+ python -m lidar_slam --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 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 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters Centerline goodness : 0.992785 Centerline is valid? [0, True] SLAMing on 0.037552018 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99999767e-01 -3.67447175e-04 5.75923683e-04 3.05469518e-02] [ 3.65331779e-04 9.99993203e-01 3.66886139e-03 -3.28114728e-03] [-5.77267881e-04 -3.66865013e-03 9.99993104e-01 -6.03276766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06755201799999999 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 0.99999407 0.00299537 0.00169765 0.06291157] [-0.00298496 0.99997693 -0.00610135 -0.00363681] [-0.00171589 0.00609625 0.99997995 0.00315328] [ 0. 0. 0. 1. ]] SLAMing on 0.09755201799999999 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:0.00 [[ 9.99997155e-01 2.34205072e-03 4.53024320e-04 9.41530032e-02] [-2.33833703e-03 9.99965014e-01 -8.03137335e-03 -4.26105483e-03] [-4.71818355e-04 8.03029117e-03 9.99967645e-01 3.24199491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127552018 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 9.99999759e-01 -4.60503474e-05 -6.92812118e-04 1.23028054e-01] [ 5.13452336e-05 9.99970779e-01 7.64452484e-03 -9.40599087e-03] [ 6.92439841e-04 -7.64455857e-03 9.99970540e-01 -1.11976420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.157552018 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:0.00 [[ 9.99998910e-01 6.35666524e-04 -1.33282001e-03 1.56089761e-01] [-6.45913370e-04 9.99970132e-01 -7.70181112e-03 -4.60886551e-03] [ 1.32788442e-03 7.70266361e-03 9.99969452e-01 4.03150495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.187552018 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 9.99997169e-01 -3.11045182e-04 -2.35889867e-03 1.84424056e-01] [ 3.25338367e-04 9.99981577e-01 6.06130068e-03 -1.04214709e-02] [ 2.35696987e-03 -6.06205097e-03 9.99978848e-01 -7.20911050e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21755201799999999 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.01, Z:-0.00 [[ 9.99999400e-01 -1.09436868e-03 -4.91711216e-05 2.11964478e-01] [ 1.09492489e-03 9.99911324e-01 1.32720021e-02 -1.43968980e-02] [ 3.46422979e-05 -1.32720479e-02 9.99911922e-01 -2.64900792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24755201799999998 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:0.00 [[ 0.99999724 -0.001379 -0.00190145 0.24283855] [ 0.00137225 0.99999277 -0.00354553 -0.00736372] [ 0.00190632 0.00354291 0.99999191 0.00368685] [ 0. 0. 0. 1. ]] SLAMing on 0.277552018 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.01, Z:0.00 [[ 0.99999205 -0.00192105 -0.00349503 0.27192739] [ 0.0019163 0.99999724 -0.00136277 -0.00869491] [ 0.00349764 0.00135606 0.99999296 0.00352168] [ 0. 0. 0. 1. ]] SLAMing on 0.307552018 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99998397e-01 -1.77344844e-03 -2.47158944e-04 3.01297897e-01] [ 1.77427797e-03 9.99992655e-01 3.39746513e-03 -1.21946285e-02] [ 2.41131899e-04 -3.39789822e-03 9.99994198e-01 9.85915204e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33755201799999995 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:-0.00 [[ 9.99993112e-01 -2.24364585e-03 2.95662731e-03 3.32353735e-01] [ 2.22087231e-03 9.99968016e-01 7.68344061e-03 -1.47749186e-02] [-2.97377166e-03 -7.67682140e-03 9.99966111e-01 -7.57864350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.367552018 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:0.01 [[ 0.999992 -0.00147823 -0.00371672 0.3662496 ] [ 0.0014253 0.9998981 -0.01420434 -0.00587687] [ 0.00373734 0.01419893 0.99989221 0.00850271] [ 0. 0. 0. 