+02] [-8.52281313e-01 -5.23017036e-01 8.35128224e-03 8.56251895e+01] [ 9.83082026e-03 -5.30493701e-05 9.99951675e-01 -1.00273448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:85.62, Z:-10.03 [[-5.21687241e-01 8.53122112e-01 5.00856360e-03 1.15149139e+02] [-8.53084077e-01 -5.21711278e-01 8.05608724e-03 8.56225523e+01] [ 9.48585028e-03 -6.99679256e-05 9.99955006e-01 -1.00275030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.62, Z:-10.03 [[-5.18131966e-01 8.55286107e-01 4.99407045e-03 1.15144614e+02] [-8.55248465e-01 -5.18156021e-01 8.02508723e-03 8.56208013e+01] [ 9.45145329e-03 -1.13116862e-04 9.99955328e-01 -1.00261647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.62, Z:-10.03 [[-5.16859837e-01 8.56059331e-01 4.28144244e-03 1.15140831e+02] [-8.56019350e-01 -5.16877194e-01 8.29694611e-03 8.56164002e+01] [ 9.31565809e-03 6.23360637e-04 9.99956414e-01 -1.00265099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.61, Z:-10.03 [[-5.15815004e-01 8.56695643e-01 2.73084969e-03 1.15138835e+02] [-8.56651755e-01 -5.15817166e-01 8.96780787e-03 8.56123482e+01] [ 9.09130107e-03 2.28634267e-03 9.99956059e-01 -1.00271926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.60, Z:-10.03 [[-5.15425869e-01 8.56918090e-01 5.24971938e-03 1.15134839e+02] [-8.56885689e-01 -5.15452202e-01 7.47953843e-03 8.56049319e+01] [ 9.11533121e-03 -6.43261810e-04 9.99958248e-01 -1.00266996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.61, Z:-10.03 [[-5.16480559e-01 8.56271390e-01 6.86578784e-03 1.15141947e+02] [-8.56256055e-01 -5.16518328e-01 5.86397889e-03 8.56145025e+01] [ 8.56746261e-03 -2.85024131e-03 9.99959237e-01 -1.00262858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.61, Z:-10.03 [[-5.17544403e-01 8.55644478e-01 4.50760157e-03 1.15142355e+02] [-8.55614142e-01 -5.17564017e-01 7.20617270e-03 8.56083710e+01] [ 8.49889425e-03 -1.27253303e-04 9.99963876e-01 -1.00276254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.60, Z:-10.03 [[-5.18490874e-01 8.55071328e-01 4.49861038e-03 1.15142168e+02] [-8.55041151e-01 -5.18510375e-01 7.18477148e-03 8.56039452e+01] [ 8.47606824e-03 -1.21258558e-04 9.99964070e-01 -1.00278196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.14, Y:85.60, Z:-10.03 [[-5.19173944e-01 8.54654578e-01 4.89585007e-03 1.15141599e+02] [-8.54618885e-01 -5.19197011e-01 7.81189971e-03 8.55999175e+01] [ 9.21838657e-03 -1.28351145e-04 9.99957502e-01 -1.00292616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:85.60, Z:-10.03 [[-5.20159844e-01 8.54058345e-01 4.25213803e-03 1.15139141e+02] [-8.54031448e-01 -5.20177213e-01 6.77888122e-03 8.55988714e+01] [ 8.00142538e-03 -1.05357796e-04 9.99967983e-01 -1.00262251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:115.14, Y:85.60, Z:-10.03 [[-5.20502186e-01 8.53848507e-01 4.49458818e-03 1.15136198e+02] [-8.53818505e-01 -5.20521579e-01 7.15863051e-03 8.55965395e+01] [ 8.45191611e-03 -1.11479734e-04 9.99964276e-01 -1.00267220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.59, Z:-10.03 [[-5.21416756e-01 8.53289271e-01 4.68891725e-03 1.15134366e+02] [-8.53256653e-01 -5.21437827e-01 7.46165866e-03 8.55926960e+01] [ 8.81193210e-03 -1.10215988e-04 9.99961168e-01 -1.00257402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.59, Z:-10.03 [[-5.21870045e-01 8.53016681e-01 3.76805321e-03 1.15133157e+02] [-8.52961097e-01 -5.21879926e-01 9.93531439e-03 8.55868445e+01] [ 1.04414602e-02 1.97094016e-03 9.99943544e-01 -1.00277133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.59, Z:-10.03 [[-5.22953598e-01 8.52325931e-01 7.74860904e-03 1.15131889e+02] [-8.52288103e-01 -5.23006188e-01 8.33765990e-03 8.55869046e+01] [ 1.11589742e-02 -2.24383806e-03 9.99935219e-01 -1.00269963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.13, Y:85.58, Z:-10.03 [[-5.23877069e-01 8.51768496e-01 6.57617016e-03 1.15131291e+02] [-8.51704590e-01 -5.23918325e-01 1.04345242e-02 8.55826839e+01] [ 1.23331750e-02 -1.34546355e-04 9.99923934e-01 -1.00294172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.58, Z:-10.03 [[-5.25831608e-01 8.50571352e-01 5.43098384e-03 1.15130296e+02] [-8.50527774e-01 -5.25859646e-01 8.61035674e-03 8.55799925e+01] [ 1.01796580e-02 -9.16048722e-05 9.99948182e-01 -1.00275911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.58, Z:-10.03 [[-5.26156676e-01 8.50370283e-01 5.43448547e-03 1.15129087e+02] [-8.50326718e-01 -5.26184733e-01 8.60814658e-03 8.55779390e+01] [ 1.01796553e-02 -9.18544005e-05 9.99948182e-01 -1.00275778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:85.58, Z:-10.03 [[-5.27233838e-01 8.49708104e-01 4.54065911e-03 1.15127008e+02] [-8.49677718e-01 -5.27253386e-01 7.18628452e-03 8.55754563e+01] [ 8.50032208e-03 -6.92445019e-05 9.99963869e-01 -1.00272848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:85.57, Z:-10.03 [[-5.28646846e-01 8.48832528e-01 3.98157105e-03 1.15124213e+02] [-8.48809181e-01 -5.28661837e-01 6.29574543e-03 8.55727408e+01] [ 7.44893816e-03 -5.13681021e-05 9.99972255e-01 -1.00258827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:85.57, Z:-10.03 [[-5.30308564e-01 8.47797965e-01 3.38188421e-03 1.15121038e+02] [-8.47781126e-01 -5.30319347e-01 5.34355144e-03 8.55694939e+01] [ 6.32373067e-03 -3.33665104e-05 9.99980004e-01 -1.00250072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:85.57, Z:-10.02 [[-5.33374114e-01 8.45873917e-01 3.06127415e-03 1.15118072e+02] [-8.45860109e-01 -5.33382899e-01 4.83314843e-03 8.55656229e+01] [ 5.72106547e-03 -1.15334224e-05 9.99983635e-01 -1.00245431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:85.56, Z:-10.02 [[-5.34681691e-01 8.45048501e-01 2.91899794e-03 1.15115279e+02] [-8.45035960e-01 -5.34689659e-01 4.60389064e-03 8.55619201e+01] [ 5.45126890e-03 -5.04218934e-06 9.99985142e-01 -1.00247412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:85.56, Z:-10.03 [[-5.36188708e-01 8.44093031e-01 2.93695566e-03 1.15110741e+02] [-8.44080342e-01 -5.36196751e-01 4.62824509e-03 8.55601981e+01] [ 5.48145551e-03 2.58621023e-06 9.99984977e-01 -1.00256842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:85.56, Z:-10.03 [[-5.36987421e-01 8.43583582e-01 3.35405107e-03 1.15108098e+02] [-8.43567059e-01 -5.36997896e-01 5.27989469e-03 8.55581043e+01] [ 6.25515084e-03 5.87004086e-06 9.99980436e-01 -1.00260879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:85.55, Z:-10.03 [[-5.38429946e-01 8.42663126e-01 3.47117306e-03 1.15106061e+02] [-8.42645444e-01 -5.38441134e-01 5.45902144e-03 8.55547222e+01] [ 6.46913843e-03 1.43324562e-05 9.99979075e-01 -1.00266474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:85.55, Z:-10.03 [[-5.40225842e-01 8.41513569e-01 3.30954664e-03 1.15104634e+02] [-8.41497500e-01 -5.40235979e-01 5.20043185e-03 8.55505061e+01] [ 6.16417013e-03 2.44324565e-05 9.99981001e-01 -1.00272972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:85.55, Z:-10.03 [[-5.41585401e-01 8.40639699e-01 3.18596650e-03 1.15102236e+02] [-8.40624823e-01 -5.41594771e-01 5.00110340e-03 8.55455521e+01] [ 5.92962885e-03 3.03220667e-05 9.99982419e-01 -1.00277047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.53, Z:-10.03 [[-5.43594193e-01 8.39341885e-01 3.24857361e-03 1.15090743e+02] [-8.39326434e-01 -5.43603898e-01 5.09314000e-03 8.55254721e+01] [ 6.04082301e-03 4.19876298e-05 9.99981753e-01 -1.00276583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.53, Z:-10.03 [[-5.43929293e-01 8.39120622e-01 4.18410422e-03 1.15094988e+02] [-8.39095099e-01 -5.43945383e-01 6.54482450e-03 8.55300125e+01] [ 7.76782137e-03 4.90604181e-05 9.99969829e-01 -1.00276055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:85.53, Z:-10.03 [[-5.43879074e-01 8.39150925e-01 4.61277546e-03 1.15096834e+02] [-8.39119980e-01 -5.43898633e-01 7.20669341e-03 8.55303507e+01] [ 8.55638570e-03 4.88976848e-05 9.99963392e-01 -1.00282814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.52, Z:-10.03 [[-5.43320209e-01 8.39511636e-01 4.83356810e-03 1.15094771e+02] [-8.39477740e-01 -5.43341708e-01 7.54405242e-03 8.55249768e+01] [ 8.95959894e-03 4.11633181e-05 9.99959861e-01 -1.00293360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:85.53, Z:-10.03 [[-5.41786314e-01 8.40500276e-01 5.18425580e-03 1.15095265e+02] [-8.40461411e-01 -5.41811116e-01 8.08273878e-03 8.55258690e+01] [ 9.60243160e-03 2.19503015e-05 9.99953895e-01 -1.00304846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.52, Z:-10.03 [[-5.41447802e-01 8.40716772e-01 5.43939378e-03 1.15093632e+02] [-8.40674073e-01 -5.41475123e-01 8.47317337e-03 8.55247361e+01] [ 1.00688354e-02 1.50237773e-05 9.99949308e-01 -1.00303437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.52, Z:-10.03 [[-5.40923841e-01 8.41049123e-01 6.14584657e-03 1.15091591e+02] [-8.40994730e-01 -5.40958753e-01 9.56508047e-03 8.55231108e+01] [ 1.13693520e-02 5.35548583e-06 9.99935367e-01 -1.00309312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.057628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.09, Y:85.52, Z:-10.03 [[-5.41329546e-01 8.40786443e-01 6.36243115e-03 1.15088677e+02] [-8.40728244e-01 -5.41366935e-01 9.89250188e-03 8.55169072e+01] [ 1.17618913e-02 6.02798830e-06 9.99930827e-01 -1.00328178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.52, Z:-10.03 [[-5.42007080e-01 8.40349495e-01 6.40711800e-03 1.15089946e+02] [-8.40290557e-01 -5.42044948e-01 9.95259724e-03 8.55166654e+01] [ 1.18366060e-02 1.05374128e-05 9.99929945e-01 -1.00318669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.51, Z:-10.03 [[-5.42573282e-01 8.39983811e-01 6.43669390e-03 1.15088938e+02] [-8.39924409e-01 -5.42611461e-01 9.98950358e-03 8.55122851e+01] [ 1.18836452e-02 1.37014292e-05 9.99929387e-01 -1.00325537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.51, Z:-10.03 [[-5.43661235e-01 8.39280427e-01 6.38955016e-03 1.15090634e+02] [-8.39221947e-01 -5.43698780e-01 9.90754577e-03 8.55088821e+01] [ 1.17891999e-02 2.40978383e-05 9.99930505e-01 -1.00330250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.50, Z:-10.03 [[-5.44225834e-01 8.38917950e-01 5.90892792e-03 1.15089433e+02] [-8.38867997e-01 -5.44257910e-01 9.15485346e-03 8.55039773e+01] [ 1.08961517e-02 2.54972268e-05 9.99940635e-01 -1.00328176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.50, Z:-10.03 [[-5.45178220e-01 8.38302261e-01 5.47972989e-03 1.15089662e+02] [-8.38259344e-01 -5.45205757e-01 8.48256989e-03 8.55015701e+01] [ 1.00985378e-02 3.10775653e-05 9.99949008e-01 -1.00323472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.50, Z:-10.03 [[-5.45755495e-01 8.37926081e-01 5.55183292e-03 1.15088811e+02] [-8.37882087e-01 -5.45783732e-01 8.58642094e-03 8.54976898e+01] [ 1.02248861e-02 3.43050625e-05 9.99947724e-01 -1.00323269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.49, Z:-10.03 [[-5.45883836e-01 8.37839360e-01 6.00378038e-03 1.15087320e+02] [-8.37787996e-01 -5.45916849e-01 9.27726270e-03 8.54916907e+01] [ 1.10504207e-02 3.44126162e-05 9.99938942e-01 -1.00339596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:85.49, Z:-10.03 [[-5.46177370e-01 8.37645991e-01 6.28290885e-03 1.15085918e+02] [-8.37589837e-01 -5.46213505e-01 9.69908254e-03 8.54901516e+01] [ 1.15562073e-02 3.49187923e-05 9.99933224e-01 -1.00346597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:85.49, Z:-10.04 [[-5.46776506e-01 8.37255567e-01 6.21034532e-03 1.15082799e+02] [-8.37200780e-01 -5.46811772e-01 9.57809237e-03 8.54923547e+01] [ 1.14152011e-02 3.77699326e-05 9.99934844e-01 -1.00354986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:85.49, Z:-10.04 [[-5.47282112e-01 8.36924665e-01 6.27654268e-03 1.15079564e+02] [-8.36868776e-01 -5.47318101e-01 9.67199569e-03 8.54909714e+01] [ 1.15299972e-02 4.06676429e-05 9.99933527e-01 -1.00362608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:85.49, Z:-10.04 [[-5.48323407e-01 8.36243757e-01 6.14975833e-03 1.15074051e+02] [-8.36190156e-01 -5.48357891e-01 9.46818508e-03 8.54851043e+01] [ 1.12899792e-02 4.92601273e-05 9.99936265e-01 -1.00364504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:85.48, Z:-10.04 [[-5.51479127e-01 8.34175438e-01 4.70222310e-03 1.15071510e+02] [-8.34144087e-01 -5.51499169e-01 7.23243042e-03 8.54811229e+01] [ 8.62638795e-03 6.62028135e-05 9.99962790e-01 -1.00357518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.447628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:115.07, Y:85.48, Z:-10.04 [[-5.52641232e-01 8.33407244e-01 4.47607528e-03 1.15071403e+02] [-8.33378875e-01 -5.52659354e-01 6.87668915e-03 8.54781109e+01] [ 8.20482742e-03 7.00753812e-05 9.99966337e-01 -1.00378629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:85.48, Z:-10.04 [[-5.54425262e-01 8.32221639e-01 4.44676692e-03 1.15071417e+02] [-8.32193649e-01 -5.54443088e-01 6.82592969e-03 8.54754387e+01] [ 8.14616557e-03 8.38966649e-05 9.99966816e-01 -1.00353505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:85.47, Z:-10.04 [[-5.56062339e-01 8.31127272e-01 4.70458075e-03 1.15069949e+02] [-8.31095958e-01 -5.56082230e-01 7.21538167e-03 8.54693789e+01] [ 8.61303424e-03 1.02243960e-04 9.99962902e-01 -1.00355591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:115.07, Y:85.47, Z:-10.04 [[-5.56187180e-01 8.31037448e-01 5.70800937e-03 1.15068846e+02] [-8.30991436e-01 -5.56216456e-01 8.74570364e-03 8.54670915e+01] [ 1.04428960e-02 1.20941338e-04 9.99945464e-01 -1.00382337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:85.46, Z:-10.04 [[-5.56388706e-01 8.30898366e-01 6.28592424e-03 1.15065794e+02] [-8.30842666e-01 -5.56424198e-01 9.62161705e-03 8.54629370e+01] [ 1.14922262e-02 1.30745004e-04 9.99933954e-01 -1.00361488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.54775985e-01 8.31974310e-01 6.50795639e-03 1.15064277e+02] [-8.31914801e-01 -5.54814145e-01 9.95127915e-03 8.54637392e+01] [ 1.18899149e-02 1.06665445e-04 9.99929307e-01 -1.00375560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.627628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.53602250e-01 8.32756555e-01 6.40852924e-03 1.15063049e+02] [-8.32699009e-01 -5.53639335e-01 9.79013337e-03 8.54645546e+01] [ 1.17008116e-02 8.34639107e-05 9.99931540e-01 -1.00408359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.52920790e-01 8.33210518e-01 6.23155308e-03 1.15061094e+02] [-8.33156226e-01 -5.52955900e-01 9.51187750e-03 8.54642488e+01] [ 1.13711704e-02 6.74575789e-05 9.99935344e-01 -1.00395304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.52323168e-01 8.33608751e-01 5.96387554e-03 1.15056648e+02] [-8.33559133e-01 -5.52355363e-01 9.09531679e-03 8.54582042e+01] [ 1.08761143e-02 5.23112594e-05 9.99940852e-01 -1.00372440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.50585227e-01 8.34765920e-01 4.66542277e-03 1.15060400e+02] [-8.34735647e-01 -5.50604993e-01 7.10927712e-03 8.54604167e+01] [ 8.50338733e-03 1.98682711e-05 9.99963845e-01 -1.00372549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.46, Z:-10.04 [[-5.50083515e-01 8.35099831e-01 4.04952160e-03 1.15060580e+02] [-8.35077071e-01 -5.50098420e-01 6.16548770e-03 8.54570860e+01] [ 7.37643318e-03 9.87050729e-06 9.99972794e-01 -1.00369153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.45, Z:-10.04 [[-5.49559722e-01 8.35446823e-01 3.56630765e-03 1.15059055e+02] [-8.35429207e-01 -5.49571294e-01 5.42528015e-03 8.54503674e+01] [ 6.49247337e-03 2.11787792e-06 9.99978924e-01 -1.00367915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.45, Z:-10.04 [[-5.49542641e-01 8.35460365e-01 2.97725448e-03 1.15060272e+02] [-8.35448106e-01 -5.49550706e-01 4.52594939e-03 8.54501419e+01] [ 5.41740363e-03 -1.39436405e-07 9.99985326e-01 -1.00368648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:85.45, Z:-10.03 [[-5.48519556e-01 8.36136145e-01 1.62615842e-03 1.15055011e+02] [-8.36132492e-01 -5.48521967e-01 2.47148600e-03 8.54474300e+01] [ 2.95848239e-03 -4.02548694e-06 9.99995624e-01 -1.00344671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:85.45, Z:-10.03 [[-5.48348428e-01 8.36248822e-01 1.38194549e-03 1.15051786e+02] [-8.36246190e-01 -5.48350169e-01 2.09793321e-03 8.54480032e+01] [ 2.51218422e-03 -5.24826941e-06 9.99996844e-01 -1.00336357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:85.13, Z:-10.03 [[-5.47612658e-01 8.36731073e-01 1.21994618e-03 1.14837187e+02] [-8.36726806e-01 -5.47613820e-01 2.71205315e-03 8.51281119e+01] [ 2.93731853e-03 4.64392964e-04 9.99995578e-01 -1.00320346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.927628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.80, Y:85.06, Z:-10.03 [[-5.50447700e-01 8.34861916e-01 -3.59311318e-03 1.14795751e+02] [-8.34866401e-01 -5.50428458e-01 5.15795125e-03 8.50638704e+01] [ 2.32842531e-03 5.83895187e-03 9.99980242e-01 -1.00340518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:85.18, Z:-9.28 [[-5.62802461e-01 1.01421616e-01 8.20345687e-01 1.14640202e+02] [-8.23319110e-01 -1.57002926e-01 -5.45431686e-01 8.51823409e+01] [ 7.34781100e-02 -9.82376576e-01 1.71863988e-01 -9.28073812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:84.83, Z:-8.96 [[-5.01953856e-01 -8.24790763e-01 2.60312359e-01 1.15232170e+02] [-8.58922254e-01 4.40065312e-01 -2.61906631e-01 8.48265765e+01] [ 1.01463731e-01 -3.55053122e-01 -9.29323621e-01 -8.95917451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:84.68, Z:-9.73 [[-4.87220800e-01 -2.53896338e-01 -8.35555230e-01 1.15640126e+02] [-8.72941312e-01 1.68198047e-01 4.57911436e-01 8.46809132e+01] [ 2.42767213e-02 9.52494654e-01 -3.03586190e-01 -9.72698913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.80, Y:85.15, Z:-10.04 [[-4.99544568e-01 8.65792175e-01 2.93109804e-02 1.14803556e+02] [-8.65344740e-01 -5.00293490e-01 2.97473612e-02 8.51472156e+01] [ 4.04191253e-02 -1.05039700e-02 9.99127600e-01 -1.00390451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:84.60, Z:-9.64 [[-4.64489664e-01 -3.61055568e-01 -8.08633557e-01 1.15595009e+02] [-8.84642348e-01 1.47199633e-01 4.42425344e-01 8.45951006e+01] [-4.07095707e-02 9.20853487e-01 -3.87777753e-01 -9.64072517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:85.05, Z:-10.02 [[-4.76651606e-01 8.78998953e-01 -1.28096355e-02 1.14746982e+02] [-8.78664064e-01 -4.76823599e-01 -2.42635312e-02 8.50506531e+01] [-2.74355551e-02 -3.09884712e-04 