1. ]] SLAMing on 0.397552018 meters Centerline goodness : 0.990360 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.01, Z:0.00 [[ 9.99999121e-01 -3.46896258e-04 -1.27932178e-03 3.95366308e-01] [ 3.45343461e-04 9.99999204e-01 -1.21378665e-03 -1.23003596e-02] [ 1.27974182e-03 1.21334378e-03 9.99998445e-01 4.22292056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.427552018 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.01, Z:0.00 [[ 9.99995796e-01 -9.22006658e-04 -2.74906695e-03 4.26862130e-01] [ 9.21220697e-04 9.99999534e-01 -2.87153504e-04 -1.30404233e-02] [ 2.74933042e-03 2.84619799e-04 9.99996180e-01 3.01118862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45755201799999995 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.01, Z:0.00 [[ 9.99996208e-01 -1.22098698e-04 -2.75122245e-03 4.56408592e-01] [ 1.30023988e-04 9.99995842e-01 2.88064827e-03 -1.38514359e-02] [ 2.75085928e-03 -2.88099507e-03 9.99992066e-01 3.71200628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.487552018 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.01, Z:0.01 [[ 9.99989383e-01 -6.23653414e-04 -4.56562659e-03 4.86561422e-01] [ 6.13444782e-04 9.99997310e-01 -2.23703531e-03 -1.21763106e-02] [ 4.56700944e-03 2.23421079e-03 9.99987075e-01 6.82386332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5175520180000001 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.02, Z:0.00 [[ 9.99996455e-01 -6.72467465e-04 -2.57625816e-03 5.14314054e-01] [ 6.88306209e-04 9.99980839e-01 6.15201879e-03 -1.62543538e-02] [ 2.57207176e-03 -6.15377024e-03 9.99977758e-01 3.93866018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5475520180000001 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.01, Z:0.01 [[ 9.99996706e-01 -8.49799920e-04 -2.42177212e-03 5.44400009e-01] [ 8.47151483e-04 9.99999042e-01 -1.09441043e-03 -1.46922905e-02] [ 2.42269983e-03 1.09235521e-03 9.99996469e-01 8.05640706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.577552018 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:0.01 [[ 9.99993934e-01 -2.59580766e-03 -2.32255430e-03 5.75080550e-01] [ 2.59354859e-03 9.99996161e-01 -9.75151307e-04 -1.50120245e-02] [ 2.32507669e-03 9.69121734e-04 9.99996827e-01 7.49499474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.607552018 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.02, Z:0.01 [[ 0.99999279 -0.00218984 -0.00310316 0.60387296] [ 0.0021959 0.99999569 0.0019491 -0.01815462] [ 0.00309888 -0.0019559 0.99999329 0.00656948] [ 0. 0. 0. 1. ]] SLAMing on 0.637552018 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.02, Z:0.01 [[ 0.99997328 -0.00377445 -0.00626061 0.63450269] [ 0.00375649 0.9999888 -0.00287813 -0.0183051 ] [ 0.0062714 0.00285454 0.99997626 0.00726809] [ 0. 0. 0. 1. ]] SLAMing on 0.667552018 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.02, Z:0.01 [[ 9.99971015e-01 -4.07835751e-03 -6.42937262e-03 6.64561202e-01] [ 4.08191811e-03 9.99991523e-01 5.40776457e-04 -2.15026720e-02] [ 6.42711264e-03 -5.67004955e-04 9.99979185e-01 6.08769965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.697552018 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.02, Z:0.01 [[ 0.99996384 -0.00573117 -0.00628242 0.69371974] [ 0.0057533 0.99997729 0.00350887 -0.02491092] [ 0.00626217 -0.00354489 0.99997411 0.00500515] [ 0. 0. 0. 1. ]] SLAMing on 0.727552018 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.03, Z:0.01 [[ 0.99992832 -0.01062774 -0.0055138 0.72838456] [ 0.01062045 0.99994269 -0.00135067 -0.02540025] [ 0.00552784 0.00129202 0.99998389 0.00695143] [ 0. 0. 0. 1. ]] SLAMing on 0.757552018 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.03, Z:0.01 [[ 0.99990743 -0.01223122 -0.00596124 0.76024617] [ 0.01224438 0.99992267 0.00217572 -0.02845441] [ 0.00593417 -0.00224852 0.99997986 0.00668085] [ 0. 0. 0. 1. ]] SLAMing on 0.7875520180000001 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.03, Z:0.01 [[ 0.9999241 -0.01011127 -0.00703984 0.78566498] [ 0.0101453 0.99993694 0.00481526 -0.0314304 ] [ 0.00699071 -0.00488632 0.99996363 0.00758923] [ 0. 0. 0. 1. ]] SLAMing on 0.817552018 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.03, Z:0.01 [[ 0.99987567 -0.01414974 -0.00695983 0.81948998] [ 0.01413819 0.9998986 -0.00170587 -0.03025093] [ 0.00698326 0.00160726 0.99997433 0.01091022] [ 0. 0. 0. 1. ]] SLAMing on 0.847552018 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.03, Z:0.01 [[ 0.99986833 -0.01457658 -0.00713052 0.85034286] [ 0.01460216 0.99988709 0.00354801 -0.03384292] [ 0.007078 -0.00365166 0.99996828 0.01008717] [ 0. 0. 0. 1. ]] SLAMing on 0.877552018 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.03, Z:0.01 [[ 0.99984576 -0.01539972 -0.00844437 0.88249869] [ 0.0154117 0.99988031 0.00135628 -0.03462709] [ 0.00842248 -0.00148622 0.99996343 0.01227588] [ 0. 