9.99623526e-01 -1.00162375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:85.05, Z:-10.02 [[-4.77346164e-01 8.78625999e-01 -1.25297326e-02 1.14745542e+02] [-8.78306031e-01 -4.77510477e-01 -2.37120384e-02 8.50469720e+01] [-2.68170920e-02 -3.13910880e-04 9.99640308e-01 -1.00166309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:85.05, Z:-10.01 [[-4.80139822e-01 8.77189378e-01 2.13218316e-03 1.14738229e+02] [-8.76997076e-01 -4.79980492e-01 -2.22453379e-02 8.50497634e+01] [-1.84899678e-02 -1.25507910e-02 9.99750268e-01 -1.00082061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:84.51, Z:-9.66 [[-4.53865268e-01 -3.34982142e-01 -8.25707747e-01 1.15519189e+02] [-8.83948882e-01 5.23392729e-02 4.64644998e-01 8.45077523e+01] [-1.12430833e-01 9.40769667e-01 -3.19862068e-01 -9.66303111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:84.63, Z:-8.90 [[-3.83859414e-01 -7.09014060e-01 5.91566576e-01 1.14861927e+02] [-9.21918356e-01 3.30445132e-01 -2.02169629e-01 8.46340878e+01] [-5.21391863e-02 -6.22980800e-01 -7.80497551e-01 -8.89987817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:84.82, Z:-10.02 [[-4.11263300e-01 9.11461398e-01 -1.00308329e-02 1.14587367e+02] [-9.10617926e-01 -4.11321493e-01 -3.98700554e-02 8.48241772e+01] [-4.04659136e-02 -7.26283433e-03 9.99154523e-01 -1.00174266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:84.35, Z:-9.80 [[-3.98984420e-01 -1.42705497e-01 -9.05785059e-01 1.15362044e+02] [-9.07736067e-01 -7.82723439e-02 4.12175536e-01 8.43544766e+01] [-1.29717634e-01 9.86665385e-01 -9.83094806e-02 -9.79634132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:84.26, Z:-8.97 [[-3.17996619e-01 -9.37500200e-01 1.41320645e-01 1.15032908e+02] [-9.41062844e-01 3.30229831e-01 7.31367350e-02 8.42597511e+01] [-1.15233996e-01 -1.09734373e-01 -9.87258575e-01 -8.97143913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:84.58, Z:-10.02 [[-3.38211724e-01 9.40407416e-01 -3.53089557e-02 1.14451628e+02] [-9.34993027e-01 -3.40048158e-01 -1.00773462e-01 8.45811695e+01] [-1.06774856e-01 -1.06913891e-03 9.94282649e-01 -1.00206521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:84.57, Z:-10.02 [[-3.38972525e-01 9.40129174e-01 -3.54226424e-02 1.14450806e+02] [-9.34696372e-01 -3.40816549e-01 -1.00929542e-01 8.45739744e+01] [-1.06959429e-01 -1.10292631e-03 9.94262774e-01 -1.00217238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:84.57, Z:-10.02 [[-3.38999851e-01 9.40028408e-01 -3.77583596e-02 1.14451056e+02] [-9.34639649e-01 -3.41093999e-01 -1.00516717e-01 8.45664488e+01] [-1.07367719e-01 1.21530799e-03 9.94218636e-01 -1.00236183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:84.37, Z:-9.06 [[-3.05075010e-01 -3.05240917e-01 9.02084930e-01 1.14358084e+02] [-9.51421671e-01 1.39013504e-01 -2.74721768e-01 8.43691894e+01] [-4.15456629e-02 -9.42073897e-01 -3.32822370e-01 -9.05660442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:84.38, Z:-10.07 [[-3.22000725e-01 9.46637812e-01 -1.38703316e-02 1.14375645e+02] [-9.45686465e-01 -3.22298859e-01 -4.24329569e-02 8.43813953e+01] [-4.46390335e-02 -5.46458005e-04 9.99003032e-01 -1.00694308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:84.37, Z:-10.07 [[-3.21605447e-01 9.46766797e-01 -1.42326683e-02 1.14372431e+02] [-9.45792418e-01 -3.21920037e-01 -4.29440694e-02 8.43748913e+01] [-4.52398001e-02 -3.49896919e-04 9.98976095e-01 -1.00698351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:84.37, Z:-10.07 [[-3.20549315e-01 9.47059199e-01 -1.80834018e-02 1.14367926e+02] [-9.46118899e-01 -3.21039503e-01 -4.23398844e-02 8.43738492e+01] [-4.59038633e-02 3.53702727e-03 9.98939600e-01 -1.00694318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:84.33, Z:-10.07 [[-3.27369523e-01 9.44770594e-01 -1.54181847e-02 1.14350643e+02] [-9.43756840e-01 -3.27732320e-01 -4.37556008e-02 8.43294110e+01] [-4.63920424e-02 2.26767128e-04 9.98923284e-01 -1.00701439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:84.25, Z:-9.33 [[-3.32351969e-01 1.56902554e-01 9.30012772e-01 1.14114094e+02] [-9.42694944e-01 -8.60723332e-02 -3.22362833e-01 8.42525743e+01] [ 2.94688173e-02 -9.83856261e-01 1.76517554e-01 -9.33391553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:84.15, Z:-9.36 [[-3.41017033e-01 1.33514251e-01 9.30527446e-01 1.14083061e+02] [-9.34945306e-01 -1.51258748e-01 -3.20933119e-01 8.41531530e+01] [ 9.79012716e-02 -9.79435928e-01 1.76410331e-01 -9.36322372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:83.63, Z:-9.84 [[-3.37149637e-01 -1.64385919e-01 -9.26988345e-01 1.15092508e+02] [-9.41436260e-01 6.43918984e-02 3.30985576e-01 8.36294000e+01] [ 5.28117125e-03 9.84292108e-01 -1.76468570e-01 -9.84412548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.677628 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:114.60, Y:82.81, Z:-9.06 [[-2.44475918e-01 -9.69462643e-01 -1.93315763e-02 1.14602275e+02] [-9.69590774e-01 2.44641154e-01 -6.66608440e-03 8.28074738e+01] [ 1.11918189e-02 1.71140209e-02 -9.99790905e-01 -9.05765538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:83.62, Z:-9.85 [[-2.61104212e-01 -6.93670414e-02 -9.62815042e-01 1.14990794e+02] [-9.63088414e-01 -4.89196135e-02 2.64702813e-01 8.36171673e+01] [-6.54621907e-02 9.96391030e-01 -5.40334768e-02 -9.85299118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:83.85, Z:-10.04 [[-2.68996419e-01 9.63077755e-01 -1.10528220e-02 1.14135607e+02] [-9.62163048e-01 -2.69222601e-01 -4.19697622e-02 8.38467255e+01] [-4.33958138e-02 -6.55098839e-04 9.99057743e-01 -1.00430444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:83.84, Z:-10.04 [[-2.70267863e-01 9.62720586e-01 -1.11514714e-02 1.14133431e+02] [-9.61791911e-01 -2.70496914e-01 -4.22816793e-02 8.38415663e+01] [-4.37218817e-02 -7.01984095e-04 9.99043495e-01 -1.00427181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:83.84, Z:-10.04 [[-2.71734438e-01 9.62308927e-01 -1.10419419e-02 1.14132318e+02] [-9.61402020e-01 -2.71957694e-01 -4.17752057e-02 8.38398084e+01] [-4.32035945e-02 -7.36016788e-04 9.99066018e-01 -1.00418826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:83.86, Z:-10.03 [[-2.67736555e-01 9.63492026e-01 -5.02894353e-04 1.14139456e+02] [-9.62915980e-01 -2.67594458e-01 -3.44386537e-02 8.38631703e+01] [-3.33159400e-02 -8.73624150e-03 9.99406687e-01 -1.00345032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:83.83, Z:-10.05 [[-2.76863262e-01 9.60725087e-01 -1.88160008e-02 1.14135485e+02] [-9.59951593e-01 -2.77408325e-01 -3.92117281e-02 8.38274615e+01] [-4.28914061e-02 7.20616304e-03 9.99053752e-01 -1.00478831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:83.82, Z:-10.05 [[-2.78087751e-01 9.60495378e-01 -1.07625276e-02 1.14130319e+02] [-9.59643985e-01 -2.78294422e-01 -4.04429987e-02 8.38232586e+01] [-4.18404647e-02 -9.18507641e-04 9.99123882e-01 -1.00460739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:83.82, Z:-10.05 [[-2.79126178e-01 9.60198002e-01 -1.04102609e-02 1.14128776e+02] [-9.59404209e-01 -2.79318755e-01 -3.90460955e-02 8.38187833e+01] [-4.03997640e-02 -9.11139315e-04 9.99183181e-01 -1.00472751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:83.85, Z:-10.03 [[-2.72243114e-01 9.62068233e-01 1.75613806e-02 1.14127599e+02] [-9.62008677e-01 -2.71745492e-01 -2.63380344e-02 8.38465131e+01] [-2.05667602e-02 -2.40645490e-02 9.99498827e-01 -1.00266621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:83.80, Z:-10.06 [[-2.80698091e-01 9.59034890e-01 -3.82186090e-02 1.14140054e+02] [-9.58932536e-01 -2.81911894e-01 -3.12101822e-02 8.37958187e+01] [-4.07059341e-02 2.78884291e-02 9.98781889e-01 -1.00584707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.007628 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:113.88, Y:82.88, Z:-10.10 [[-2.83428152e-01 9.58933553e-01 -1.07202574e-02 1.13880584e+02] [-9.58223987e-01 -2.83630761e-01 -3.68833693e-02 8.28779530e+01] [-3.84092952e-02 -1.81377437e-04 9.99262074e-01 -1.01019164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.71, Z:-9.20 [[-2.36232380e-01 -9.20436058e-02 9.67327368e-01 1.13952933e+02] [-9.70874817e-01 -1.85751828e-02 -2.38866182e-01 8.37073690e+01] [ 3.99543874e-02 -9.95581708e-01 -8.49747593e-02 -9.20215394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:83.35, Z:-9.95 [[-2.78451973e-01 6.27401722e-02 -9.58398753e-01 1.14872561e+02] [-9.57835129e-01 -9.17253067e-02 2.72283555e-01 8.33453100e+01] [-7.08263023e-02 9.93805886e-01 8.56358336e-02 -9.94510122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:83.64, Z:-10.07 [[-2.62944831e-01 9.64784549e-01 7.12677899e-03 1.14086930e+02] [-9.64555410e-01 -2.62698064e-01 -2.49517130e-02 8.36391493e+01] [-2.22008361e-02 -1.34350972e-02 9.99663254e-01 -1.00656654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.56, Z:-10.08 [[-2.82535450e-01 9.59047765e-01 -2.00275622e-02 1.14068957e+02] [-9.58793136e-01 -2.82986420e-01 -2.51874782e-02 8.35645729e+01] [-2.98235229e-02 1.20859337e-02 9.99482110e-01 -1.00813328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.06, Y:83.56, Z:-10.08 [[-2.83993659e-01 9.58797697e-01 -7.38764343e-03 1.14060807e+02] [-9.58404100e-01 -2.84088810e-01 -2.74796025e-02 8.35601463e+01] [-2.84461264e-02 -7.23685110e-04 9.99595065e-01 -1.00783216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.56, Z:-10.08 [[-2.85167867e-01 9.58450023e-01 -7.26914081e-03 1.14062259e+02] [-9.58070150e-01 -2.85259558e-01 -2.69920589e-02 8.35558323e+01] [-2.79441314e-02 -7.32921047e-04 9.99609218e-01 -1.00776370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:114.06, Y:83.55, Z:-10.08 [[-2.85730582e-01 9.58287619e-01 -6.54781005e-03 1.14061419e+02] [-9.57980535e-01 -2.85804833e-01 -2.42671157e-02 8.35482292e+01] [-2.51262723e-02 -6.61182532e-04 9.99684067e-01 -1.00807071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.55, Z:-10.08 [[-2.85485530e-01 9.58360509e-01 -6.56861758e-03 1.14063165e+02] [-9.58052682e-01 -2.85560363e-01 -2.42968604e-02 8.35485769e+01] [-2.51608884e-02 -6.43320391e-04 9.99683208e-01 -1.00787074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.55, Z:-10.08 [[-2.83851165e-01 9.58845534e-01 -6.61496578e-03 1.14064696e+02] [-9.58534691e-01 -2.83927618e-01 -2.44203467e-02 8.35457117e+01] [-2.52935119e-02 -5.91069698e-04 9.99679893e-01 -1.00776219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.54, Z:-10.08 [[-2.82797869e-01 9.59155577e-01 -6.77820369e-03 1.14062600e+02] [-9.58830359e-01 -2.82878523e-01 -2.49816764e-02 8.35386173e+01] [-2.58787225e-02 -5.65617362e-04 9.99664930e-01 -1.00773238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.53, Z:-10.08 [[-2.81395258e-01 9.59567651e-01 -6.82881902e-03 1.14059802e+02] [-9.59239448e-01 -2.81477639e-01 -2.51001992e-02 8.35327954e+01] [-2.60074990e-02 -5.12604438e-04 9.99661616e-01 -1.00764096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.53, Z:-10.08 [[-2.79833516e-01 9.60025540e-01 -6.64574199e-03 1.14057767e+02] [-9.59715838e-01 -2.79912063e-01 -2.43874405e-02 8.35337573e+01] [-2.52727891e-02 -4.46399380e-04 9.99680492e-01 -1.00756293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:114.05, Y:83.52, Z:-10.08 [[-2.79120994e-01 9.60235125e-01 -6.32267201e-03 1.14050427e+02] [-9.59954140e-01 -2.79192287e-01 -2.32317713e-02 8.35214743e+01] [-2.40732041e-02 -4.14999924e-04 9.99710112e-01 -1.00767229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:83.52, Z:-10.07 [[-2.80739383e-01 9.59760834e-01 -6.67380634e-03 1.14050831e+02] [-9.59453036e-01 -2.80818381e-01 -2.43085910e-02 8.35153624e+01] [-2.52045610e-02 -4.21175059e-04 9.99682226e-01 -1.00748307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.56, Z:-10.07 [[-2.63328152e-01 9.64704264e-01 -1.99165360e-03 1.14073879e+02] [-9.64365526e-01 -2.63289438e-01 -2.60346621e-02 8.35620942e+01] [-2.56401309e-02 -4.93497738e-03 9.99659057e-01 -1.00719679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:83.56, Z:-10.07 [[-2.63262861e-01 9.64698941e-01 -6.97272041e-03 1.14077728e+02] [-9.64366301e-01 -2.63355178e-01 -2.53315727e-02 8.35594879e+01] [-2.62736434e-02 5.53943021e-05 9.99654787e-01 -1.00748287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:83.56, Z:-10.07 [[-2.62385983e-01 9.64936883e-01 -7.09985656e-03 1.14076720e+02] [-9.64607074e-01 -2.62481923e-01 -2.52276243e-02 8.35570355e+01] [-2.62066492e-02 2.29196845e-04 9.99656521e-01 -1.00748701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54762800000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.07, Y:83.55, Z:-10.07 [[-2.61041204e-01 9.65307277e-01 -6.27301576e-03 1.14074252e+02] [-9.64963801e-01 -2.61115705e-01 -2.57575518e-02 8.35536496e+01] [-2.65019351e-02 -6.70549194e-04 9.99648537e-01 -1.00732766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.56, Z:-10.07 [[-2.58839690e-01 9.65899808e-01 -6.29096931e-03 1.14072360e+02] [-9.65526498e-01 -2.58914633e-01 -2.68662345e-02 8.35551371e+01] [-2.75789147e-02 -8.79950243e-04 9.99619242e-01 -1.00715653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:114.07, Y:83.55, Z:-10.07 [[-2.56665972e-01 9.66480597e-01 -6.15093517e-03 1.14068613e+02] [-9.66119344e-01 -2.56738281e-01 -2.64361177e-02 8.35489306e+01] [-2.71291754e-02 -8.42714410e-04 9.99631581e-01 -1.00720806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.55, Z:-10.07 [[-2.52633113e-01 9.67534573e-01 -7.30482703e-03 1.14066471e+02] [-9.67103687e-01 -2.52738595e-01 -2.88731883e-02 8.35485603e+01] [-2.97820196e-02 -2.29798295e-04 9.99556391e-01 -1.00677144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.54, Z:-10.07 [[-2.50038011e-01 9.68207966e-01 -7.37070379e-03 1.14065107e+02] [-9.67767818e-01 -2.50146570e-01 -2.91915117e-02 8.35436284e+01] [-3.01072104e-02 -1.65857579e-04 9.99546661e-01 -1.00675761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:83.55, Z:-10.07 [[-2.46277667e-01 9.69142575e-01 -1.04871687e-02 1.14069123e+02] [-9.68616742e-01 -2.46490338e-01 -3.20018910e-02 8.35485310e+01] [-3.35993808e-02 2.27669612e-03 9.99432788e-01 -1.00698596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:114.06, Y:83.54, Z:-10.07 [[-2.44387522e-01 9.69653818e-01 -6.79798357e-03 1.14064304e+02] [-9.69117214e-01 -2.44478590e-01 -3.22807251e-02 8.35412915e+01] [-3.29630897e-02 -1.30096351e-03 9.99455723e-01 -1.00697069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.54, Z:-10.07 [[-2.40702279e-01 9.70540251e-01 -1.06786695e-02 1.14059230e+02] [-9.69809896e-01 -2.40935588e-01 -3.76670688e-02 8.35403195e+01] [-3.91302779e-02 1.28973010e-03 9.99233285e-01 -1.00651756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.54, Z:-10.07 [[-2.38693540e-01 9.71018632e-01 -1.21741582e-02 1.14059290e+02] [-9.70180631e-01 -2.38993948e-01 -4.03910440e-02 8.35414138e+01] [-4.21300064e-02 2.17005115e-03 9.99109780e-01 -1.00655048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:83.54, Z:-10.07 [[-2.37949706e-01 9.71210331e-01 -1.14206181e-02 1.14056321e+02] [-9.70313535e-01 -2.38220850e-01 -4.17429092e-02 8.35352639e+01] [-4.32617740e-02 1.14886736e-03 9.99063111e-01 -1.00654016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:83.53, Z:-10.06 [[-2.38538774e-01 9.71089018e-01 -9.23972559e-03 1.14052379e+02] [-9.70208374e-01 -2.38715956e-01 -4.13570235e-02 8.35303370e+01] [-4.23670212e-02 -9.00794523e-04 9.99101709e-01 -1.00637427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.05, Y:83.53, Z:-10.07 [[-2.36649499e-01 9.71536798e-01 -1.06426089e-02 1.14048500e+02] [-9.70653368e-01 -2.36888102e-01 -4.14254343e-02 8.35269086e+01] [-4.27674412e-02 5.26975926e-04 9.99084915e-01 -1.00650656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:83.52, Z:-10.06 [[-2.37084864e-01 9.71397691e-01 -1.33151377e-02 1.14046404e+02] [-9.70421886e-01 -2.37444424e-01 -4.36062919e-02 8.35229852e+01] [-4.55206565e-02 2.58290923e-03 9.98960058e-01 -1.00635687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:83.49, Z:-10.06 [[-2.51640792e-01 9.67781901e-01 -8.66628121e-03 1.14024185e+02] [-9.66888851e-01 -2.51781272e-01 -4.16189900e-02 8.34875193e+01] [-4.24601126e-02 -2.09370492e-03 9.99095969e-01 -1.00588191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:114.04, Y:83.51, Z:-10.07 [[-2.37787639e-01 9.71197586e-01 -1.52409704e-02 1.14041765e+02] [-9.70139797e-01 -2.38242512e-01 -4.54893368e-02 8.35076245e+01] [-4.78101812e-02 3.96906997e-03 9.98848554e-01 -1.00671724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.997628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.04, Y:83.50, Z:-10.07 [[-2.37858150e-01 9.71221165e-01 -1.23672550e-02 1.14037955e+02] [-9.70113052e-01 -2.38177499e-01 -4.63912209e-02 8.35045563e+01] [-4.80017375e-02 9.63105524e-04 9.98846788e-01 -1.00655822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:83.50, Z:-10.06 [[-2.38624058e-01 9.71007566e-01 -1.42430810e-02 1.14035224e+02] [-9.69856597e-01 -2.39035476e-01 -4.73309865e-02 8.34965973e+01] [-4.93633476e-02 2.51943399e-03 9.98777709e-01 -1.00643787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:83.46, Z:-10.06 [[-2.51914845e-01 9.67722623e-01 -7.19972079e-03 1.14012786e+02] [-9.66757058e-01 -2.51986390e-01 -4.34010492e-02 8.34634095e+01] [-4.38144088e-02 -3.97298771e-03 9.99031788e-01 -1.00578815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:83.48, Z:-10.05 [[-2.41928174e-01 9.70260833e-01 -8.04207818e-03 1.14021088e+02] [-9.69231764e-01 -2.42042732e-01 -4.47783821e-02 8.34809794e+01] [-4.53932369e-02 -3.03851461e-03 9.98964575e-01 -1.00549170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:83.46, Z:-10.06 [[-2.49913650e-01 9.68112809e-01 -1.73423145e-02 1.14011465e+02] [-9.67062142e-01 -2.50455986e-01 -4.54159952e-02 8.34552836e+01] [-4.83112932e-02 5.42101866e-03 9.98817617e-01 -1.00584350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:83.45, Z:-10.06 [[-2.49581544e-01 9.68257639e-01 -1.36454386e-02 1.14008977e+02] [-9.67104734e-01 -2.49950354e-01 -4.72573234e-02 8.34531360e+01] [-4.91679466e-02 1.40201253e-03 9.98789541e-01 -1.00565279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:83.45, Z:-10.06 [[-2.49002756e-01 9.68402838e-01 -1.39129865e-02 1.14008567e+02] [-9.67209296e-01 -2.49386738e-01 -4.80877714e-02 8.34470021e+01] [-5.00380486e-02 1.48278224e-03 9.98746212e-01 -1.00574135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.207628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:114.01, Y:83.44, Z:-10.06 [[-2.48609839e-01 9.68495707e-01 -1.44642417e-02 1.14008444e+02] [-9.67211074e-01 -2.49025199e-01 -4.98917641e-02 8.34433225e+01] [-5.19219200e-02 1.58639131e-03 9.98649887e-01 -1.00604028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.01, Y:83.44, Z:-10.06 [[-2.49371136e-01 9.68298146e-01 -1.45855307e-02 1.14005536e+02] [-9.66996737e-01 -2.49792304e-01 -5.02107150e-02 8.34381772e+01] [-5.22622956e-02 1.58305756e-03 9.98632138e-01 -1.00603830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.00, Y:83.43, Z:-10.06 [[-2.51440664e-01 9.67763661e-01 -1.45289161e-02 1.14002997e+02] [-9.66476955e-01 -2.51855652e-01 -4.99101735e-02 8.34343420e+01] [-5.19604418e-02 1.49241541e-03 9.98648029e-01 -1.00578511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29762800000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.00, Y:83.43, Z:-10.06 [[-2.53697016e-01 9.67172948e-01 -1.46394517e-02 1.14001439e+02] [-9.65870747e-01 -2.54115154e-01 -5.01915199e-02 8.34267683e+01] [-5.22639868e-02 1.40637931e-03 9.98632314e-01 -1.00588650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.327628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.00, Y:83.42, Z:-10.06 [[-2.54299357e-01 9.67014346e-01 -1.46660127e-02 1.13999658e+02] [-9.65712328e-01 -2.54718061e-01 -5.01837580e-02 8.34205530e+01] [-5.22641123e-02 1.40145188e-03 9.98632314e-01 -1.00591939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.00, Y:83.42, Z:-10.06 [[-2.54591122e-01 9.66936624e-01 -1.47284044e-02 1.14000203e+02] [-9.65629438e-01 -2.55012836e-01 -5.02816255e-02 8.34177498e+01] [-5.23750773e-02 1.42092542e-03 9.98626473e-01 -1.00610051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:83.41, Z:-10.06 [[-2.55151493e-01 9.66790185e-01 -1.46442072e-02 1.13999667e+02] [-9.65502684e-01 -2.55567518e-01 -4.98980117e-02 8.34122128e+01] [-5.19834917e-02 1.40746912e-03 9.98646952e-01 -1.00597896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.00, Y:83.41, Z:-10.06 [[-2.53420035e-01 9.67246724e-01 -1.45623377e-02 1.13998816e+02] [-9.65979254e-01 -2.53833559e-01 -4.95237866e-02 8.34075970e+01] [-5.15981303e-02 1.51659638e-03 9.98666778e-01 -1.00645103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:83.41, Z:-10.06 [[-2.49784804e-01 9.68202453e-01 -1.38405831e-02 1.13997195e+02] [-9.67063236e-01 -2.50162528e-01 -4.69830435e-02 8.34083063e+01] [-4.89514932e-02 1.64906875e-03 9.98799796e-01 -1.00641356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:83.41, Z:-10.06 [[-2.47579543e-01 9.68776475e-01 -1.32857803e-02 1.13995463e+02] [-9.67731513e-01 -2.47929852e-01 -4.50167347e-02 8.34050855e+01] [-4.69050951e-02 1.71184571e-03 9.98897884e-01 -1.00645187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.507628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:114.00, Y:83.40, Z:-10.07 [[-2.45632794e-01 9.69271787e-01 -1.32941400e-02 1.13995836e+02] [-9.68230264e-01 -2.45985488e-01 -4.49588187e-02 8.34009815e+01] [-4.68474800e-02 1.82842841e-03 9.98900381e-01 -1.00678507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:83.40, Z:-10.07 [[-2.44445739e-01 9.69576534e-01 -1.29470206e-02 1.13995497e+02] [-9.68592812e-01 -2.44781323e-01 -4.37043234e-02 8.33975431e+01] [-4.55438752e-02 1.85705543e-03 9.98960613e-01 -1.00658767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:83.40, Z:-10.07 [[-2.42317876e-01 9.70112792e-01 -1.27756483e-02 1.13995059e+02] [-9.69159688e-01 -2.42646565e-01 -4.30365324e-02 8.33953131e+01] [-4.48502578e-02 1.95312220e-03 9.98991812e-01 -1.00660883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.39, Z:-10.07 [[-2.39941555e-01 9.70707048e-01 -1.24850819e-02 1.13993460e+02] [-9.69801009e-01 -2.40257538e-01 -4.19799672e-02 8.33913064e+01] [-4.37498851e-02 2.03530641e-03 9.99040442e-01 -1.00662416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.39, Z:-10.07 [[-2.34256588e-01 9.72095396e-01 -1.24254736e-02 1.13993176e+02] [-9.71203264e-01 -2.34574629e-01 -4.17008935e-02 8.33926373e+01] [-4.34519475e-02 2.29895147e-03 9.99052873e-01 -1.00656453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.99, Y:83.39, Z:-10.07 [[-2.31994345e-01 9.72634826e-01 -1.26538486e-02 1.13991970e+02] [-9.71713962e-01 -2.32326131e-01 -4.23856702e-02 8.33868600e+01] [-4.41655987e-02 2.46268553e-03 9.99021189e-01 -1.00679703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.39, Z:-10.07 [[-2.31738113e-01 9.72691805e-01 -1.29653630e-02 1.13993010e+02] [-9.71728896e-01 -2.32086472e-01 -4.33453824e-02 8.33863044e+01] [-4.51707836e-02 2.55404075e-03 9.98976014e-01 -1.00658555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.99, Y:83.38, Z:-10.07 [[-2.30125864e-01 9.73073308e-01 -1.30546290e-02 1.13992937e+02] [-9.72101160e-01 -2.30480449e-01 -4.35671558e-02 8.33758745e+01] [-4.54028732e-02 2.66449063e-03 9.98965204e-01 -1.00689686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.747628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.99, Y:83.38, Z:-10.07 [[-2.30120363e-01 9.73073661e-01 -1.31251666e-02 1.13993767e+02] [-9.72098108e-01 -2.30478371e-01 -4.36461812e-02 8.33753937e+01] [-4.54960163e-02 2.71507460e-03 9.98960831e-01 -1.00686990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.37, Z:-10.07 [[-2.30689638e-01 9.72932601e-01 -1.35810564e-02 1.13992278e+02] [-9.71891550e-01 -2.31072108e-01 -4.50832095e-02 8.33688902e+01] [-4.70011277e-02 2.79908469e-03 9.98890915e-01 -1.00668279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.37, Z:-10.07 [[-2.30733932e-01 9.72915272e-01 -1.40615191e-02 1.13991455e+02] [-9.71803151e-01 -2.31143645e-01 -4.65966942e-02 8.33671505e+01] [-4.85848661e-02 2.91359006e-03 9.98814809e-01 -1.00656371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.36, Z:-10.07 [[-2.31011617e-01 9.72840380e-01 -1.46706584e-02 1.13988882e+02] [-9.71633971e-01 -2.31456975e-01 -4.85293269e-02 8.33585778e+01] [-5.06069150e-02 3.04367177e-03 9.98714011e-01 -1.00654024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.36, Z:-10.07 [[-2.31590355e-01 9.72700893e-01 -1.47946113e-02 1.13988752e+02] [-9.71479248e-01 -2.32042207e-01 -4.88311829e-02 8.33554596e+01] [-5.09311095e-02 3.06382693e-03 9.98697469e-01 -1.00658924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:83.35, Z:-10.07 [[-2.32961329e-01 9.72371562e-01 -1.49186220e-02 1.13987570e+02] [-9.71133544e-01 -2.33418747e-01 -4.91460000e-02 8.33497074e+01] [-5.12704589e-02 3.03885676e-03 9.98680182e-01 -1.00666678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:83.34, Z:-10.07 [[-2.34499889e-01 9.72000385e-01 -1.50017956e-02 1.13984351e+02] [-9.70755793e-01 -2.34959972e-01 -4.92646154e-02 8.33413580e+01] [-5.14100466e-02 3.01053314e-03 9.98673092e-01 -1.00673677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:83.34, Z:-10.07 [[-2.38505082e-01 9.71020171e-01 -1.53347394e-02 1.13979485e+02] [-9.69722222e-01 -2.38980192e-01 -5.02720685e-02 8.33367842e+01] [-5.24798915e-02 2.88029369e-03 9.98617827e-01 -1.00667635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:83.33, Z:-10.07 [[-2.41111952e-01 9.70377658e-01 -1.52390190e-02 1.13976566e+02] [-9.69098954e-01 -2.41577481e-01 -4.98752166e-02 8.33318738e+01] [-5.20791997e-02 2.74260653e-03 9.98639192e-01 -1.00670220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:83.33, Z:-10.07 [[-2.44222837e-01 9.69604152e-01 -1.49330170e-02 1.13974138e+02] [-9.68379007e-01 -2.44665721e-01 -4.87932840e-02 8.33280945e+01] [-5.09637681e-02 2.54438599e-03 9.98697262e-01 -1.00674606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:83.32, Z:-10.07 [[-2.47412870e-01 9.68797711e-01 -1.47602985e-02 1.13971145e+02] [-9.67603767e-01 -2.47841424e-01 -4.81412375e-02 8.33215227e+01] [-5.02973341e-02 2.37135872e-03 9.98731473e-01 -1.00686692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:83.31, Z:-10.07 [[-2.54427826e-01 9.66976570e-01 -1.49262646e-02 1.13963301e+02] [-9.65756838e-01 -2.54857031e-01 -4.85965382e-02 8.33066614e+01] [-5.07957773e-02 2.05083052e-03 9.98706956e-01 -1.00705710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:83.30, Z:-10.07 [[-2.57852916e-01 9.66061649e-01 -1.53871186e-02 1.13959882e+02] [-9.64774989e-01 -2.58304004e-01 -4.98824852e-02 8.33005654e+01] [-5.21641102e-02 1.98276287e-03 9.98636558e-01 -1.00707980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:83.29, Z:-10.07 [[-2.61637474e-01 9.65032400e-01 -1.60717179e-02 1.13956722e+02] [-9.63632119e-01 -2.62123878e-01 -5.20020270e-02 8.32937290e+01] [-5.43964220e-02 1.88154465e-03 9.98517646e-01 -1.00707781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.28, Z:-10.07 [[-2.64869688e-01 9.64143634e-01 -1.64651570e-02 1.13952249e+02] [-9.62677782e-01 -2.65375080e-01 -5.31747627e-02 8.32842095e+01] [-5.56375513e-02 1.76625804e-03 9.98449470e-01 -1.00706400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.28, Z:-10.07 [[-2.69826859e-01 9.62754470e-01 -1.72422903e-02 1.13948653e+02] [-9.61150235e-01 -2.70372607e-01 -5.55776955e-02 8.32806405e+01] [-5.81695177e-02 1.57607634e-03 9.98305476e-01 -1.00702269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.27, Z:-10.07 [[-2.71592127e-01 9.62255525e-01 -1.73787643e-02 1.13945139e+02] [-9.60630860e-01 -2.72143396e-01 -5.59135338e-02 8.32733646e+01] [-5.85326227e-02 1.50890172e-03 9.98284356e-01 -1.00708764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:113.94, Y:83.27, Z:-10.07 [[-2.72789381e-01 9.61916114e-01 -1.74167724e-02 1.13944170e+02] [-9.60289719e-01 -2.73340880e-01 -5.59322742e-02 8.32702986e+01] [-5.85628717e-02 1.46741698e-03 9.98282644e-01 -1.00739780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:113.94, Y:83.27, Z:-10.07 [[-2.74653602e-01 9.61377993e-01 -1.78256506e-02 1.13944215e+02] [-9.59679589e-01 -2.75227825e-01 -5.71378216e-02 8.32651737e+01] [-5.98371593e-02 1.41380453e-03 9.98207151e-01 -1.00744474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.26, Z:-10.07 [[-2.76823960e-01 9.60747710e-01 -1.82299917e-02 1.13946211e+02] [-9.58976647e-01 -2.77420350e-01 -5.83244391e-02 8.32594649e+01] [-6.10924420e-02 1.33653414e-03 9.98131217e-01 -1.00742540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.95, Y:83.25, Z:-10.08 [[-2.77362704e-01 9.60595210e-01 -1.80768509e-02 1.13946053e+02] [-9.58859879e-01 -2.77948010e-01 -5.77289944e-02 8.32536948e+01] [-6.04786203e-02 1.32129706e-03 9.98168618e-01 -1.00768004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:83.24, Z:-10.08 [[-2.77954109e-01 9.60429678e-01 -1.77861227e-02 1.13944092e+02] [-9.58755551e-01 -2.78519587e-01 -5.66977329e-02 8.32439640e+01] [-5.94079689e-02 1.29317608e-03 9.98232949e-01 -1.00766624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:83.24, Z:-10.08 [[-2.78060159e-01 9.60412762e-01 -1.70257375e-02 1.13944629e+02] [-9.58884258e-01 -2.78578063e-01 -5.41778825e-02 8.32382252e+01] [-5.67761267e-02 1.26100112e-03 9.98386138e-01 -1.00784918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:83.24, Z:-10.08 [[-2.78223648e-01 9.60367981e-01 -1.68802663e-02 1.13945014e+02] [-9.58870937e-01 -2.78732368e-01 -5.36171034e-02 8.32374519e+01] [-5.61972259e-02 1.26845065e-03 9.98418881e-01 -1.00792988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:83.23, Z:-10.08 [[-2.78590035e-01 9.60262616e-01 -1.68315568e-02 1.13944250e+02] [-9.58779488e-01 -2.79095134e-01 -5.33647793e-02 8.32342293e+01] [-5.59418082e-02 1.27085563e-03 9.98433222e-01 -1.00794606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:83.24, Z:-10.07 [[-2.79892580e-01 9.60030961e-01 -8.35593590e-04 1.13938470e+02] [-9.58961741e-01 -2.79621716e-01 -4.69475817e-02 8.32397033e+01] [-4.53047821e-02 -1.23389775e-02 9.98897005e-01 -1.00686131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:82.83, Z:-9.82 [[-2.88540405e-01 -2.06318038e-01 -9.34974493e-01 1.14795849e+02] [-9.53275775e-01 -2.93734642e-02 3.00670078e-01 8.28325380e+01] [-8.94971003e-02 9.78044001e-01 -1.88202556e-01 -9.82129443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:83.13, Z:-10.06 [[-2.61529091e-01 9.64572331e-01 -3.46807344e-02 1.13908467e+02] [-9.57736001e-01 -2.63798854e-01 -1.14681807e-01 8.31278017e+01] [-1.19767636e-01 3.22235911e-03 9.92796721e-01 -1.00577612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:83.12, Z:-10.06 [[-2.60310255e-01 9.64907889e-01 -3.45157457e-02 1.13908487e+02] [-9.58160765e-01 -2.62566485e-01 -1.13959596e-01 8.31232214e+01] [-1.19023191e-01 3.40678179e-03 9.92885630e-01 -1.00588886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:83.12, Z:-10.06 [[-2.59137735e-01 9.65032405e-01 -3.94979928e-02 1.13910263e+02] [-9.58621461e-01 -2.61976344e-01 -1.11414942e-01 8.31162118e+01] [-1.17866570e-01 8.99180768e-03 9.92988731e-01 -1.00617085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:82.96, Z:-9.26 [[-2.92026937e-01 7.10371966e-02 9.53768308e-01 1.13696329e+02] [-9.53004651e-01 6.24667490e-02 -2.96445677e-01 8.29606729e+01] [-8.06374754e-02 -9.95515757e-01 4.94568054e-02 -9.26361525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:82.58, Z:-9.92 [[-2.92306315e-01 -7.20426544e-02 -9.53607296e-01 1.14674972e+02] [-9.52674916e-01 -6.50995887e-02 2.96938627e-01 8.25754230e+01] [-8.34716896e-02 9.95274786e-01 -4.96042088e-02 -9.91601643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:82.87, Z:-10.07 [[-2.57113018e-01 9.66187661e-01 -1.93468393e-02 1.13827647e+02] [-9.60480298e-01 -2.57700821e-01 -1.05204017e-01 8.28678417e+01] [-1.06632519e-01 -8.46706420e-03 9.94262448e-01 -1.00745189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:82.50, Z:-10.04 [[ -0.29858928 0.18100054 -0.93706096 114.53787539] [ -0.94206511 -0.21312873 0.25901637 82.50433675] [ -0.15283251 0.96011195 0.23415225 -10.03703681] [ 0. 0. 0. 1. ]] SLAMing on 333.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:82.75, Z:-10.06 [[-2.74316745e-01 9.60851932e-01 -3.89087077e-02 1.13798696e+02] [-9.46469464e-01 -2.76926687e-01 -1.65852835e-01 8.27544728e+01] [-1.70134876e-01 -8.67030601e-03 9.85382641e-01 -1.00578401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:82.36, Z:-9.96 [[-3.12143429e-01 4.82765606e-03 -9.50022723e-01 1.14565449e+02] [-9.24576839e-01 -2.31488626e-01 3.02606486e-01 8.23619757e+01] [-2.18458575e-01 9.72825632e-01 7.67211926e-02 -9.95664357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:82.07, Z:-9.18 [[-2.66167179e-01 -9.58907996e-01 -9.82369005e-02 1.14418273e+02] [-9.26889896e-01 2.26628830e-01 2.99189730e-01 8.20725249e+01] [-2.64632111e-01 1.70689277e-01 -9.49123289e-01 -9.17504707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:82.12, Z:-9.13 [[-2.12130022e-01 -3.43049134e-01 9.15050898e-01 1.13637495e+02] [-9.51021759e-01 2.87913819e-01 -1.12531096e-01 8.21180163e+01] [-2.24852104e-01 -8.94104538e-01 -3.87322356e-01 -9.13352011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:82.33, Z:-10.14 [[-1.90097701e-01 9.81624106e-01 -1.66426934e-02 1.13613915e+02] [-9.63074778e-01 -1.89743910e-01 -1.91008429e-01 8.23299383e+01] [-1.90656328e-01 -2.02821050e-02 9.81447299e-01 -1.01447587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:82.01, Z:-10.13 [[ -0.2219553 0.17684456 -0.95888573 114.3553382 ] [ -0.94483624 -0.28194691 0.16670457 82.01306754] [ -0.24087408 0.94299095 0.22966876 -10.13127028] [ 0. 0. 0. 1. ]] SLAMing on 333.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.85, Z:-9.27 [[ -0.22122989 -0.1784891 0.95874865 113.47991192] [ -0.95083462 0.2579582 -0.17137996 81.8502436 ] [ -0.21672762 -0.94952578 -0.22678168 -9.26666493] [ 0. 0. 0. 1. ]] SLAMing on 333.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:81.73, Z:-10.20 [[ -0.22251545 0.17604398 -0.95890322 114.28870057] [ -0.94407505 -0.28439223 0.16686329 81.73414038] [ -0.24332935 0.94240627 0.22948039 -10.19902838] [ 0. 0. 0. 1. ]] SLAMing on 334.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:81.58, Z:-9.33 [[ -0.21770368 -0.17729101 0.95977758 113.42064447] [ -0.95135342 0.25820554 -0.16809688 81.58460055] [ -0.21801783 -0.949683 -0.2248787 -9.33362324] [ 0. 0. 0. 1. ]] SLAMing on 334.