0. 0. 1. ]] SLAMing on 0.907552018 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.04, Z:0.01 [[ 9.99850986e-01 -1.50813300e-02 -8.39997502e-03 9.14390028e-01] [ 1.50873549e-02 9.99885965e-01 6.54341235e-04 -3.64750526e-02] [ 8.38914879e-03 -7.80977133e-04 9.99964505e-01 1.27235253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.937552018 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.05, Z:0.00 [[ 0.99992716 -0.01189458 -0.0020483 0.93973905] [ 0.0119385 0.99966504 0.02296263 -0.04799227] [ 0.00177448 -0.02298541 0.99973423 0.00221651] [ 0. 0. 0. 1. ]] SLAMing on 0.967552018 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.04, Z:0.02 [[ 0.99989989 -0.01265022 -0.00633915 0.97447813] [ 0.01258264 0.99986477 -0.01058861 -0.0365477 ] [ 0.00647224 0.01050779 0.99992385 0.01693601] [ 0. 0. 0. 1. ]] SLAMing on 0.997552018 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.04, Z:0.02 [[ 0.99986007 -0.01393463 -0.0092555 1.00670264] [ 0.01383538 0.99984702 -0.01070158 -0.03863872] [ 0.00940321 0.01057203 0.9998999 0.01748673] [ 0. 0. 0. 1. ]] SLAMing on 1.027552018 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.04, Z:0.01 [[ 0.99991218 -0.00865008 -0.01003989 1.03748849] [ 0.00855443 0.99991799 -0.00953094 -0.04402062] [ 0.01012151 0.00944422 0.99990418 0.01394527] [ 0. 0. 0. 1. ]] SLAMing on 1.057552018 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.05, Z:0.01 [[ 9.99900605e-01 -1.00917495e-02 -9.84565963e-03 1.06876196e+00] [ 1.00970527e-02 9.99948904e-01 4.89077296e-04 -4.94775333e-02] [ 9.84022091e-03 -5.88440829e-04 9.99951411e-01 1.11649790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.087552018 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.05, Z:0.01 [[ 0.99996299 -0.00632624 -0.00583136 1.09564003] [ 0.00636814 0.99995385 0.00719393 -0.05397658] [ 0.00578558 -0.0072308 0.99995712 0.00817779] [ 0. 0. 0. 1. ]] SLAMing on 1.1175520179999998 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.05, Z:0.02 [[ 0.99995242 -0.00626551 -0.00747643 1.12782938] [ 0.00621998 0.99996206 -0.00609826 -0.05079549] [ 0.00751436 0.00605147 0.99995346 0.01544117] [ 0. 0. 0. 1. ]] SLAMing on 1.1475520179999998 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.06, Z:0.01 [[ 9.99965251e-01 -4.69722170e-03 -6.88708579e-03 1.15777545e+00] [ 4.69238229e-03 9.99988732e-01 -7.18670154e-04 -5.56382984e-02] [ 6.89038394e-03 6.86328341e-04 9.99976025e-01 1.29488985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1775520179999999 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.07, Z:0.01 [[ 9.99999336e-01 -9.52501998e-04 -6.48497372e-04 1.18390720e+00] [ 9.63075518e-04 9.99863329e-01 1.65043995e-02 -6.57349814e-02] [ 6.32688268e-04 -1.65050131e-02 9.99863583e-01 6.29066686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.207552018 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.06, Z:0.01 [[ 9.99994392e-01 9.42790006e-04 -3.21355530e-03 1.21464328e+00] [-9.32294645e-04 9.99994232e-01 3.26590034e-03 -6.34687592e-02] [ 3.21661582e-03 -3.26288604e-03 9.99989503e-01 1.20247468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.237552018 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.06, Z:0.02 [[ 9.99946778e-01 -7.21490686e-04 -1.02918198e-02 1.24573998e+00] [ 6.12257775e-04 9.99943496e-01 -1.06127713e-02 -5.94387430e-02] [ 1.02988953e-02 1.06059052e-02 9.99890718e-01 1.85808007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.267552018 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.07, Z:0.02 [[ 9.99941464e-01 -1.67770101e-03 -1.06889151e-02 1.27402384e+00] [ 1.67301792e-03 9.99998501e-01 -4.47052280e-04 -6.52419729e-02] [ 1.06896491e-02 4.29143365e-04 9.99942772e-01 1.51550169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.297552018 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.07, Z:0.01 [[ 9.99937613e-01 -1.84651476e-03 -1.10163866e-02 1.30069929e+00] [ 1.85798087e-03 9.99997743e-01 1.03067913e-03 -6.75230608e-02] [ 1.10144586e-02 -1.05108306e-03 9.99938787e-01 1.48727233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3275520179999998 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.07, Z:0.01 [[ 0.99992844 -0.00344512 -0.01145601 1.32809494] [ 0.00342147 0.99999198 -0.00208325 -0.07085384] [ 0.01146309 0.0020439 0.99993221 0.01455115] [ 0. 