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.74, Z:-10.30 [[-2.00724499e-01 9.78947792e-01 -3.70256004e-02 1.13484635e+02] [-9.59017886e-01 -2.04072620e-01 -1.96568207e-01 8.17417067e+01] [-1.99985923e-01 -3.94784189e-03 9.79790817e-01 -1.02953664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:81.74, Z:-10.30 [[-2.02112177e-01 9.78353047e-01 -4.44520274e-02 1.13487597e+02] [-9.58714175e-01 -2.06918179e-01 -1.95069215e-01 8.17356048e+01] [-2.00044493e-01 3.19092499e-03 9.79781618e-01 -1.03001003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:81.73, Z:-10.30 [[-2.03696567e-01 9.78020296e-01 -4.45422131e-02 1.13487286e+02] [-9.58410301e-01 -2.08488256e-01 -1.94890591e-01 8.17293251e+01] [-1.99893482e-01 2.99117156e-03 9.79813068e-01 -1.03020849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:81.72, Z:-10.30 [[-2.05133516e-01 9.77716379e-01 -4.46197566e-02 1.13485709e+02] [-9.58146915e-01 -2.09911224e-01 -1.94658080e-01 8.17226545e+01] [-1.99686581e-01 2.82138573e-03 9.79855759e-01 -1.03034687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.69, Z:-10.31 [[-2.09504092e-01 9.76787066e-01 -4.46661320e-02 1.13478850e+02] [-9.57277272e-01 -2.14202677e-01 -1.94261261e-01 8.16908099e+01] [-1.99319493e-01 2.05934380e-03 9.79932395e-01 -1.03103957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.69, Z:-10.31 [[-2.11129480e-01 9.76419834e-01 -4.50405391e-02 1.13478089e+02] [-9.57181496e-01 -2.15867100e-01 -1.92885922e-01 8.16850129e+01] [-1.98060410e-01 2.38806613e-03 9.80186906e-01 -1.03119790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.68, Z:-10.31 [[-2.15036524e-01 9.75594586e-01 -4.44353125e-02 1.13477813e+02] [-9.56964611e-01 -2.19572877e-01 -1.89753749e-01 8.16785426e+01] [-1.94879519e-01 1.71903507e-03 9.80825682e-01 -1.03137035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.67, Z:-10.32 [[-2.17373196e-01 9.75079051e-01 -4.43817252e-02 1.13476433e+02] [-9.56591368e-01 -2.21853446e-01 -1.88981489e-01 8.16701642e+01] [-1.94118130e-01 1.37566489e-03 9.80977196e-01 -1.03156253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:81.66, Z:-10.32 [[-2.17987039e-01 9.74936482e-01 -4.45028824e-02 1.13475063e+02] [-9.56451681e-01 -2.22479130e-01 -1.88952955e-01 8.16639763e+01] [-1.94118092e-01 1.37556161e-03 9.80977204e-01 -1.03169454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:81.65, Z:-10.32 [[-2.19733257e-01 9.74544873e-01 -4.44925380e-02 1.13472610e+02] [-9.56167449e-01 -2.24189573e-01 -1.88368909e-01 8.16546917e+01] [-1.93548718e-01 1.15140255e-03 9.81089990e-01 -1.03190665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:81.65, Z:-10.32 [[-2.20764443e-01 9.74312209e-01 -4.44834742e-02 1.13471002e+02] [-9.56044208e-01 -2.25198961e-01 -1.87789513e-01 8.16481738e+01] [-1.92983248e-01 1.07092060e-03 9.81201467e-01 -1.03200242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:81.64, Z:-10.32 [[-2.20346807e-01 9.74238113e-01 -4.80352345e-02 1.13469541e+02] [-9.55987116e-01 -2.25475905e-01 -1.87747836e-01 8.16363147e+01] [-1.93741885e-01 4.55142922e-03 9.81041980e-01 -1.03232819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39762800000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.25, Y:81.42, Z:-9.56 [[-2.28874706e-01 1.06851397e-01 9.67573846e-01 1.13250026e+02] [-9.63020700e-01 1.20293806e-01 -2.41082003e-01 8.14234259e+01] [-1.42153089e-01 -9.86971215e-01 7.53678971e-02 -9.55656478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:81.48, Z:-10.38 [[-2.21124738e-01 9.74948901e-01 -2.40518271e-02 1.13433749e+02] [-9.66695371e-01 -2.22377984e-01 -1.26681065e-01 8.14830502e+01] [-1.28856162e-01 -4.76152730e-03 9.91651863e-01 -1.03839954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:81.47, Z:-10.39 [[-2.25776727e-01 9.73771227e-01 -2.81862858e-02 1.13428401e+02] [-9.66005501e-01 -2.27528821e-01 -1.22735516e-01 8.14673146e+01] [-1.25929506e-01 -4.82715969e-04 9.92039075e-01 -1.03860051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:81.47, Z:-10.39 [[-2.22767727e-01 9.74291733e-01 -3.36178402e-02 1.13433339e+02] [-9.66752115e-01 -2.25222372e-01 -1.21100087e-01 8.14724629e+01] [-1.25558303e-01 5.52292690e-03 9.92070869e-01 -1.03883933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:81.45, Z:-10.39 [[-2.29173259e-01 9.73050300e-01 -2.55486050e-02 1.13421650e+02] [-9.65297489e-01 -2.30567259e-01 -1.22635624e-01 8.14538857e+01] [-1.25221302e-01 -3.44280129e-03 9.92122862e-01 -1.03858367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:81.46, Z:-10.39 [[-2.28220403e-01 9.73165538e-01 -2.93986848e-02 1.13428116e+02] [-9.65475190e-01 -2.30105557e-01 -1.22102784e-01 8.14605572e+01] [-1.25591023e-01 5.17354128e-04 9.92081966e-01 -1.03873286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.42, Y:81.44, Z:-10.39 [[-2.35822220e-01 9.71334264e-01 -2.99604588e-02 1.13421855e+02] [-9.63768442e-01 -2.37717547e-01 -1.20998997e-01 8.14419209e+01] [-1.24652599e-01 3.40692630e-04 9.92200390e-01 -1.03905028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.42, Y:81.44, Z:-10.39 [[-2.36389358e-01 9.71192661e-01 -3.00813270e-02 1.13420838e+02] [-9.63619403e-01 -2.38295356e-01 -1.21049453e-01 8.14360474e+01] [-1.24730581e-01 3.72147794e-04 9.92190578e-01 -1.03920194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:81.43, Z:-10.39 [[-2.36942574e-01 9.71045577e-01 -3.04746453e-02 1.13418383e+02] [-9.63310290e-01 -2.38894011e-01 -1.22323082e-01 8.14260811e+01] [-1.26061498e-01 3.72993472e-04 9.92022358e-01 -1.03897288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:81.43, Z:-10.39 [[-2.36453600e-01 9.71151385e-01 -3.08979328e-02 1.13418114e+02] [-9.63239922e-01 -2.38463261e-01 -1.23709845e-01 8.14259743e+01] [-1.27509010e-01 5.10484032e-04 9.91837281e-01 -1.03895308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.41, Y:81.42, Z:-10.39 [[-2.34073702e-01 9.71704559e-01 -3.16188574e-02 1.13414888e+02] [-9.63468979e-01 -2.36197834e-01 -1.26246226e-01 8.14170782e+01] [-1.30142339e-01 9.12866892e-04 9.91494901e-01 -1.03930322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:81.41, Z:-10.39 [[-2.34684111e-01 9.71542423e-01 -3.20731774e-02 1.13413094e+02] [-9.63151912e-01 -2.36863550e-01 -1.27412921e-01 8.14125740e+01] [-1.31384024e-01 9.89554153e-04 9.91331054e-01 -1.03900915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:81.40, Z:-10.39 [[-2.36040228e-01 9.71207186e-01 -3.22740274e-02 1.13411010e+02] [-9.62750343e-01 -2.38234799e-01 -1.27890415e-01 8.14031496e+01] [-1.31896887e-01 8.84548152e-04 9.91263047e-01 -1.03912217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:81.39, Z:-10.39 [[-2.38514824e-01 9.70595783e-01 -3.24731374e-02 1.13408825e+02] [-9.62101817e-01 -2.40714272e-01 -1.28127801e-01 8.13940023e+01] [-1.32177051e-01 6.82084630e-04 9.91225889e-01 -1.03923991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:81.38, Z:-10.39 [[-2.40314702e-01 9.70150337e-01 -3.25141100e-02 1.13406161e+02] [-9.61673498e-01 -2.42503728e-01 -1.27968842e-01 8.13836756e+01] [-1.32033808e-01 5.15163744e-04 9.91245080e-01 -1.03939971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:81.38, Z:-10.39 [[-2.41310116e-01 9.69901141e-01 -3.25761381e-02 1.13405330e+02] [-9.61481237e-01 -2.43498411e-01 -1.27523939e-01 8.13794035e+01] [-1.31617851e-01 5.48529142e-04 9.91300378e-01 -1.03945038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:81.22, Z:-10.42 [[-2.41940662e-01 9.69597382e-01 -3.66828834e-02 1.13367317e+02] [-9.61322140e-01 -2.44661399e-01 -1.26493249e-01 8.12184690e+01] [-1.31622409e-01 4.66020757e-03 9.91288971e-01 -1.04182445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:81.17, Z:-9.51 [[-2.39824500e-01 -1.27885330e-01 9.62356250e-01 1.13272662e+02] [-9.68421052e-01 1.01104385e-01 -2.27900350e-01 8.11656259e+01] [-6.81533259e-02 -9.86622139e-01 -1.48094154e-01 -9.50870892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:81.06, Z:-9.55 [[-2.29949670e-01 -1.44596110e-01 9.62400703e-01 1.13241857e+02] [-9.73200669e-01 3.60951305e-02 -2.27107022e-01 8.10573889e+01] [-1.89918697e-03 -9.88832193e-01 -1.49021095e-01 -9.54526964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:80.75, Z:-10.40 [[-2.44695681e-01 1.31633301e-01 -9.60623078e-01 1.14079438e+02] [-9.67929294e-01 -9.12971141e-02 2.34046404e-01 8.07454964e+01] [-5.68938140e-02 9.87085362e-01 1.49751738e-01 -1.03972927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:80.94, Z:-10.46 [[-2.31791316e-01 9.72663633e-01 -1.40798619e-02 1.13292654e+02] [-9.70819180e-01 -2.32218460e-01 -5.98724254e-02 8.09401812e+01] [-6.15053347e-02 -2.08908297e-04 9.98106733e-01 -1.04581857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:80.94, Z:-10.46 [[-2.34029638e-01 9.72120106e-01 -1.45818003e-02 1.13290541e+02] [-9.70294796e-01 -2.34483378e-01 -5.95445552e-02 8.09369551e+01] [-6.13036491e-02 2.13454248e-04 9.98119140e-01 -1.04572819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:80.93, Z:-10.46 [[-2.35192837e-01 9.71837380e-01 -1.47117727e-02 1.13288948e+02] [-9.69987379e-01 -2.35652449e-01 -5.99367083e-02 8.09309541e+01] [-6.17155988e-02 1.73549410e-04 9.98093761e-01 -1.04582325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:80.93, Z:-10.46 [[-2.35361622e-01 9.71799182e-01 -1.45346739e-02 1.13290895e+02] [-9.70001564e-01 -2.35809908e-01 -5.90817555e-02 8.09296796e+01] [-6.08430218e-02 1.93078587e-04 9.98147329e-01 -1.04591083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:80.93, Z:-10.46 [[-2.38042272e-01 9.71224477e-01 -7.67410998e-03 1.13287780e+02] [-9.69595465e-01 -2.38089835e-01 -5.65496604e-02 8.09253491e+01] [-5.67495420e-02 -6.02042740e-03 9.98370294e-01 -1.04559808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:80.57, Z:-10.18 [[-2.24607893e-01 -2.47125440e-01 -9.42592336e-01 1.14169201e+02] [-9.66136612e-01 -6.96025852e-02 2.48466352e-01 8.05702441e+01] [-1.27009220e-01 9.66480469e-01 -2.23123645e-01 -1.01818294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.177628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.26, Y:80.81, Z:-10.44 [[-2.21275021e-01 9.74788192e-01 -2.87288491e-02 1.13256978e+02] [-9.66826325e-01 -2.23132051e-01 -1.24334010e-01 8.08130420e+01] [-1.27609652e-01 2.63796946e-04 9.91824434e-01 -1.04409959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.81, Z:-10.44 [[-2.22410232e-01 9.74514528e-01 -2.92424996e-02 1.13254207e+02] [-9.66295146e-01 -2.24324336e-01 -1.26302351e-01 8.08054840e+01] [-1.29643281e-01 1.65950116e-04 9.91560685e-01 -1.04381754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.25, Y:80.80, Z:-10.44 [[-2.22061988e-01 9.74590644e-01 -2.93521682e-02 1.13252269e+02] [-9.66354064e-01 -2.23993289e-01 -1.26439034e-01 8.08021026e+01] [-1.29800988e-01 2.87283814e-04 9.91540025e-01 -1.04404574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.79, Z:-10.44 [[-2.22670532e-01 9.74437501e-01 -2.98226428e-02 1.13249035e+02] [-9.65978025e-01 -2.24658581e-01 -1.28120948e-01 8.07918864e+01] [-1.31545769e-01 2.79257995e-04 9.91310059e-01 -1.04381082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.25, Y:80.79, Z:-10.44 [[-2.21429347e-01 9.74710356e-01 -3.01457425e-02 1.13248720e+02] [-9.66114532e-01 -2.23471357e-01 -1.29163709e-01 8.07877100e+01] [-1.32633914e-01 5.23604265e-04 9.91164956e-01 -1.04424856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.78, Z:-10.44 [[-2.22036659e-01 9.74560795e-01 -3.05119352e-02 1.13247288e+02] [-9.65799809e-01 -2.24122706e-01 -1.30383054e-01 8.07841069e+01] [-1.33904631e-01 5.18603389e-04 9.90994087e-01 -1.04390797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.78, Z:-10.44 [[-2.22603998e-01 9.74426447e-01 -3.06685580e-02 1.13246192e+02] [-9.65624384e-01 -2.24706085e-01 -1.30677938e-01 8.07803914e+01] [-1.34227451e-01 5.24875998e-04 9.90950410e-01 -1.04389049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.387628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.24, Y:80.77, Z:-10.44 [[-2.23693798e-01 9.74171741e-01 -3.08302549e-02 1.13243667e+02] [-9.65320707e-01 -2.25807917e-01 -1.31021823e-01 8.07673954e+01] [-1.34599473e-01 4.52314259e-04 9.90899984e-01 -1.04449311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.77, Z:-10.44 [[-2.25021798e-01 9.73858876e-01 -3.10496409e-02 1.13243629e+02] [-9.64925317e-01 -2.27153626e-01 -1.31606851e-01 8.07682619e+01] [-1.35219538e-01 3.46174391e-04 9.90815602e-01 -1.04414147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.447628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:113.24, Y:80.76, Z:-10.45 [[-2.26708315e-01 9.73466443e-01 -3.10873488e-02 1.13241535e+02] [-9.64554344e-01 -2.28829734e-01 -1.31422491e-01 8.07613872e+01] [-1.35049094e-01 1.90865870e-04 9.90838890e-01 -1.04454791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.24, Y:80.76, Z:-10.45 [[-2.28439963e-01 9.73060980e-01 -3.11048528e-02 1.13239868e+02] [-9.64181592e-01 -2.30547886e-01 -1.31154606e-01 8.07564333e+01] [-1.34792588e-01 2.97731303e-05 9.90873835e-01 -1.04468786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.75, Z:-10.45 [[-2.31399547e-01 9.72364463e-01 -3.10096948e-02 1.13238461e+02] [-9.63579070e-01 -2.33467905e-01 -1.30415154e-01 8.07450421e+01] [-1.34050830e-01 -2.97714716e-04 9.90974413e-01 -1.04454611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.74, Z:-10.45 [[-2.32662103e-01 9.72069062e-01 -3.08234488e-02 1.13238534e+02] [-9.63431771e-01 -2.34694674e-01 -1.29296682e-01 8.07426112e+01] [-1.32919404e-01 -3.86148120e-04 9.91126774e-01 -1.04463665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.567628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.24, Y:80.74, Z:-10.45 [[-2.33719119e-01 9.71824989e-01 -3.05215352e-02 1.13237693e+02] [-9.63402219e-01 -2.35703207e-01 -1.27672091e-01 8.07363849e+01] [-1.31268952e-01 -4.34893808e-04 9.91346697e-01 -1.04513119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:113.24, Y:80.73, Z:-10.45 [[-2.34659343e-01 9.71606942e-01 -3.02480210e-02 1.13236584e+02] [-9.63375678e-01 -2.36600347e-01 -1.26204510e-01 8.07278368e+01] [-1.29777870e-01 -4.74859658e-04 9.91542979e-01 -1.04544096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.72, Z:-10.45 [[-2.34153973e-01 9.71737725e-01 -2.99618380e-02 1.13237914e+02] [-9.63704504e-01 -2.36062896e-01 -1.24691371e-01 8.07247072e+01] [-1.28240187e-01 -3.22621567e-04 9.91743087e-01 -1.04519289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.71, Z:-10.45 [[-2.34864918e-01 9.71564692e-01 -3.00086578e-02 1.13236308e+02] [-9.63550038e-01 -2.36774022e-01 -1.24536691e-01 8.07149889e+01] [-1.28100722e-01 -3.34456236e-04 9.91761107e-01 -1.04533116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:80.71, Z:-10.45 [[-2.35575770e-01 9.71392418e-01 -3.00137751e-02 1.13235928e+02] [-9.63414840e-01 -2.37479781e-01 -1.24238478e-01 8.07134315e+01] [-1.27811981e-01 -3.51858944e-04 9.91798353e-01 -1.04537489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.71, Z:-10.45 [[-2.36801309e-01 9.71095103e-01 -2.99906763e-02 1.13234387e+02] [-9.63168297e-01 -2.38692502e-01 -1.23825370e-01 8.07074478e+01] [-1.27404760e-01 -4.35941050e-04 9.91850713e-01 -1.04544057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.747628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.23, Y:80.70, Z:-10.46 [[-2.40846772e-01 9.70103713e-01 -2.98599816e-02 1.13232756e+02] [-9.62278378e-01 -2.42689111e-01 -1.22972840e-01 8.06991337e+01] [-1.26543101e-01 -8.83996956e-04 9.91960716e-01 -1.04589839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.23, Y:80.69, Z:-10.46 [[-2.42835736e-01 9.69606066e-01 -2.99145844e-02 1.13231995e+02] [-9.61788320e-01 -2.44669030e-01 -1.22883249e-01 8.06924139e+01] [-1.26467516e-01 -1.06894616e-03 9.91970173e-01 -1.04565517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.807628 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:113.23, Y:80.68, Z:-10.46 [[-2.46432595e-01 9.68700401e-01 -2.98413851e-02 1.13228751e+02] [-9.60953858e-01 -2.48228552e-01 -1.22271288e-01 8.06831748e+01] [-1.25851730e-01 -1.45543672e-03 9.92047995e-01 -1.04624209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.23, Y:80.68, Z:-10.46 [[-2.48512862e-01 9.68171479e-01 -2.97547524e-02 1.13228782e+02] [-9.60505321e-01 -2.50282428e-01 -1.21606888e-01 8.06777087e+01] [-1.25183412e-01 -1.64127773e-03 9.92132259e-01 -1.04624383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.867628 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:113.23, Y:80.67, Z:-10.46 [[-2.49716036e-01 9.67864180e-01 -2.96787812e-02 1.13229724e+02] [-9.60273788e-01 -2.51467680e-01 -1.20988666e-01 8.06714646e+01] [-1.24563851e-01 -1.71305451e-03 9.92210115e-01 -1.04646250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89762800000005 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:113.23, Y:80.67, Z:-10.47 [[-2.49581985e-01 9.67895749e-01 -2.97767119e-02 1.13229421e+02] [-9.60294098e-01 -2.51346733e-01 -1.21078759e-01 8.06682147e+01] [-1.24675895e-01 -1.62467633e-03 9.92196191e-01 -1.04659656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.927628 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:113.23, Y:80.66, Z:-10.47 [[-2.48790330e-01 9.68095740e-01 -2.98999893e-02 1.13228006e+02] [-9.60471131e-01 -2.50576389e-01 -1.21271098e-01 8.06615383e+01] [-1.24894265e-01 -1.45300000e-03 9.92168993e-01 -1.04651009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.66, Z:-10.46 [[-2.47022337e-01 9.68540016e-01 -3.01695696e-02 1.13227393e+02] [-9.60819554e-01 -2.48855153e-01 -1.22052852e-01 8.06581414e+01] [-1.25720924e-01 -1.16226828e-03 9.92064967e-01 -1.04609438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98762800000003 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:113.23, Y:80.65, Z:-10.46 [[-2.46252513e-01 9.68730504e-01 -3.03464924e-02 1.13225730e+02] [-9.60959863e-01 -2.48113325e-01 -1.22457827e-01 8.06544666e+01] [-1.26158002e-01 -9.93786593e-04 9.92009663e-01 -1.04649638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.72, Z:-10.44 [[-2.15586138e-01 9.76390436e-01 -1.35769756e-02 1.13251946e+02] [-9.69260745e-01 -2.15658668e-01 -1.18426968e-01 8.07212741e+01] [-1.18558951e-01 -1.23715830e-02 9.92869941e-01 -1.04406263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.23, Y:80.65, Z:-10.46 [[-2.41526103e-01 9.69535656e-01 -4.08136449e-02 1.13232268e+02] [-9.62192189e-01 -2.44729570e-01 -1.19555965e-01 8.06462636e+01] [-1.25902077e-01 1.03946839e-02 9.91988214e-01 -1.04648177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.64, Z:-10.46 [[-2.41310926e-01 9.69976654e-01 -3.02378472e-02 1.13227712e+02] [-9.62393474e-01 -2.43198022e-01 -1.21051738e-01 8.06423266e+01] [-1.24771144e-01 -1.10400151e-04 9.92185542e-01 -1.04621211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.23, Y:80.64, Z:-10.47 [[-2.42426526e-01 9.69700081e-01 -3.01849776e-02 1.13228062e+02] [-9.62178992e-01 -2.44298427e-01 -1.20539895e-01 8.06377790e+01] [-1.24261688e-01 -1.78716549e-04 9.92249465e-01 -1.04673050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.23, Y:80.63, Z:-10.47 [[-2.42941704e-01 9.69569129e-01 -3.02494959e-02 1.13226970e+02] [-9.62049045e-01 -2.44817629e-01 -1.20523701e-01 8.06331080e+01] [-1.24261670e-01 -1.78734716e-04 9.92249467e-01 -1.04679525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.23, Y:80.63, Z:-10.47 [[-2.45509184e-01 9.68930642e-01 -2.99775254e-02 1.13228758e+02] [-9.61574017e-01 -2.47332215e-01 -1.19172920e-01 8.06259448e+01] [-1.22884701e-01 -4.32436775e-04 9.92420860e-01 -1.04677823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:80.68, Z:-10.46 [[-2.20510585e-01 9.75040484e-01 -2.59063181e-02 1.13259695e+02] [-9.67510375e-01 -2.22021333e-01 -1.20955374e-01 8.06805123e+01] [-1.23688141e-01 -1.60730871e-03 9.92319838e-01 -1.04574675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.23, Y:80.61, Z:-10.47 [[-2.53952639e-01 9.66773836e-01 -2.92644542e-02 1.13228300e+02] [-9.59462778e-01 -2.55624909e-01 -1.18689024e-01 8.06110807e+01] [-1.22226167e-01 -2.06323644e-03 9.92500130e-01 -1.04706968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.60, Z:-10.47 [[-2.55518867e-01 9.66340174e-01 -2.99462347e-02 1.13227689e+02] [-9.59101106e-01 -2.57263626e-01 -1.18069878e-01 8.06033184e+01] [-1.21799744e-01 -1.44761479e-03 9.92553639e-01 -1.04686903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.66, Z:-10.46 [[-2.30373219e-01 9.72863842e-01 -2.15435583e-02 1.13254308e+02] [-9.65761510e-01 -2.31293535e-01 -1.17507471e-01 8.06598536e+01] [-1.19301656e-01 -6.26463500e-03 9.92838290e-01 -1.04576017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.23, Y:80.59, Z:-10.47 [[-2.57206812e-01 9.65787681e-01 -3.31483314e-02 1.13225585e+02] [-9.58837753e-01 -2.59326101e-01 -1.15672544e-01 8.05937501e+01] [-1.20311346e-01 2.03210526e-03 9.92734129e-01 -1.04699928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.65, Z:-10.46 [[-2.31242504e-01 9.72644359e-01 -2.21326797e-02 1.13249941e+02] [-9.65556549e-01 -2.32227705e-01 -1.17349237e-01 8.06506660e+01] [-1.19278895e-01 -5.76577772e-03 9.92844047e-01 -1.04585028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:80.65, Z:-10.46 [[-2.32911983e-01 9.72191219e-01 -2.44180642e-02 1.13249534e+02] [-9.64957512e-01 -2.34153873e-01 -1.18443927e-01 8.06462006e+01] [-1.20867730e-01 -4.02461535e-03 9.92660463e-01 -1.04595169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.25, Y:80.64, Z:-10.46 [[-2.32516539e-01 9.72171842e-01 -2.86001671e-02 1.13250498e+02] [-9.64658979e-01 -2.34268435e-01 -1.20628995e-01 8.06376615e+01] [-1.23972228e-01 -4.58828356e-04 9.92285582e-01 -1.04643598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.25, Y:80.64, Z:-10.47 [[-2.29710743e-01 9.72643086e-01 -3.46179343e-02 1.13251719e+02] [-9.65049089e-01 -2.32239144e-01 -1.21429962e-01 8.06412435e+01] [-1.26147652e-01 5.51423926e-03 9.91996151e-01 -1.04677357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.23, Y:80.64, Z:-10.46 [[-2.29620575e-01 9.73162119e-01 -1.51618328e-02 1.13234991e+02] [-9.65722002e-01 -2.29747407e-01 -1.20818639e-01 8.06389563e+01] [-1.21059515e-01 -1.31003298e-02 9.92558802e-01 -1.04572382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.497628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.24, Y:80.63, Z:-10.46 [[-2.29318055e-01 9.72944930e-01 -2.81317112e-02 1.13240501e+02] [-9.65074255e-01 -2.31034164e-01 -1.23510717e-01 8.06340383e+01] [-1.26668512e-01 -1.17404708e-03 9.91944409e-01 -1.04627018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.62, Z:-10.46 [[-2.30890232e-01 9.72793415e-01 -1.90439551e-02 1.13229796e+02] [-9.64190484e-01 -2.31385565e-01 -1.29604906e-01 8.06238964e+01] [-1.30485295e-01 -1.15625065e-02 9.91382820e-01 -1.04575590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.557628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.23, Y:80.62, Z:-10.46 [[-2.28843695e-01 9.73060868e-01 -2.79840972e-02 1.13233834e+02] [-9.64766052e-01 -2.30539519e-01 -1.26799036e-01 8.06245140e+01] [-1.29834620e-01 -2.01905296e-03 9.91533608e-01 -1.04616162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:80.62, Z:-10.46 [[-2.28242352e-01 9.73243825e-01 -2.64931229e-02 1.13232116e+02] [-9.64503360e-01 -2.29737021e-01 -1.30208175e-01 8.06228502e+01] [-1.32810754e-01 -4.16631417e-03 9.91132658e-01 -1.04600549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.617628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.22, Y:80.59, Z:-10.46 [[-2.37872855e-01 9.70954803e-01 -2.57541216e-02 1.13216849e+02] [-9.62656714e-01 -2.39202793e-01 -1.26783573e-01 8.05923757e+01] [-1.29261577e-01 -5.36599232e-03 9.91596012e-01 -1.04611018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.22, Y:80.61, Z:-10.46 [[-2.27764545e-01 9.73212930e-01 -3.13034204e-02 1.13224596e+02] [-9.64384394e-01 -2.29905269e-01 -1.30791088e-01 8.06110818e+01] [-1.34484400e-01 3.98957399e-04 9.90915631e-01 -1.04597390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.677628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.22, Y:80.61, Z:-10.46 [[-2.26368734e-01 9.73804023e-01 -2.15156099e-02 1.13216605e+02] [-9.64358156e-01 -2.27170555e-01 -1.35671979e-01 8.06095384e+01] [-1.37005632e-01 -9.96314011e-03 9.90520163e-01 -1.04557495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70762800000006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.22, Y:80.60, Z:-10.46 [[-2.25081798e-01 9.73955004e-01 -2.73830885e-02 1.13215444e+02] [-9.64477127e-01 -2.26704079e-01 -1.35606533e-01 8.05989200e+01] [-1.38282519e-01 -4.11219975e-03 9.90384286e-01 -1.04584292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.22, Y:80.60, Z:-10.46 [[-2.21064886e-01 9.74717801e-01 -3.24888407e-02 1.13217410e+02] [-9.65386697e-01 -2.23433637e-01 -1.34558296e-01 8.06007507e+01] [-1.38415467e-01 1.61818012e-03 9.90372930e-01 -1.04591622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.767628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.21, Y:80.58, Z:-10.46 [[-2.25375947e-01 9.73843768e-01 -2.88790337e-02 1.13206649e+02] [-9.64690978e-01 -2.27208335e-01 -1.33220452e-01 8.05807893e+01] [-1.36297464e-01 -2.16534229e-03 9.90665591e-01 -1.04595320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:80.59, Z:-10.46 [[-2.18978277e-01 9.75307469e-01 -2.87028807e-02 1.13212303e+02] [-9.65597871e-01 -2.20838898e-01 -1.37298701e-01 8.05879881e+01] [-1.40247161e-01 -2.34999244e-03 9.90113737e-01 -1.04610938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:80.58, Z:-10.46 [[-2.17943799e-01 9.75622889e-01 -2.56997820e-02 1.13209952e+02] [-9.66305900e-01 -2.19407714e-01 -1.34585155e-01 8.05827072e+01] [-1.36943088e-01 -4.49814886e-03 9.90568704e-01 -1.04610287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:80.58, Z:-10.46 [[-2.14915300e-01 9.76253003e-01 -2.72302862e-02 1.13208743e+02] [-9.67424433e-01 -2.16625921e-01 -1.31008306e-01 8.05768756e+01] [-1.33796038e-01 -1.81244517e-03 9.91007233e-01 -1.04631191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.887628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.21, Y:80.57, Z:-10.46 [[-2.15484342e-01 9.76030239e-01 -3.05200052e-02 1.13205798e+02] [-9.67728207e-01 -2.17624256e-01 -1.27050388e-01 8.05671102e+01] [-1.30646914e-01 2.15770069e-03 9.91426613e-01 -1.04641669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.19, Y:80.54, Z:-10.47 [[-2.25364282e-01 9.73999329e-01 -2.31570192e-02 1.13188012e+02] [-9.65324619e-01 -2.26445240e-01 -1.29888156e-01 8.05405402e+01] [-1.31754773e-01 -6.91811017e-03 9.91258200e-01 -1.04658151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:80.56, Z:-10.47 [[-2.08509608e-01 9.77436241e-01 -3.37955263e-02 1.13206415e+02] [-9.69236230e-01 -2.11134341e-01 -1.26504627e-01 8.05637452e+01] [-1.30785603e-01 6.37841835e-03 9.91390156e-01 -1.04660207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.21, Y:80.57, Z:-10.47 [[-1.96852211e-01 9.79888250e-01 -3.26836942e-02 1.13210243e+02] [-9.71953309e-01 -1.99416097e-01 -1.24659477e-01 8.05697932e+01] [-1.28670012e-01 7.22753092e-03 9.91661127e-01 -1.04688449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.007628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.19, Y:80.54, Z:-10.47 [[-2.07350997e-01 9.78013410e-01 -2.22561020e-02 1.13189303e+02] [-9.69699380e-01 -2.08486225e-01 -1.27344439e-01 8.05403096e+01] [-1.29184660e-01 -4.82326812e-03 9.91608824e-01 -1.04691876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.19, Y:80.54, Z:-10.47 [[-2.02666755e-01 9.78657306e-01 -3.40009434e-02 1.13193769e+02] [-9.70684450e-01 -2.05355147e-01 -1.24903808e-01 8.05373863e+01] [-1.29220293e-01 7.69033754e-03 9.91586090e-01 -1.04738799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.067628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.19, Y:80.53, Z:-10.47 [[-2.00125360e-01 9.79168898e-01 -3.43235883e-02 1.13192401e+02] [-9.71087644e-01 -2.02883649e-01 -1.25805458e-01 8.05325755e+01] [-1.30148486e-01 8.15434996e-03 9.91460982e-01 -1.04736561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.19, Y:80.53, Z:-10.47 [[-1.98530410e-01 9.79496871e-01 -3.42280074e-02 1.13191275e+02] [-9.71501616e-01 -2.01284132e-01 -1.25177107e-01 8.05303773e+01] [-1.29500139e-01 8.40110222e-03 9.91543814e-01 -1.04723241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.127628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.19, Y:80.52, Z:-10.47 [[-1.96867104e-01 9.79822272e-01 -3.45204017e-02 1.13188455e+02] [-9.71734075e-01 -1.99679079e-01 -1.25941069e-01 8.05213959e+01] [-1.30292866e-01 8.75099712e-03 9.91436931e-01 -1.04735954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:80.52, Z:-10.47 [[-1.99815234e-01 9.79226683e-01 -3.44815341e-02 1.13187277e+02] [-9.71181685e-01 -2.02594450e-01 -1.25545308e-01 8.05196623e+01] [-1.29923083e-01 8.40196920e-03 9.91488477e-01 -1.04705768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:80.51, Z:-10.47 [[-2.00605679e-01 9.79067087e-01 -3.44238539e-02 1.13183993e+02] [-9.71082916e-01 -2.03366841e-01 -1.25059580e-01 8.05098853e+01] [-1.29442389e-01 8.34075449e-03 9.91551864e-01 -1.04716919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.18, Y:80.51, Z:-10.47 [[-2.00669110e-01 9.79040481e-01 -3.48087052e-02 1.13183876e+02] [-9.70909678e-01 -2.03489480e-01 -1.26199953e-01 8.05085519e+01] [-1.30638068e-01 8.47167651e-03 9.91393931e-01 -1.04746824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.247628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.20, Y:80.53, Z:-10.47 [[-1.90882335e-01 9.81146953e-01 -3.02421937e-02 1.13195592e+02] [-9.73004656e-01 -1.93189764e-01 -1.26252343e-01 8.05314455e+01] [-1.29714584e-01 5.32645321e-03 9.91537067e-01 -1.04690973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.20, Y:80.53, Z:-10.47 [[-1.89291259e-01 9.81192401e-01 -3.78191957e-02 1.13198436e+02] [-9.72761352e-01 -1.92634868e-01 -1.28946346e-01 8.05309063e+01] [-1.33806470e-01 1.23806358e-02 9.90930143e-01 -1.04736546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.307628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.18, Y:80.50, Z:-10.48 [[-2.02453909e-01 9.78694989e-01 -3.41838077e-02 1.13177653e+02] [-9.69937721e-01 -2.05211028e-01 -1.30802337e-01 8.04961724e+01] [-1.35030486e-01 6.67472017e-03 9.90818962e-01 -1.04755090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.18, Y:80.49, Z:-10.48 [[-2.03530445e-01 9.78371480e-01 -3.69405751e-02 1.13176434e+02] [-9.69362887e-01 -2.06668805e-01 -1.32753903e-01 8.04907589e+01] [-1.37517097e-01 8.78936165e-03 9.90460396e-01 -1.04768424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.367628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.17, Y:80.48, Z:-10.48 [[-2.05083952e-01 9.78029297e-01 -3.74067756e-02 1.13173510e+02] [-9.68827089e-01 -2.08284524e-01 -1.34132878e-01 8.04822178e+01] [-1.38977137e-01 8.73219678e-03 9.90257090e-01 -1.04781514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.17, Y:80.48, Z:-10.48 [[-2.06773336e-01 9.77663629e-01 -3.76645180e-02 1.13171489e+02] [-9.68369617e-01 -2.09999352e-01 -1.34761115e-01 8.04787993e+01] [-1.39660565e-01 8.60816964e-03 9.90162020e-01 -1.04783283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.427628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.17, Y:80.47, Z:-10.48 [[-2.10305631e-01 9.76903479e-01 -3.78303391e-02 1.13168806e+02] [-9.67557107e-01 -2.13523683e-01 -1.35058809e-01 8.04721498e+01] [-1.40017093e-01 8.19938540e-03 9.90115137e-01 -1.04784034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45762800000006 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.17, Y:80.46, Z:-10.48 [[-2.13290702e-01 9.76249091e-01 -3.80103835e-02 1.13166643e+02] [-9.66845128e-01 -2.16508166e-01 -1.35405736e-01 8.04630372e+01] [-1.40419285e-01 7.86936945e-03 9.90060855e-01 -1.04810242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.17, Y:80.47, Z:-10.47 [[-2.10560288e-01 9.77303876e-01 -2.32701193e-02 1.13167117e+02] [-9.68524927e-01 -2.11783162e-01 -1.30795103e-01 8.04749003e+01] [-1.32754780e-01 -5.00256387e-03 9.91136289e-01 -1.04710630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.17, Y:80.45, Z:-10.49 [[-2.16699407e-01 9.74936973e-01 -5.03911292e-02 1.13169797e+02] [-9.65984065e-01 -2.21599200e-01 -1.33298840e-01 8.04483831e+01] [-1.41124601e-01 1.97912483e-02 9.89793995e-01 -1.04890624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:113.16, Y:80.44, Z:-10.49 [[-2.17541793e-01 9.75270539e-01 -3.90249112e-02 1.13160401e+02] [-9.65508123e-01 -2.20880662e-01 -1.37861513e-01 8.04421291e+01] [-1.43072121e-01 7.68822796e-03 9.89682403e-01 -1.04857090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.16, Y:80.44, Z:-10.49 [[-2.17543413e-01 9.75272860e-01 -3.89578155e-02 1.13159025e+02] [-9.65590306e-01 -2.20868338e-01 -1.37304547e-01 8.04394301e+01] [-1.42513946e-01 7.74758931e-03 9.89762472e-01 -1.04851612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.16, Y:80.43, Z:-10.48 [[-2.17643148e-01 9.75251562e-01 -3.89339366e-02 1.13157827e+02] [-9.65623061e-01 -2.20960707e-01 -1.36925050e-01 8.04332832e+01] [-1.42139239e-01 7.79470810e-03 9.89815983e-01 -1.04846978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:113.16, Y:80.43, Z:-10.49 [[-2.15602158e-01 9.75706955e-01 -3.88799114e-02 1.13157650e+02] [-9.66154280e-01 -2.18928222e-01 -1.36441713e-01 8.04278942e+01] [-1.41639038e-01 8.14686518e-03 9.89884848e-01 -1.04882046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.16, Y:80.43, Z:-10.49 [[-2.14913139e-01 9.75864781e-01 -3.87333496e-02 1.13158162e+02] [-9.66428108e-01 -2.18218524e-01 -1.35636968e-01 8.04256994e+01] [-1.40815675e-01 8.28283122e-03 9.90001182e-01 -1.04892086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.16, Y:80.42, Z:-10.49 [[-2.13490183e-01 9.76180787e-01 -3.86395261e-02 1.13157960e+02] [-9.66835762e-01 -2.16790832e-01 -1.35019793e-01 8.04206923e+01] [-1.40180423e-01 8.53267536e-03 9.90089209e-01 -1.04906647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:113.16, Y:80.42, Z:-10.49 [[-2.11958059e-01 9.76512405e-01 -3.86950131e-02 1.13157315e+02] [-9.67186430e-01 -2.15280306e-01 -1.34925160e-01 8.04176091e+01] [-1.40086366e-01 8.82681662e-03 9.90099943e-01 -1.04909898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.16, Y:80.41, Z:-10.49 [[-2.08845352e-01 9.77173463e-01 -3.89312615e-02 1.13155186e+02] [-9.67784575e-01 -2.12235497e-01 -1.35458885e-01 8.04114279e+01] [-1.40629424e-01 9.38711579e-03 9.90017802e-01 -1.04914170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.15, Y:80.41, Z:-10.49 [[-2.07993695e-01 9.77353736e-01 -3.89653429e-02 1.13154011e+02] [-9.67992115e-01 -2.11395183e-01 -1.35289842e-01 8.04069268e+01] [-1.40463118e-01 9.57871048e-03 9.90039575e-01 -1.04908367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.16, Y:80.41, Z:-10.49 [[-2.03040023e-01 9.78399833e-01 -3.88396098e-02 1.13155162e+02] [-9.69156303e-01 -2.06463771e-01 -1.34568836e-01 8.04052306e+01] [-1.39681099e-01 1.03187931e-02 9.90142774e-01 -1.04926215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.16, Y:80.40, Z:-10.49 [[-2.00636600e-01 9.78888899e-01 -3.90061386e-02 1.13155143e+02] [-9.69614421e-01 -2.04109481e-01 -1.34859904e-01 8.04020220e+01] [-1.39974386e-01 1.07630819e-02 9.90096625e-01 -1.04931590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.16, Y:80.42, Z:-10.49 [[-1.94427786e-01 9.80467759e-01 -2.96784533e-02 1.13158498e+02] [-9.71593817e-01 -1.96653221e-01 -1.31654718e-01 8.04160089e+01] [-1.34919570e-01 3.23806652e-03 9.90851263e-01 -1.04860675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.16, Y:80.39, Z:-10.50 [[-1.96995784e-01 9.79286047e-01 -4.68134424e-02 1.13157806e+02] [-9.70269890e-01 -2.01584882e-01 -1.33939822e-01 8.03926918e+01] [-1.40602281e-01 1.90360933e-02 9.89883137e-01 -1.04979765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.937628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.15, Y:80.39, Z:-10.50 [[-1.96269057e-01 9.79730337e-01 -4.00864551e-02 1.13151551e+02] [-9.70103672e-01 -1.99967320e-01 -1.37520677e-01 8.03868706e+01] [-1.42749160e-01 1.18969637e-02 9.89687395e-01 -1.04960357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.15, Y:80.38, Z:-10.50 [[-1.97258841e-01 9.79530223e-01 -4.01184838e-02 1.13148729e+02] [-9.69925605e-01 -2.00949848e-01 -1.37344385e-01 8.03808695e+01] [-1.42594779e-01 1.18195505e-02 9.89710577e-01 -1.04963325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.997628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.15, Y:80.38, Z:-10.50 [[-1.98249888e-01 9.79318338e-01 -4.04051362e-02 1.13147442e+02] [-9.69613203e-01 -2.01980395e-01 -1.38036798e-01 8.03777376e+01] [-1.43343013e-01 1.18115737e-02 9.89602580e-01 -1.04967284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.14, Y:80.37, Z:-10.50 [[-1.99681239e-01 9.79023996e-01 -4.04897386e-02 1.13144986e+02] [-9.69314075e-01 -2.03409714e-01 -1.38038807e-01 8.03705687e+01] [-1.43379310e-01 1.16835135e-02 9.89598842e-01 -1.04977269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.057628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.14, Y:80.37, Z:-10.50 [[-2.02761574e-01 9.78395021e-01 -4.03847435e-02 1.13144358e+02] [-9.68765081e-01 -2.06437143e-01 -1.37396955e-01 8.03658355e+01] [-1.42765408e-01 1.12645066e-02 9.89692452e-01 -1.04988824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.14, Y:80.36, Z:-10.50 [[-2.03304475e-01 9.78279172e-01 -4.04617340e-02 1.13142838e+02] [-9.68651297e-01 -2.06985440e-01 -1.37374281e-01 8.03604335e+01] [-1.42765388e-01 1.12645050e-02 9.89692455e-01 -1.04996383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.117628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.14, Y:80.35, Z:-10.50 [[-2.05399569e-01 9.77839647e-01 -4.05048314e-02 1.13139508e+02] [-9.68223823e-01 -2.09064557e-01 -1.37239353e-01 8.03485890e+01] [-1.42666205e-01 1.10288387e-02 9.89709411e-01 -1.05025038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:80.34, Z:-10.50 [[-2.08055708e-01 9.77266381e-01 -4.07828682e-02 1.13138488e+02] [-9.67545572e-01 -2.11741674e-01 -1.37916750e-01 8.03448721e+01] [-1.43416836e-01 1.07649166e-02 9.89603824e-01 -1.05007596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.177628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:113.14, Y:80.34, Z:-10.50 [[-2.11477158e-01 9.76521666e-01 -4.10225206e-02 1.13137441e+02] [-9.66714063e-01 -2.15168998e-01 -1.38442127e-01 8.03389991e+01] [-1.44018512e-01 1.03796999e-02 9.89520556e-01 -1.05040655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20762800000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.14, Y:80.33, Z:-10.50 [[-2.14787892e-01 9.75785621e-01 -4.13350224e-02 1.13135110e+02] [-9.65853538e-01 -2.18499537e-01 -1.39229648e-01 8.03321397e+01] [-1.44889972e-01 1.00187350e-02 9.89397049e-01 -1.05044630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.13, Y:80.32, Z:-10.51 [[-2.19530839e-01 9.74727175e-01 -4.13901512e-02 1.13132474e+02] [-9.64792122e-01 -2.23201195e-01 -1.39130831e-01 8.03222294e+01] [-1.44852933e-01 9.38938374e-03 9.89408645e-01 -1.05057658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.267628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:113.13, Y:80.32, Z:-10.51 [[-2.21091497e-01 9.74364288e-01 -4.16267301e-02 1.13132017e+02] [-9.64348034e-01 -2.24785203e-01 -1.39658447e-01 8.03191140e+01] [-1.45435276e-01 9.26536027e-03 9.89324382e-01 -1.05070658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.13, Y:80.31, Z:-10.51 [[-2.23432294e-01 9.73812056e-01 -4.20486565e-02 1.13128647e+02] [-9.63625289e-01 -2.27173740e-01 -1.40777818e-01 8.03085708e+01] [-1.46643487e-01 9.06483795e-03 9.89147874e-01 -1.05083369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.327628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.13, Y:80.31, Z:-10.51 [[-2.25614846e-01 9.73288239e-01 -4.25199323e-02 1.13127660e+02] [-9.62909374e-01 -2.29414136e-01 -1.42037641e-01 8.03070412e+01] [-1.47998239e-01 8.89704095e-03 9.88947604e-01 -1.05079382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.13, Y:80.30, Z:-10.51 [[-2.25522503e-01 9.73280599e-01 -4.31795792e-02 1.13126075e+02] [-9.62620324e-01 -2.29438478e-01 -1.43944770e-01 8.03025541e+01] [-1.50005709e-01 9.10275577e-03 9.88643225e-01 -1.05095264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.387628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.13, Y:80.30, Z:-10.51 [[-2.24780110e-01 9.73445621e-01 -4.33304083e-02 1.13125489e+02] [-9.62755024e-01 -2.28729005e-01 -1.44172837e-01 8.02992180e+01] [-1.50255338e-01 9.30938194e-03 9.88603393e-01 -1.05097537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41762800000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.12, Y:80.29, Z:-10.51 [[-2.23821041e-01 9.73653561e-01 -4.36220685e-02 1.13124399e+02] [-9.62866473e-01 -2.27830922e-01 -1.44848980e-01 8.02931385e+01] [-1.50971182e-01 9.58197763e-03 9.88491724e-01 -1.05103199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.447628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.12, Y:80.29, Z:-10.51 [[-2.22925919e-01 9.73854079e-01 -4.37294717e-02 1.13122836e+02] [-9.63059181e-01 -2.26962748e-01 -1.44930760e-01 8.02874087e+01] [-1.51066373e-01 9.80524643e-03 9.88474991e-01 -1.05116904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.12, Y:80.28, Z:-10.51 [[-2.22220743e-01 9.74014838e-01 -4.37382787e-02 1.13122416e+02] [-9.63263565e-01 -2.26264040e-01 -1.44664748e-01 8.02845491e+01] [-1.50802011e-01 9.98398234e-03 9.88513568e-01 -1.05120306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.507628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.12, Y:80.28, Z:-10.51 [[-2.21414202e-01 9.74190470e-01 -4.39167437e-02 1.13121524e+02] [-9.63399326e-01 -2.25496377e-01 -1.44959040e-01 8.02821954e+01] [-1.51120782e-01 1.02133711e-02 9.88462542e-01 -1.05119339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:80.27, Z:-10.51 [[-2.21095850e-01 9.74262368e-01 -4.39256560e-02 1.13118976e+02] [-9.63512973e-01 -2.25180148e-01 -1.44695027e-01 8.02734949e+01] [-1.50862106e-01 1.03314693e-02 9.88500827e-01 -1.05113807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.567628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.12, Y:80.27, Z:-10.51 [[-2.20101780e-01 9.74505766e-01 -4.35168729e-02 1.13119911e+02] [-9.64004376e-01 -2.24118383e-01 -1.43061226e-01 8.02718629e+01] [-1.49166921e-01 1.04624253e-02 9.88756678e-01 -1.05143562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59762800000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.12, Y:80.27, Z:-10.52 [[-2.20659633e-01 9.74399634e-01 -4.30659997e-02 1.13120193e+02] [-9.64156121e-01 -2.24584853e-01 -1.41296209e-01 8.02658660e+01] [-1.47350946e-01 1.03439776e-02 9.89030182e-01 -1.05164564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:80.26, Z:-10.52 [[-2.21715621e-01 9.74172217e-01 -4.27863869e-02 1.13119882e+02] [-9.64099462e-01 -2.25576349e-01 -1.40098320e-01 8.02613388e+01] [-1.46131488e-01 1.01883466e-02 9.89212710e-01 -1.05156736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:80.25, Z:-10.52 [[-2.21851802e-01 9.74164500e-01 -4.22528739e-02 1.13118240e+02] [-9.64382093e-01 -2.25612987e-01 -1.38079540e-01 8.02508510e+01] [-1.44044983e-01 1.01147202e-02 9.89519447e-01 -1.05189891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.687628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.12, Y:80.25, Z:-10.52 [[-2.21999838e-01 9.74136554e-01 -4.21194200e-02 1.13118698e+02] [-9.64452155e-01 -2.25733326e-01 -1.37391800e-01 8.02531412e+01] [-1.43346131e-01 1.01212081e-02 9.89620861e-01 -1.05206175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:80.25, Z:-10.52 [[-2.22626173e-01 9.73996626e-01 -4.20494806e-02 1.13115106e+02] [-9.64378386e-01 -2.26338559e-01 -1.36913062e-01 8.02464880e+01] [-1.42870279e-01 1.00711792e-02 9.89690181e-01 -1.05197213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.747628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.11, Y:80.24, Z:-10.52 [[-2.23714569e-01 9.73760771e-01 -4.17343115e-02 1.13112735e+02] [-9.64318240e-01 -2.27358624e-01 -1.35640658e-01 8.02411873e+01] [-1.41570208e-01 9.90036628e-03 9.89878709e-01 -1.05229304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.11, Y:80.24, Z:-10.52 [[-2.26713488e-01 9.73081806e-01 -4.13859000e-02 1.13110827e+02] [-9.63820752e-01 -2.30266185e-01 -1.34264820e-01 8.02353216e+01] [-1.40180427e-01 9.44894352e-03 9.90080888e-01 -1.05237140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.807628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.11, Y:80.23, Z:-10.53 [[-2.29055605e-01 9.72537915e-01 -4.12738930e-02 1.13109249e+02] [-9.63353107e-01 -2.32564724e-01 -1.33657924e-01 8.02263926e+01] [-1.39586250e-01 9.14623632e-03 9.90167675e-01 -1.05261697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.11, Y:80.22, Z:-10.53 [[-2.33960528e-01 9.71367566e-01 -4.13221814e-02 1.13106666e+02] [-9.62177955e-01 -2.37429242e-01 -1.33569973e-01 8.02175630e+01] [-1.39556633e-01 8.50919071e-03 9.90177529e-01 -1.05263731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:80.22, Z:-10.52 [[-2.36470934e-01 9.70734600e-01 -4.19026684e-02 1.13106025e+02] [-9.61309965e-01 -2.40010945e-01 -1.35195773e-01 8.02152529e+01] [-1.41296314e-01 8.31158205e-03 9.89932457e-01 -1.05246490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:80.20, Z:-10.53 [[-2.37894072e-01 9.70366719e-01 -4.23655635e-02 1.13101953e+02] [-9.60762753e-01 -2.41496233e-01 -1.36434972e-01 8.02041970e+01] [-1.42623080e-01 8.24618448e-03 9.89742723e-01 -1.05253930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.927628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.10, Y:80.20, Z:-10.53 [[-2.40350612e-01 9.69733486e-01 -4.29947606e-02 1.13099973e+02] [-9.59871823e-01 -2.44032871e-01 -1.38181187e-01 8.02013525e+01] [-1.44491059e-01 8.05752636e-03 9.89473299e-01 -1.05251052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95762800000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.10, Y:80.19, Z:-10.53 [[-2.42871347e-01 9.69073984e-01 -4.36935005e-02 1.13095287e+02] [-9.58918876e-01 -2.46645119e-01 -1.40145546e-01 8.01933656e+01] [-1.46588191e-01 7.86118492e-03 9.89166368e-01 -1.05266901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:80.19, Z:-10.52 [[-2.43859392e-01 9.68811289e-01 -4.40145710e-02 1.13095146e+02] [-9.58540553e-01 -2.47676055e-01 -1.40913379e-01 8.01917658e+01] [-1.47419828e-01 7.82670026e-03 9.89043041e-01 -1.05243290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.09, Y:80.18, Z:-10.53 [[-2.44659866e-01 9.68595745e-01 -4.43151584e-02 1.13092595e+02] [-9.58223169e-01 -2.48517780e-01 -1.41588386e-01 8.01829623e+01] [-1.48155013e-01 7.82281598e-03 9.88933211e-01 -1.05282641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.09, Y:80.18, Z:-10.53 [[-2.45849200e-01 9.68277284e-01 -4.46908495e-02 1.13091160e+02] [-9.57767910e-01 -2.49757225e-01 -1.42484944e-01 8.01777534e+01] [-1.49126797e-01 7.77365202e-03 9.88787525e-01 -1.05298475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.09, Y:80.17, Z:-10.53 [[-2.47840910e-01 9.67757830e-01 -4.49406876e-02 1.13088869e+02] [-9.57161295e-01 -2.51768721e-01 -1.43020163e-01 8.01688421e+01] [-1.49723542e-01 7.56923929e-03 9.88698927e-01 -1.05319949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.09, Y:80.17, Z:-10.53 [[-2.49145927e-01 9.67415174e-01 -4.51019666e-02 1.13088733e+02] [-9.56776275e-01 -2.53085511e-01 -1.43272061e-01 8.01674729e+01] [-1.50018220e-01 7.45684112e-03 9.88655111e-01 -1.05319333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.08, Y:80.15, Z:-10.53 [[-2.50025139e-01 9.67180396e-01 -4.52715215e-02 1.13084555e+02] [-9.56497010e-01 -2.53982587e-01 -1.43548998e-01 8.01540659e+01] [-1.50335955e-01 7.41121665e-03 9.88607189e-01 -1.05335487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.08, Y:80.15, Z:-10.53 [[-2.51224526e-01 9.66870775e-01 -4.52453492e-02 1.13084596e+02] [-9.56234976e-01 -2.55162244e-01 -1.43202302e-01 8.01542016e+01] [-1.50003025e-01 7.28925513e-03 9.88658667e-01 -1.05323033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:113.08, Y:80.14, Z:-10.54 [[-2.52368767e-01 9.66588424e-01 -4.49090773e-02 1.13080848e+02] [-9.56149308e-01 -2.56233951e-01 -1.41854372e-01 8.01443845e+01] [-1.48622024e-01 7.14017042e-03 9.88868299e-01 -1.05355013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.08, Y:80.14, Z:-10.53 [[-2.55361711e-01 9.65812323e-01 -4.46872774e-02 1.13078501e+02] [-9.55509700e-01 -2.59154894e-01 -1.40854370e-01 8.01412330e+01] [-1.47619813e-01 6.73031420e-03 9.89021281e-01 -1.05336343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.08, Y:80.14, Z:-10.53 [[-2.57109773e-01 9.65354775e-01 -4.45502348e-02 1.13077255e+02] [-9.55149611e-01 -2.60859476e-01 -1.40148332e-01 8.01368933e+01] [-1.46914212e-01 6.51863349e-03 9.89127758e-01 -1.05318397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.08, Y:80.13, Z:-10.54 [[-2.58313103e-01 9.65058437e-01 -4.40062962e-02 1.13076764e+02] [-9.55134218e-01 -2.61958153e-01 -1.38190274e-01 8.01336157e+01] [-1.44889498e-01 6.33556077e-03 9.89427559e-01 -1.05356535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.07, Y:80.12, Z:-10.54 [[-2.59749944e-01 9.64696385e-01 -4.34839135e-02 1.13074748e+02] [-9.55041699e-01 -2.63293187e-01 -1.36279313e-01 8.01243073e+01] [-1.42917179e-01 6.13040670e-03 9.89715665e-01 -1.05371027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.07, Y:80.12, Z:-10.54 [[-2.58206510e-01 9.65151267e-01 -4.25726494e-02 1.13074222e+02] [-9.55972425e-01 -2.61615064e-01 -1.32944657e-01 8.01189057e+01] [-1.39449351e-01 6.37110281e-03 9.90208709e-01 -1.05404367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.07, Y:80.11, Z:-10.54 [[-2.56926053e-01 9.65509025e-01 -4.22057544e-02 1.13073381e+02] [-9.56528603e-01 -2.60286587e-01 -1.31544382e-01 8.01125766e+01] [-1.37992880e-01 6.57383238e-03 9.90411404e-01 -1.05415451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.07, Y:80.11, Z:-10.54 [[-2.55193946e-01 9.65975187e-01 -4.20474455e-02 1.13073035e+02] [-9.57101170e-01 -2.58543750e-01 -1.30814674e-01 8.01094577e+01] [-1.37234833e-01 6.86054650e-03 9.90514782e-01 -1.05423372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.437628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.07, Y:80.11, Z:-10.54 [[-2.49688894e-01 9.67398125e-01 -4.23830652e-02 1.13072671e+02] [-9.58439834e-01 -2.53141309e-01 -1.31577213e-01 8.01101795e+01] [-1.38016454e-01 7.76824901e-03 9.90399471e-01 -1.05402394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.07, Y:80.11, Z:-10.54 [[-2.45505172e-01 9.68454182e-01 -4.27048995e-02 1.13071083e+02] [-9.59410086e-01 -2.49047122e-01 -1.32317113e-01 8.01070218e+01] [-1.38778594e-01 8.48697565e-03 9.90287066e-01 -1.05392778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.497628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.07, Y:80.11, Z:-10.54 [[-2.40495366e-01 9.69703912e-01 -4.28521012e-02 1.13070903e+02] [-9.60653486e-01 -2.44106206e-01 -1.32502982e-01 8.01069787e+01] [-1.38949124e-01 9.29966724e-03 9.90255854e-01 -1.05379290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.07, Y:80.10, Z:-10.54 [[-2.35893494e-01 9.70813096e-01 -4.33150437e-02 1.13068787e+02] [-9.61641593e-01 -2.39622102e-01 -1.33516646e-01 8.00994156e+01] [-1.39998950e-01 1.01578395e-02 9.90099547e-01 -1.05385892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.557628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.07, Y:80.10, Z:-10.54 [[-2.27830884e-01 9.72717787e-01 -4.37400848e-02 1.13069947e+02] [-9.63430319e-01 -2.31707519e-01 -1.34586942e-01 8.01040418e+01] [-1.41050019e-01 1.14774618e-02 9.89935937e-01 -1.05358058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.07, Y:80.10, Z:-10.54 [[-2.25358633e-01 9.73281879e-01 -4.39985310e-02 1.13069903e+02] [-9.63931038e-01 -2.29301812e-01 -1.35120810e-01 8.01024694e+01] [-1.41599579e-01 1.19609086e-02 9.89851755e-01 -1.05357147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.617628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.07, Y:80.10, Z:-10.54 [[-2.23585584e-01 9.73680097e-01 -4.42329581e-02 1.13069187e+02] [-9.64275984e-01 -2.27584528e-01 -1.35562196e-01 8.00994807e+01] [-1.42060949e-01 1.23430265e-02 9.89780954e-01 -1.05356655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.07, Y:80.09, Z:-10.54 [[-2.22713535e-01 9.73857655e-01 -4.47207828e-02 1.13066338e+02] [-9.64285057e-01 -2.26806224e-01 -1.36796441e-01 8.00921849e+01] [-1.43363214e-01 1.26571636e-02 9.89589200e-01 -1.05353664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.677628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.06, Y:80.09, Z:-10.54 [[-2.23547872e-01 9.73654332e-01 -4.49843418e-02 1.13064171e+02] [-9.64001808e-01 -2.27677227e-01 -1.37344803e-01 8.00881535e+01] [-1.43968273e-01 1.26618482e-02 9.89501296e-01 -1.05358402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70762800000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.06, Y:80.08, Z:-10.54 [[-2.25837423e-01 9.73121921e-01 -4.50686791e-02 1.13061347e+02] [-9.63457696e-01 -2.29956474e-01 -1.37365527e-01 8.00803456e+01] [-1.44037240e-01 1.23994891e-02 9.89494581e-01 -1.05367615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.06, Y:80.08, Z:-10.54 [[-2.28834460e-01 9.72427978e-01 -4.49290298e-02 1.13060085e+02] [-9.62845393e-01 -2.32895651e-01 -1.36705398e-01 8.00778009e+01] [-1.43399930e-01 1.19768033e-02 9.89592349e-01 -1.05379337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.767628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.05, Y:80.06, Z:-10.54 [[-2.33597371e-01 9.71288948e-01 -4.50560538e-02 1.13053642e+02] [-9.61670170e-01 -2.37631194e-01 -1.36827992e-01 8.00590332e+01] [-1.43606240e-01 1.13664038e-02 9.89569630e-01 -1.05397446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.05, Y:80.05, Z:-10.54 [[-2.38233505e-01 9.70164907e-01 -4.49983473e-02 1.13050187e+02] [-9.60619840e-01 -2.42206071e-01 -1.36182751e-01 8.00525025e+01] [-1.43018598e-01 1.07830112e-02 9.89661259e-01 -1.05407162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.827628 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:113.05, Y:80.04, Z:-10.54 [[-2.49049665e-01 9.67436172e-01 -4.51831576e-02 1.13045508e+02] [-9.57802167e-01 -2.52944934e-01 -1.36505935e-01 8.00438369e+01] [-1.43489630e-01 9.27976889e-03 9.89608312e-01 -1.05424444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.04, Y:80.02, Z:-10.54 [[-2.54094263e-01 9.66247130e-01 -4.24569106e-02 1.13035967e+02] [-9.56296735e-01 -2.57559696e-01 -1.38418057e-01 8.00206836e+01] [-1.44681239e-01 5.43017084e-03 9.89463416e-01 -1.05436911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.887628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.04, Y:80.03, Z:-10.55 [[-2.59332036e-01 9.64561944e-01 -4.86533763e-02 1.13042236e+02] [-9.54737387e-01 -2.63638177e-01 -1.37736831e-01 8.00259112e+01] [-1.45682593e-01 1.07316246e-02 9.89273175e-01 -1.05459007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.04, Y:80.02, Z:-10.55 [[-2.63388187e-01 9.63576461e-01 -4.63364505e-02 1.13038843e+02] [-9.53495742e-01 -2.67327438e-01 -1.39218932e-01 8.00164274e+01] [-1.46535091e-01 7.51298603e-03 9.89176942e-01 -1.05469966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.947628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.04, Y:80.01, Z:-10.55 [[-2.63884764e-01 9.63436813e-01 -4.64148560e-02 1.13037402e+02] [-9.53358483e-01 -2.67830114e-01 -1.39192791e-01 8.00118547e+01] [-1.46534755e-01 7.51914005e-03 9.89176945e-01 -1.05476469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97762800000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.04, Y:80.00, Z:-10.55 [[-2.68888536e-01 9.62010124e-01 -4.72808299e-02 1.13036586e+02] [-9.51570185e-01 -2.72925556e-01 -1.41512631e-01 8.00043410e+01] [-1.49040730e-01 6.93990385e-03 9.88806704e-01 -1.05501193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.007628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.03, Y:80.00, Z:-10.55 [[-2.70453814e-01 9.61537499e-01 -4.79622021e-02 1.13034326e+02] [-9.50850969e-01 -2.74587100e-01 -1.43123582e-01 7.99975796e+01] [-1.50788493e-01 6.89658760e-03 9.88541991e-01 -1.05507953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03762800000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.03, Y:79.99, Z:-10.55 [[-2.71114139e-01 9.61309775e-01 -4.87917993e-02 1.13032618e+02] [-9.50284143e-01 -2.75381660e-01 -1.45344381e-01 7.99927233e+01] [-1.53157341e-01 6.96115637e-03 9.88177297e-01 -1.05518424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.067628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.03, Y:79.99, Z:-10.55 [[-2.72240984e-01 9.60947360e-01 -4.96489473e-02 1.13031966e+02] [-9.49563511e-01 -2.76643903e-01 -1.47639051e-01 7.99912198e+01] [-1.55608435e-01 6.95142825e-03 9.87794358e-01 -1.05518758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09762800000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.03, Y:79.98, Z:-10.55 [[-2.73378691e-01 9.60568511e-01 -5.07171323e-02 1.13028876e+02] [-9.48722572e-01 -2.77956309e-01 -1.50551556e-01 7.99834948e+01] [-1.58712231e-01 6.95890099e-03 9.87300360e-01 -1.05511925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.127628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:113.03, Y:79.98, Z:-10.55 [[-2.73595670e-01 9.60482093e-01 -5.11816204e-02 1.13028860e+02] [-9.48458735e-01 -2.78252502e-01 -1.51662694e-01 7.99809158e+01] [-1.59910715e-01 7.04939871e-03 9.87106311e-01 -1.05527611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:113.02, Y:79.97, Z:-10.55 [[-2.74051780e-01 9.60315035e-01 -5.18715261e-02 1.13024573e+02] [-9.48008203e-01 -2.78826440e-01 -1.53415327e-01 7.99658995e+01] [-1.61790198e-01 7.13088889e-03 9.86799413e-01 -1.05549001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.187628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:113.03, Y:79.97, Z:-10.56 [[-2.74205245e-01 9.60241634e-01 -5.24164793e-02 1.13026026e+02] [-9.47720483e-01 -2.79076115e-01 -1.54733344e-01 7.99674218e+01] [-1.63209586e-01 7.24747659e-03 9.86564800e-01 -1.05556040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21762800000005 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:113.02, Y:79.96, Z:-10.56 [[-2.74916878e-01 9.59996320e-01 -5.31768356e-02 1.13023370e+02] [-9.47152322e-01 -2.79917637e-01 -1.56679913e-01 7.99603011e+01] [-1.65297274e-01 7.29261091e-03 9.86216827e-01 -1.05563394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.247628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.02, Y:79.96, Z:-10.55 [[-2.77291029e-01 9.59304044e-01 -5.33426354e-02 1.13022262e+02] [-9.46415303e-01 -2.82288838e-01 -1.56879208e-01 7.99581077e+01] [-1.65552889e-01 6.98308936e-03 9.86176190e-01 -1.05538946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27762800000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.02, Y:79.95, Z:-10.56 [[-2.77869581e-01 9.59136035e-01 -5.33531935e-02 1.13019633e+02] [-9.46285045e-01 -2.82859659e-01 -1.56636607e-01 7.99472949e+01] [-1.65327281e-01 6.96278071e-03 9.86214181e-01 -1.05579523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.307628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.02, Y:79.94, Z:-10.56 [[-2.78118326e-01 9.59072310e-01 -5.32024585e-02 1.13020113e+02] [-9.46341814e-01 -2.83075023e-01 -1.55902859e-01 7.99426807e+01] [-1.64582402e-01 6.98826903e-03 9.86338581e-01 -1.05599443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.02, Y:79.94, Z:-10.56 [[-2.77265741e-01 9.59316401e-01 -5.32517726e-02 1.13022096e+02] [-9.46615169e-01 -2.82240797e-01 -1.55755753e-01 7.99421737e+01] [-1.64448871e-01 7.22320155e-03 9.86359161e-01 -1.05615036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.367628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.02, Y:79.93, Z:-10.56 [[-2.76917415e-01 9.59403931e-01 -5.34868466e-02 1.13020725e+02] [-9.46639098e-01 -2.81938792e-01 -1.56156769e-01 7.99349274e+01] [-1.64897435e-01 7.39021153e-03 9.86283033e-01 -1.05641409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.02, Y:79.93, Z:-10.56 [[-2.76156054e-01 9.59622134e-01 -5.35088137e-02 1.13018833e+02] [-9.46896854e-01 -2.81189555e-01 -1.55944803e-01 7.99317563e+01] [-1.64694204e-01 7.60222584e-03 9.86315378e-01 -1.05640798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.427628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:113.02, Y:79.93, Z:-10.57 [[-2.73550538e-01 9.60371179e-01 -5.34537274e-02 1.13019900e+02] [-9.47736418e-01 -2.78605697e-01 -1.55481662e-01 7.99320904e+01] [-1.64212620e-01 8.12795181e-03 9.86391480e-01 -1.05658644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45762800000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.02, Y:79.94, Z:-10.56 [[-2.67408484e-01 9.62881625e-01 -3.67651901e-02 1.13020667e+02] [-9.50519011e-01 -2.69852457e-01 -1.53926155e-01 7.99434617e+01] [-1.58133843e-01 -6.21514768e-03 9.87398126e-01 -1.05574841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48762800000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.03, Y:79.92, Z:-10.57 [[-2.69236356e-01 9.60697228e-01 -6.76211519e-02 1.13026645e+02] [-9.49185141e-01 -2.76580173e-01 -1.50169823e-01 7.99174188e+01] [-1.62970403e-01 2.37538165e-02 9.86344972e-01 -1.05742339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.02, Y:79.91, Z:-10.57 [[-2.68840616e-01 9.61680730e-01 -5.38042434e-02 1.13016156e+02] [-9.49127491e-01 -2.74012181e-01 -1.55159048e-01 7.99061871e+01] [-1.63956484e-01 9.35403253e-03 9.86423222e-01 -1.05714813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.02, Y:79.91, Z:-10.57 [[-2.68905372e-01 9.61658315e-01 -5.38812190e-02 1.13017441e+02] [-9.49111662e-01 -2.74088360e-01 -1.55121320e-01 7.99083231e+01] [-1.63941923e-01 9.42633700e-03 9.86424954e-01 -1.05709800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:113.02, Y:79.91, Z:-10.57 [[-2.68182834e-01 9.61856462e-01 -5.39454738e-02 1.13018285e+02] [-9.49327445e-01 -2.73385013e-01 -1.55042048e-01 7.99057527e+01] [-1.63876079e-01 9.63230313e-03 9.86433905e-01 -1.05734107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60762800000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:113.02, Y:79.90, Z:-10.57 [[-2.70172659e-01 9.61295434e-01 -5.40168788e-02 1.13017742e+02] [-9.48768194e-01 -2.75359929e-01 -1.54970394e-01 7.99010440e+01] [-1.63846416e-01 9.38073308e-03 9.86441257e-01 -1.05743861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.02, Y:79.89, Z:-10.58 [[-2.71036776e-01 9.61054608e-01 -5.39732054e-02 1.13016353e+02] [-9.48585622e-01 -2.76202047e-01 -1.54588961e-01 7.98942945e+01] [-1.63475943e-01 9.29891314e-03 9.86503495e-01 -1.05759498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66762800000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.02, Y:79.89, Z:-10.58 [[-2.71927224e-01 9.60789291e-01 -5.42173692e-02 1.13016888e+02] [-9.48244311e-01 -2.77125055e-01 -1.55030420e-01 7.98868067e+01] [-1.63976558e-01 9.25432029e-03 9.86420826e-01 -1.05800046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.02, Y:79.88, Z:-10.58 [[-2.72411468e-01 9.60634043e-01 -5.45364775e-02 1.13015026e+02] [-9.47980332e-01 -2.77661556e-01 -1.55683494e-01 7.98774000e+01] [-1.64697547e-01 9.28953910e-03 9.86300371e-01 -1.05823302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72762800000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.02, Y:79.88, Z:-10.58 [[-2.72853544e-01 9.60491718e-01 -5.48324962e-02 1.13015509e+02] [-9.47740290e-01 -2.78152180e-01 -1.56268061e-01 7.98750437e+01] [-1.65345957e-01 9.32867166e-03 9.86191508e-01 -1.05841476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.01, Y:79.87, Z:-10.59 [[-2.73992159e-01 9.60146084e-01 -5.52068358e-02 1.13014988e+02] [-9.47269331e-01 -2.79344543e-01 -1.56995034e-01 7.98691792e+01] [-1.66159895e-01 9.28033413e-03 9.86055153e-01 -1.05866210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78762800000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.01, Y:79.86, Z:-10.59 [[-2.76101538e-01 9.59490590e-01 -5.60869639e-02 1.13013748e+02] [-9.46274993e-01 -2.81590980e-01 -1.58965901e-01 7.98578205e+01] [-1.68319869e-01 9.18296159e-03 9.85689654e-01 -1.05906717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.01, Y:79.86, Z:-10.59 [[-2.76861052e-01 9.59268046e-01 -5.61495679e-02 1.13013474e+02] [-9.46060851e-01 -2.82349912e-01 -1.58894284e-01 7.98584914e+01] [-1.68276035e-01 9.12926934e-03 9.85697638e-01 -1.05923241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84762800000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.01, Y:79.85, Z:-10.60 [[-2.77415072e-01 9.59080253e-01 -5.66210783e-02 1.13009424e+02] [-9.45692834e-01 -2.82985717e-01 -1.59950453e-01 7.98463648e+01] [-1.69428277e-01 9.17348158e-03 9.85499826e-01 -1.05953004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.01, Y:79.85, Z:-10.60 [[-2.77399612e-01 9.59055077e-01 -5.71210557e-02 1.13011507e+02] [-9.45470982e-01 -2.83066469e-01 -1.61114854e-01 7.98512834e+01] [-1.70687075e-01 9.31310254e-03 9.85281274e-01 -1.05953693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.01, Y:79.84, Z:-10.60 [[-2.76210224e-01 9.59349512e-01 -5.79346759e-02 1.13008744e+02] [-9.45426626e-01 -2.82053515e-01 -1.63138926e-01 7.98417281e+01] [-1.72847928e-01 9.71234582e-03 9.84900637e-01 -1.05997274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.937628 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.03, Y:79.87, Z:-10.60 [[-2.63433621e-01 9.62807322e-01 -6.00398834e-02 1.13029850e+02] [-9.48924706e-01 -2.69831087e-01 -1.63502557e-01 7.98727877e+01] [-1.73622086e-01 1.39012580e-02 9.84714236e-01 -1.06002124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96762800000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.01, Y:79.84, Z:-10.60 [[-2.75181663e-01 9.59891336e-01 -5.36998640e-02 1.13007392e+02] [-9.45503830e-01 -2.80324275e-01 -1.65652677e-01 7.98432867e+01] [-1.74061945e-01 5.18884795e-03 9.84721034e-01 -1.06009973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.997628 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.01, Y:79.84, Z:-10.61 [[-2.74186949e-01 9.59879476e-01 -5.87614623e-02 1.13007090e+02] [-9.45700241e-01 -2.80219581e-01 -1.64705922e-01 7.98358114e+01] [-1.74563946e-01 1.04105150e-02 9.84590803e-01 -1.06070585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.01, Y:79.83, Z:-10.61 [[-2.73831148e-01 9.59981246e-01 -5.87580679e-02 1.13005950e+02] [-9.45853320e-01 -2.79865483e-01 -1.64428736e-01 7.98306475e+01] [-1.74292858e-01 1.05508041e-02 9.84637334e-01 -1.06092598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.057628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.01, Y:79.83, Z:-10.61 [[-2.73916806e-01 9.59953724e-01 -5.88084195e-02 1.13006318e+02] [-9.45849304e-01 -2.79957229e-01 -1.64295598e-01 7.98292353e+01] [-1.74180013e-01 1.06205773e-02 9.84656553e-01 -1.06126460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08762800000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.01, Y:79.82, Z:-10.62 [[-2.73907194e-01 9.59955816e-01 -5.88190521e-02 1.13005731e+02] [-9.45896663e-01 -2.79946847e-01 -1.64040437e-01 7.98225582e+01] [-1.73937780e-01 1.07048893e-02 9.84698458e-01 -1.06159695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.117628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.01, Y:79.82, Z:-10.62 [[-2.73740517e-01 9.59982359e-01 -5.91608013e-02 1.13005730e+02] [-9.45806334e-01 -2.79849737e-01 -1.64725540e-01 7.98210804e+01] [-1.74689747e-01 1.08626061e-02 9.84563607e-01 -1.06196408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.00, Y:79.82, Z:-10.62 [[-2.73303456e-01 9.60086493e-01 -5.94907270e-02 1.13004452e+02] [-9.45800975e-01 -2.79484187e-01 -1.65375649e-01 7.98164174e+01] [-1.75401645e-01 1.10686511e-02 9.84434735e-01 -1.06247742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:79.81, Z:-10.63 [[-2.74055147e-01 9.59844334e-01 -5.99385599e-02 1.13004101e+02] [-9.45384198e-01 -2.80314436e-01 -1.66350637e-01 7.98139640e+01] [-1.76472360e-01 1.10757190e-02 9.84243280e-01 -1.06264548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20762800000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.00, Y:79.80, Z:-10.63 [[-2.73815723e-01 9.59918598e-01 -5.98434295e-02 1.13000756e+02] [-9.45555312e-01 -2.80055753e-01 -1.65812927e-01 7.98048992e+01] [-1.75926409e-01 1.11830863e-02 9.84339798e-01 -1.06317793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.00, Y:79.81, Z:-10.63 [[-2.72643426e-01 9.60262600e-01 -5.96766418e-02 1.13000293e+02] [-9.46038162e-01 -2.78863037e-01 -1.65067266e-01 7.98084283e+01] [-1.75149531e-01 1.14518757e-02 9.84475239e-01 -1.06336685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:79.84, Z:-10.59 [[-2.67085921e-01 9.63672529e-01 -6.07200581e-04 1.12987779e+02] [-9.52242884e-01 -2.64014798e-01 -1.53393861e-01 7.98374010e+01] [-1.47981759e-01 -4.03911381e-02 9.88164943e-01 -1.05911534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.01, Y:79.83, Z:-10.61 [[-2.64794444e-01 9.63425078e-01 -4.11827792e-02 1.13006503e+02] [-9.53438145e-01 -2.67965009e-01 -1.38385178e-01 7.98287951e+01] [-1.44359295e-01 2.62160638e-03 9.89521865e-01 -1.06089333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.327628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:113.02, Y:79.76, Z:-10.66 [[-2.69530339e-01 9.55604160e-01 -1.19054971e-01 1.13016395e+02] [-9.46586602e-01 -2.85629032e-01 -1.49632421e-01 7.97622267e+01] [-1.76994920e-01 7.23653635e-02 9.81547784e-01 -1.06632336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:79.81, Z:-10.59 [[-2.66784313e-01 9.63754092e-01 2.04448822e-03 1.12967553e+02] [-9.51977562e-01 -2.63192525e-01 -1.56423835e-01 7.98062281e+01] [-1.50216017e-01 -4.36777323e-02 9.87687908e-01 -1.05947152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.387628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:112.99, Y:79.79, Z:-10.61 [[-2.65280834e-01 9.63042194e-01 -4.66456005e-02 1.12988793e+02] [-9.53549376e-01 -2.69212496e-01 -1.35159976e-01 7.97875049e+01] [-1.42722339e-01 8.62353196e-03 9.89725199e-01 -1.06146069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:79.78, Z:-10.60 [[-2.69106212e-01 9.62668118e-01 -2.91880227e-02 1.12977353e+02] [-9.53259503e-01 -2.70554832e-01 -1.34522874e-01 7.97808362e+01] [-1.37397842e-01 -8.37718100e-03 9.90480518e-01 -1.06032233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:79.34, Z:-10.50 [[-2.90081269e-01 9.16902834e-02 -9.52599470e-01 1.13736578e+02] [-9.47927700e-01 -1.64280303e-01 2.72846218e-01 7.93353558e+01] [-1.31475983e-01 9.82143001e-01 1.34570398e-01 -1.04964640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:79.70, Z:-10.57 [[-2.71255394e-01 9.62495170e-01 -4.85382789e-03 1.12923492e+02] [-9.38449281e-01 -2.65592383e-01 -2.20847535e-01 7.96960951e+01] [-2.13853825e-01 -5.53510138e-02 9.75296266e-01 -1.05722266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:79.67, Z:-10.60 [[-2.69253095e-01 9.60150677e-01 -7.49229547e-02 1.12957221e+02] [-9.39437604e-01 -2.78978344e-01 -1.99068009e-01 7.96733012e+01] [-2.12037165e-01 1.67857634e-02 9.77117433e-01 -1.06044385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:79.66, Z:-10.61 [[-2.69855925e-01 9.59448101e-01 -8.14685252e-02 1.12955081e+02] [-9.39756108e-01 -2.80864001e-01 -1.94868853e-01 7.96608033e+01] [-2.09848127e-01 2.39740296e-02 9.77440029e-01 -1.06103145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.567628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:112.94, Y:79.64, Z:-10.62 [[-2.71413687e-01 9.59224231e-01 -7.88890670e-02 1.12943245e+02] [-9.38651428e-01 -2.81927684e-01 -1.98620938e-01 7.96413323e+01] [-2.12763029e-01 2.01408942e-02 9.76896227e-01 -1.06165256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:112.93, Y:79.63, Z:-10.62 [[-2.75683979e-01 9.58307769e-01 -7.51303091e-02 1.12934904e+02] [-9.37256590e-01 -2.85334148e-01 -2.00335988e-01 7.96268787e+01] [-2.13420776e-01 1.51869550e-02 9.76842325e-01 -1.06188604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:79.16, Z:-10.53 [[-3.04618401e-01 9.21912733e-02 -9.48002320e-01 1.13666122e+02] [-9.29852789e-01 -2.44415938e-01 2.75017526e-01 7.91624521e+01] [-2.06352660e-01 9.65278001e-01 1.60177905e-01 -1.05255682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:79.50, Z:-10.65 [[-2.90379825e-01 9.49339347e-01 -1.20143085e-01 1.12894255e+02] [-9.02232283e-01 -3.13453999e-01 -2.96181528e-01 7.94989181e+01] [-3.18836109e-01 2.23918297e-02 9.47545324e-01 -1.06518764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.687628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.89, Y:79.49, Z:-10.66 [[-2.93004566e-01 9.48558641e-01 -1.19936771e-01 1.12891910e+02] [-9.01721867e-01 -3.15859634e-01 -2.95178533e-01 7.94870144e+01] [-3.17877333e-01 2.16609511e-02 9.47884384e-01 -1.06579905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:79.51, Z:-10.61 [[-2.94556564e-01 9.54298057e-01 -5.05138518e-02 1.12872325e+02] [-9.11644000e-01 -2.96457514e-01 -2.84636892e-01 7.95102108e+01] [-2.86603644e-01 -3.77910149e-02 9.57303604e-01 -1.06062745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:79.49, Z:-10.63 [[-2.95054231e-01 9.49624991e-01 -1.05619015e-01 1.12898744e+02] [-9.12900643e-01 -3.12809093e-01 -2.62226788e-01 7.94911667e+01] [-2.82055699e-01 1.90485434e-02 9.59208911e-01 -1.06305473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:112.90, Y:79.47, Z:-10.65 [[-2.88809865e-01 9.49683944e-01 -1.21199294e-01 1.12902099e+02] [-9.13749151e-01 -3.11212279e-01 -2.61169305e-01 7.94734022e+01] [-2.85747004e-01 3.53174799e-02 9.57654074e-01 -1.06470503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:79.47, Z:-10.64 [[-2.90128170e-01 9.51213817e-01 -1.04966282e-01 1.12889332e+02] [-9.13244081e-01 -3.07978537e-01 -2.66710459e-01 7.94672460e+01] [-2.86026036e-01 1.84796186e-02 9.58043637e-01 -1.06425786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:79.45, Z:-10.65 [[-2.91958280e-01 9.50613117e-01 -1.05333114e-01 1.12882951e+02] [-9.13424302e-01 -3.09787522e-01 -2.63984349e-01 7.94529975e+01] [-2.83577869e-01 1.91414101e-02 9.58758154e-01 -1.06458329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.867628 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.87, Y:79.43, Z:-10.65 [[-2.94201989e-01 9.49565279e-01 -1.08494103e-01 1.12874630e+02] [-9.12020735e-01 -3.12870334e-01 -2.65198668e-01 7.94313455e+01] [-2.85768033e-01 2.09268961e-02 9.58070298e-01 -1.06544404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89762800000005 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.87, Y:79.41, Z:-10.66 [[-2.96537003e-01 9.48577551e-01 -1.10753944e-01 1.12868341e+02] [-9.11031241e-01 -3.15760728e-01 -2.65173980e-01 7.94127822e+01] [-2.86509830e-01 2.22664057e-02 9.57818524e-01 -1.06608116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.927628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:112.86, Y:79.33, Z:-10.72 [[-3.08801343e-01 9.34555627e-01 -1.76769653e-01 1.12864979e+02] [-8.97996251e-01 -3.47719086e-01 -2.69618564e-01 7.93252612e+01] [-3.13439728e-01 7.54799107e-02 9.46603571e-01 -1.07233048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:79.34, Z:-10.66 [[-3.13585753e-01 9.47467845e-01 -6.29972897e-02 1.12808308e+02] [-9.04555452e-01 -3.18247621e-01 -2.83721495e-01 7.93421624e+01] [-2.88865731e-01 -3.19864767e-02 9.56835124e-01 -1.06621164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:78.89, Z:-10.67 [[ -0.34355303 0.22163767 -0.9126051 113.47627654] [ -0.89348242 -0.37642562 0.24493452 78.89111698] [ -0.28924122 0.89954461 0.32735152 -10.66894493] [ 0. 0. 0. 1. ]] SLAMing on 342.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:79.16, Z:-10.70 [[-3.39837675e-01 9.34163499e-01 -1.08852703e-01 1.12757723e+02] [-8.71417176e-01 -3.56299624e-01 -3.37168627e-01 7.91644857e+01] [-3.53754802e-01 -1.97264872e-02 9.35130155e-01 -1.07019621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:79.04, Z:-10.80 [[-3.59153961e-01 9.04456992e-01 -2.30143395e-01 1.12775348e+02] [-8.52324528e-01 -4.18329839e-01 -3.13915666e-01 7.90368693e+01] [-3.80199069e-01 8.34128056e-02 9.21135697e-01 -1.08021225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:79.04, Z:-10.79 [[-3.64849663e-01 9.14203232e-01 -1.76400606e-01 1.12734113e+02] [-8.48481512e-01 -4.04474701e-01 -3.41290696e-01 7.90352610e+01] [-3.83358640e-01 2.51528574e-02 9.23256999e-01 -1.07868802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:79.05, Z:-10.75 [[-3.68687818e-01 9.21518443e-01 -1.21955126e-01 1.12716428e+02] [-8.58212074e-01 -3.87854949e-01 -3.36215072e-01 7.90522723e+01] [-3.57129289e-01 -1.92950398e-02 9.33855649e-01 -1.07459473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:78.99, Z:-10.79 [[-3.72626918e-01 9.08064160e-01 -1.91229344e-01 1.12730803e+02] [-8.52992306e-01 -4.16316881e-01 -3.14776717e-01 7.89911259e+01] [-3.65449459e-01 4.58228811e-02 9.29702617e-01 -1.07946006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:78.96, Z:-10.83 [[-3.76544297e-01 9.03603729e-01 -2.04241750e-01 1.12712960e+02] [-8.42903058e-01 -4.25647078e-01 -3.29148902e-01 7.89552198e+01] [-3.84355080e-01 4.82168538e-02 9.21925327e-01 -1.08254126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:78.96, Z:-10.82 [[-3.76521218e-01 9.07982369e-01 -1.83847194e-01 1.12696879e+02] [-8.40477513e-01 -4.18272227e-01 -3.44450133e-01 7.89566939e+01] [-3.89652823e-01 2.48266483e-02 9.20627131e-01 -1.08185125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:78.94, Z:-10.82 [[-3.76154957e-01 9.07900527e-01 -1.84997518e-01 1.12690083e+02] [-8.39737165e-01 -4.18428942e-01 -3.46061720e-01 7.89449408e+01] [-3.91597934e-01 2.51764600e-02 9.19791935e-01 -1.08222820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:78.94, Z:-10.82 [[-3.76855581e-01 9.07423334e-01 -1.85910634e-01 1.12687332e+02] [-8.38736687e-01 -4.19468839e-01 -3.47227106e-01 7.89407729e+01] [-3.93065696e-01 2.50755970e-02 9.19168414e-01 -1.08234413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28762800000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.67, Y:78.96, Z:-10.79 [[-3.80590776e-01 9.13843249e-01 -1.41566869e-01 1.12667575e+02] [-8.45617824e-01 -4.05882824e-01 -3.46683760e-01 7.89552401e+01] [-3.74274174e-01 -1.22331732e-02 9.27237398e-01 -1.07912745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:78.89, Z:-10.83 [[-3.90397392e-01 9.01230230e-01 -1.88079633e-01 1.12662038e+02] [-8.40519929e-01 -4.32260601e-01 -3.26614486e-01 7.88858769e+01] [-3.75654264e-01 3.05752367e-02 9.26255380e-01 -1.08322432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34762800000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.20, Y:78.45, Z:-10.86 [[ -0.42614555 0.2568053 -0.86743934 113.19561989] [ -0.82604342 -0.50141315 0.25736574 78.45136972] [ -0.3688526 0.82621782 0.42580731 -10.86413672] [ 0. 0. 0. 1. ]] SLAMing on 342.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:77.94, Z:-10.20 [[ -0.44649955 -0.79223005 -0.41594434 113.21947869] [ -0.80635014 0.15475299 0.57083358 77.93950514] [ -0.38786288 0.59027371 -0.70791195 -10.20416322] [ 0. 0. 0. 1. ]] SLAMing on 342.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:77.97, Z:-9.88 [[-4.24149767e-01 -6.23790553e-01 6.56492439e-01 1.12493570e+02] [-8.03506717e-01 5.93600163e-01 4.48976801e-02 7.79668204e+01] [-4.17700768e-01 -5.08452744e-01 -7.52995270e-01 -9.88243981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:78.52, Z:-10.96 [[-3.11288196e-01 9.45069346e-01 -9.97175531e-02 1.12348334e+02] [-8.44474391e-01 -3.23216401e-01 -4.27076294e-01 7.85173257e+01] [-4.35847062e-01 -4.87348890e-02 8.98700311e-01 -1.09610233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:78.03, Z:-10.95 [[-3.43147666e-01 6.29488959e-02 -9.37169737e-01 1.13053426e+02] [-8.39642641e-01 -4.67776090e-01 2.76017688e-01 7.80287082e+01] [-4.21010587e-01 8.81602499e-01 2.13370851e-01 -1.09521303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:77.53, Z:-10.17 [[-3.65889870e-01 -9.30083110e-01 -3.27110476e-02 1.12815238e+02] [-8.29979156e-01 3.10205342e-01 4.63580895e-01 7.75281686e+01] [-4.21021619e-01 1.96769041e-01 -8.85450587e-01 -1.01688196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:78.28, Z:-11.06 [[-2.39852014e-01 9.59118659e-01 -1.50207887e-01 1.12230306e+02] [-8.24412344e-01 -2.82935020e-01 -4.90195942e-01 7.82757079e+01] [-5.12655146e-01 6.25875221e-03 8.58571796e-01 -1.10643841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.557628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.00, Y:77.75, Z:-10.98 [[-2.49411773e-01 -1.04422835e-01 -9.62751079e-01 1.12996089e+02] [-8.38689743e-01 -4.73734185e-01 2.68654866e-01 7.77517398e+01] [-4.84141800e-01 8.74455141e-01 3.05765226e-02 -1.09788149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58762800000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.83, Y:77.67, Z:-10.42 [[-3.35774293e-01 1.39745364e-01 9.31518576e-01 1.11829833e+02] [-7.72114080e-01 5.25614979e-01 -3.57167666e-01 7.76688347e+01] [-5.39532642e-01 -8.39166329e-01 -6.85886349e-02 -1.04221387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:78.01, Z:-11.25 [[-2.30610994e-01 9.57176405e-01 -1.75019710e-01 1.12140402e+02] [-8.13227074e-01 -2.88356892e-01 -5.05481976e-01 7.80102219e+01] [-5.34303561e-01 2.57610659e-02 8.44900037e-01 -1.12492991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:78.01, Z:-11.26 [[-2.27657127e-01 9.54751663e-01 -1.91367434e-01 1.12148330e+02] [-8.14201868e-01 -2.94438374e-01 -5.00381216e-01 7.80055022e+01] [-5.34085714e-01 4.18963719e-02 8.44391582e-01 -1.12554395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:78.00, Z:-11.26 [[-2.25654898e-01 9.55070345e-01 -1.92147089e-01 1.12147250e+02] [-8.14432704e-01 -2.93170413e-01 -5.00749917e-01 7.79954966e+01] [-5.34583237e-01 4.34942021e-02 8.43995863e-01 -1.12622642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:77.98, Z:-11.27 [[-2.22455950e-01 9.55635704e-01 -1.93064115e-01 1.12143561e+02] [-8.14781598e-01 -2.90976219e-01 -5.01461651e-01 7.79838376e+01] [-5.35391723e-01 4.57519601e-02 8.43363777e-01 -1.12687859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:77.98, Z:-11.24 [[-2.33797492e-01 9.60557695e-01 -1.50557785e-01 1.12116886e+02] [-8.22219784e-01 -2.77974956e-01 -4.96673485e-01 7.79785402e+01] [-5.18934832e-01 7.67057433e-03 8.54779388e-01 -1.12442783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:77.37, Z:-11.02 [[ -0.26468248 -0.34947362 -0.89878327 112.92824062] [ -0.8518644 -0.35208538 0.3877666 77.37074841] [ -0.45196265 0.8682765 -0.2045133 -11.01867623] [ 0. 0. 0. 1. ]] SLAMing on 342.79762800000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.66, Y:77.48, Z:-10.74 [[ -0.34215357 0.3755723 0.86132246 111.66221753] [ -0.74917501 0.44424091 -0.49131133 77.47693794] [ -0.5671576 -0.81338518 0.12937077 -10.73958658] [ 0. 0. 0. 1. ]] SLAMing on 342.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:77.11, Z:-11.18 [[ -0.26404238 -0.34899975 -0.8991556 112.83002131] [ -0.85207769 -0.35240974 0.38700257 77.11357083] [ -0.45193499 0.86833551 -0.20432379 -11.18013828] [ 0. 0. 0. 1. ]] SLAMing on 342.85762800000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:112.78, Y:76.99, Z:-11.23 [[ -0.23897392 -0.36244069 -0.90084861 112.78032417] [ -0.8266536 -0.41079395 0.3845675 76.99306233] [ -0.50944606 0.83659135 -0.20144386 -11.23083931] [ 0. 0. 0. 1. ]] SLAMing on 342.887628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.51, Y:77.06, Z:-10.98 [[ -0.3159416 0.38578306 0.86680582 111.50516782] [ -0.71695319 0.50130152 -0.48443257 77.06490768] [ -0.62141696 -0.7745116 0.11820639 -10.9820766 ] [ 0. 0. 0. 1. ]] SLAMing on 342.91762800000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:112.69, Y:76.74, Z:-11.41 [[ -0.24088982 -0.36103146 -0.9009042 112.69000504] [ -0.82682436 -0.40976837 0.38529385 76.73551356] [ -0.50826525 0.83770291 -0.19980058 -11.4125566 ] [ 0. 0. 0. 1. ]] SLAMing on 342.947628 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.41, Y:76.82, Z:-11.17 [[ -0.31330138 0.38538295 0.86794137 111.41432502] [ -0.71723472 0.50300523 -0.48224486 76.81997643] [ -0.62242799 -0.77360566 0.1188178 -11.16917691] [ 0. 0. 0. 1. ]] SLAMing on 342.97762800000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.60, Y:76.49, Z:-11.59 [[ -0.24095973 -0.36109688 -0.90085929 112.60376632] [ -0.82767692 -0.40828336 0.38503977 76.4937632 ] [ -0.50684251 0.83839951 -0.20049171 -11.58549048] [ 0. 0. 0. 1. ]] SLAMing on 343.007628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:112.55, Y:76.37, Z:-11.65 [[ -0.21555816 -0.37187025 -0.9029104 112.55357402] [ -0.79823503 -0.46548924 0.38228342 76.37171325] [ -0.56245491 0.80313902 -0.19649986 -11.65045802] [ 0. 0. 0. 1. ]] SLAMing on 343.03762800000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.51, Y:76.26, Z:-11.72 [[ -0.18975849 -0.37977598 -0.90540705 112.50753381] [ -0.76497198 -0.52088335 0.37881184 76.26207088] [ -0.61547509 0.76449378 -0.19167595 -11.71872562] [ 0. 0. 0. 1. ]] SLAMing on 343.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:76.26, Z:-11.54 [[-2.62108478e-01 3.94806071e-01 8.80583507e-01 1.11218553e+02] [-6.39512065e-01 6.12302575e-01 -4.64876193e-01 7.62616492e+01] [-7.22719492e-01 -6.84991768e-01 9.19935498e-02 -1.15421210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09762800000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:111.20, Y:76.19, Z:-11.66 [[-2.86918876e-01 3.91061732e-01 8.74498874e-01 1.11195987e+02] [-6.77988415e-01 5.62024063e-01 -4.73772797e-01 7.61871545e+01] [-6.76763820e-01 -7.28834463e-01 1.03880011e-01 -1.16575422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:75.91, Z:-12.07 [[ -0.2122008 -0.36948062 -0.90468497 112.39471406] [ -0.80248195 -0.46241825 0.37708364 75.90962638] [ -0.55766794 0.80601081 -0.19837601 -12.07146819] [ 0. 0. 0. 1. ]] SLAMing on 343.15762800000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:112.35, Y:75.80, Z:-12.14 [[ -0.18694856 -0.37750769 -0.90693891 112.3510247 ] [ -0.76987332 -0.51715611 0.37395806 75.79595543] [ -0.61020104 0.76813899 -0.19395151 -12.14224816] [ 0. 0. 0. 1. ]] SLAMing on 343.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:75.62, Z:-12.29 [[ -0.15950191 -0.38172432 -0.91040962 112.28700409] [ -0.73330719 -0.57160516 0.36814142 75.6216464 ] [ -0.66092337 0.72632918 -0.18874908 -12.29145312] [ 0. 0. 0. 1. ]] SLAMing on 343.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:76.19, Z:-12.46 [[-7.18757171e-02 9.73521601e-01 -2.17001320e-01 1.11469102e+02] [-6.15112406e-01 -2.14529256e-01 -7.58692247e-01 7.61931243e+01] [-7.85156423e-01 7.89486549e-02 6.14244659e-01 -1.24628592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:76.19, Z:-12.47 [[-6.82486636e-02 9.72861810e-01 -2.21092782e-01 1.11472706e+02] [-6.13283711e-01 -2.15704449e-01 -7.59838589e-01 7.61884979e+01] [-7.86908642e-01 8.37346334e-02 6.11361841e-01 -1.24683236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:76.18, Z:-12.48 [[-6.41544080e-02 9.72630536e-01 -2.23324995e-01 1.11475164e+02] [-6.09986719e-01 -2.15332939e-01 -7.62592898e-01 7.61793081e+01] [-7.89810366e-01 8.73015848e-02 6.07106266e-01 -1.24779868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:76.16, Z:-12.49 [[-6.06514927e-02 9.72325639e-01 -2.25619697e-01 1.11476206e+02] [-6.05746191e-01 -2.15509227e-01 -7.65916004e-01 7.61644200e+01] [-7.93342895e-01 9.02143228e-02 6.02053508e-01 -1.24933143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:76.13, Z:-12.54 [[-5.74361731e-02 9.70123444e-01 -2.35715059e-01 1.11474271e+02] [-6.02541038e-01 -2.21939391e-01 -7.66607595e-01 7.61274591e+01] [-7.96018457e-01 9.79969898e-02 5.97286536e-01 -1.25358727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:76.14, Z:-12.51 [[-6.11871467e-02 9.74275802e-01 -2.16893512e-01 1.11470438e+02] [-5.92345216e-01 -2.10342091e-01 -7.77742470e-01 7.61391791e+01] [-8.03357503e-01 8.08879919e-02 5.89977842e-01 -1.25104041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:76.13, Z:-12.52 [[-6.24834185e-02 9.69729352e-01 -2.36052551e-01 1.11480962e+02] [-5.91169622e-01 -2.26519886e-01 -7.74084763e-01 7.61297930e+01] [-8.04123312e-01 9.11796353e-02 5.87428271e-01 -1.25240700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:76.12, Z:-12.53 [[-6.58972008e-02 9.69067417e-01 -2.37835868e-01 1.11481033e+02] [-5.87760636e-01 -2.30311989e-01 -7.75560328e-01 7.61236884e+01] [-8.06346696e-01 8.86833064e-02 5.84756597e-01 -1.25283677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:76.09, Z:-12.56 [[-6.74303364e-02 9.66516358e-01 -2.47586913e-01 1.11475689e+02] [-5.83341460e-01 -2.39509436e-01 -7.76110799e-01 7.60947081e+01] [-8.09423184e-01 9.20942992e-02 5.79959265e-01 -1.25583820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:76.07, Z:-12.58 [[-7.28120566e-02 9.70621937e-01 -2.29328278e-01 1.11455869e+02] [-5.78260081e-01 -2.28429848e-01 -7.83220967e-01 7.60721532e+01] [-8.12596876e-01 7.55834592e-02 5.77904368e-01 -1.25772100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:76.06, Z:-12.60 [[-6.53124165e-02 9.64561701e-01 -2.55646265e-01 1.11465272e+02] [-5.80417050e-01 -2.45117672e-01 -7.76552235e-01 7.60583904e+01] [-8.11695963e-01 9.76629482e-02 5.75857285e-01 -1.26008919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:76.02, Z:-12.64 [[-7.09325621e-02 9.67000005e-01 -2.44703007e-01 1.11446015e+02] [-5.74601595e-01 -2.40140692e-01 -7.82410030e-01 7.60183154e+01] [-8.15353652e-01 8.51083902e-02 5.72673540e-01 -1.26433071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:76.01, Z:-12.63 [[-8.61820002e-02 9.70251197e-01 -2.26241635e-01 1.11428161e+02] [-5.85105138e-01 -2.33090024e-01 -7.76737419e-01 7.60112410e+01] [-8.06365079e-01 6.54343588e-02 5.87787125e-01 -1.26319524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:75.27, Z:-12.41 [[ -0.14646554 -0.59828531 -0.7877833 112.18242817] [ -0.73043596 -0.47163439 0.49398816 75.2674286 ] [ -0.66709156 0.6477775 -0.36793092 -12.40835412] [ 0. 0. 0. 1. ]] SLAMing on 343.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:75.86, Z:-12.79 [[-5.73296073e-02 9.73745074e-01 -2.20303990e-01 1.11364348e+02] [-5.31284721e-01 -2.16582749e-01 -8.19041182e-01 7.58573752e+01] [-8.45251360e-01 7.00888345e-02 5.29752484e-01 -1.27875377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:75.09, Z:-12.58 [[-1.10801529e-01 -6.24112684e-01 -7.73438025e-01 1.12119579e+02] [-6.77129253e-01 -5.22242646e-01 5.18419321e-01 7.50934781e+01] [-7.27474395e-01 5.81159166e-01 -3.64739672e-01 -1.25802266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:74.88, Z:-12.43 [[-2.68243924e-01 -1.80847519e-01 9.46223743e-01 1.10985180e+02] [-5.39152069e-01 8.42169324e-01 8.11643805e-03 7.48824520e+01] [-7.98348448e-01 -5.07981304e-01 -3.23411118e-01 -1.24316067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:75.57, Z:-13.22 [[-2.44436710e-02 9.84938254e-01 -1.71169923e-01 1.11259989e+02] [-5.24146798e-01 -1.58426788e-01 -8.36762265e-01 7.55695412e+01] [-8.51277065e-01 6.92646254e-02 5.20124764e-01 -1.32160785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:75.62, Z:-13.15 [[-4.26845763e-02 9.84986207e-01 -1.67272830e-01 1.11267321e+02] [-5.33867950e-01 -1.64004807e-01 -8.29510359e-01 7.56170565e+01] [-8.44489810e-01 5.38943048e-02 5.32853043e-01 -1.31535057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:74.70, Z:-12.73 [[-8.36774625e-02 -8.64780756e-01 -4.95128596e-01 1.11955574e+02] [-6.93036646e-01 -3.06522970e-01 6.52490518e-01 7.46961825e+01] [-7.16029531e-01 3.97741012e-01 -5.73675690e-01 -1.27307116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:75.41, Z:-13.34 [[-6.40152484e-02 9.97944739e-01 2.88878461e-03 1.11135897e+02] [-4.98938011e-01 -2.94981883e-02 -8.66135508e-01 7.54079709e+01] [-8.64270160e-01 -5.68872042e-02 4.99800897e-01 -1.33408705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:74.61, Z:-13.07 [[-5.69194493e-02 -6.92771359e-01 -7.18907519e-01 1.12004937e+02] [-6.48168360e-01 -5.22047170e-01 5.54386625e-01 7.46071288e+01] [-7.59366811e-01 4.97528489e-01 -4.19317838e-01 -1.30727814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:74.61, Z:-13.10 [[-1.96065803e-01 7.14895137e-02 9.77981314e-01 1.10762201e+02] [-5.30690307e-01 8.30923877e-01 -1.67132606e-01 7.46067519e+01] [-8.24576254e-01 -5.51774193e-01 -1.24976965e-01 -1.30986997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:74.79, Z:-13.59 [[ 1.24457195e-02 -4.10604603e-02 -9.99079147e-01 1.11976512e+02] [-6.11183105e-01 -7.91097494e-01 2.48991422e-02 7.47904257e+01] [-7.91391380e-01 6.10310407e-01 -3.49412371e-02 -1.35875448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.937628 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:110.91, Y:74.15, Z:-13.23 [[ -0.1769455 -0.48016346 0.85914687 110.91317342] [ -0.58465772 0.75349403 0.30070266 74.14514562] [ -0.79174847 -0.44909887 -0.41405865 -13.2273151 ] [ 0. 0. 0. 1. ]] SLAMing on 343.96762800000005 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:111.13, Y:75.05, Z:-13.97 [[ 2.00643419e-02 9.97180085e-01 -7.23139009e-02 1.11127142e+02] [-5.29143166e-01 -5.07770140e-02 -8.47011927e-01 7.50458371e+01] [-8.48295309e-01 5.52591434e-02 5.26632220e-01 -1.39665417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5597.34 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%| | 0/11466 [00:00