0. 0. 1. ]] SLAMing on 1.3575520179999998 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:0.01 [[ 0.99991508 -0.00515267 -0.01197007 1.35599042] [ 0.00516931 0.99998571 0.00135977 -0.07557166] [ 0.01196289 -0.00142153 0.99992743 0.0131222 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3875520179999998 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.09, Z:0.00 [[ 0.99996998 -0.00467707 -0.00617698 1.38194997] [ 0.00485476 0.99956552 0.0290723 -0.09062706] [ 0.00603833 -0.02910142 0.99955823 0.0014614 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4175520179999999 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:0.03 [[ 0.99984985 -0.01105555 -0.01334363 1.41532365] [ 0.01070843 0.99960949 -0.02581078 -0.0715421 ] [ 0.01362377 0.02566402 0.99957779 0.02553754] [ 0. 0. 0. 1. ]] SLAMing on 1.4475520179999999 meters Centerline goodness : 0.990111 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.08, Z:0.02 [[ 9.99866963e-01 -1.20936870e-02 -1.09452666e-02 1.44450522e+00] [ 1.21061038e-02 9.99926147e-01 1.06889761e-03 -8.44143847e-02] [ 1.09315313e-02 -1.20125994e-03 9.99939527e-01 1.50649759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.477552018 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.09, Z:0.02 [[ 9.99845424e-01 -1.41139173e-02 -1.04845482e-02 1.47496728e+00] [ 1.41248853e-02 9.99899766e-01 9.72799292e-04 -8.62734550e-02] [ 1.04697673e-02 -1.12074196e-03 9.99944562e-01 1.59724859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.507552018 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.09, Z:0.02 [[ 9.99832923e-01 -1.55729826e-02 -9.57121761e-03 1.50656881e+00] [ 1.55593146e-02 9.99877820e-01 -1.50084776e-03 -8.83831254e-02] [ 9.59342088e-03 1.35167542e-03 9.99953069e-01 1.72737594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.537552018 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.09, Z:0.02 [[ 9.99800479e-01 -1.84735773e-02 -7.59802740e-03 1.53802058e+00] [ 1.84667655e-02 9.99829008e-01 -9.65708267e-04 -9.39072360e-02] [ 7.61456828e-03 8.25204597e-04 9.99970668e-01 1.68397838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.567552018 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:0.02 [[ 0.99977025 -0.02011621 -0.00740214 1.57113885] [ 0.02008972 0.99979157 -0.00363523 -0.09641335] [ 0.00747372 0.00348569 0.999966 0.01731973] [ 0. 0. 0. 1. ]] SLAMing on 1.5975520179999998 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:0.02 [[ 0.99974252 -0.02135217 -0.00767958 1.60345269] [ 0.02136795 0.99976972 0.00197863 -0.10167136] [ 0.00763556 -0.00214222 0.99996855 0.01649389] [ 0. 0. 0. 1. ]] SLAMing on 1.6275520179999998 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.10, Z:0.02 [[ 9.99711890e-01 -2.27786844e-02 -7.56753453e-03 1.63644860e+00] [ 2.27705319e-02 9.99740043e-01 -1.16173313e-03 -1.02525450e-01] [ 7.59203004e-03 9.89081634e-04 9.99970691e-01 1.77453029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6575520179999998 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.11, Z:0.02 [[ 0.99965303 -0.02496922 -0.00838843 1.66706634] [ 0.02500662 0.99967768 0.00438308 -0.10648492] [ 0.00827629 -0.00459133 0.99995521 0.01779538] [ 0. 0. 0. 1. ]] SLAMing on 1.6875520179999999 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.11, Z:0.02 [[ 0.99962495 -0.02579052 -0.00920964 1.69779181] [ 0.02582653 0.99965917 0.00381268 -0.10846552] [ 0.00910817 -0.0040491 0.99995032 0.01919339] [ 0. 0. 0. 1. ]] SLAMing on 1.717552018 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.11, Z:0.02 [[ 0.9996106 -0.02640285 -0.00902998 1.73002297] [ 0.02637124 0.99964573 -0.00360231 -0.10831495] [ 0.00912189 0.00336278 0.99995274 0.02105405] [ 0. 0. 0. 1. ]] SLAMing on 1.747552018 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.11, Z:0.02 [[ 0.99957555 -0.02744985 -0.00975858 1.76121283] [ 0.02748417 0.99961646 0.00340038 -0.11454226] [ 0.0096615 -0.00366714 0.9999466 0.01830652] [ 0. 0. 0. 1. ]] SLAMing on 1.777552018 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:0.02 [[ 9.99547229e-01 -2.81646675e-02 -1.05871859e-02 1.79141940e+00] [ 2.81819282e-02 9.99601708e-01 1.48467388e-03 -1.15468347e-01] [ 1.05411538e-02 -1.78236897e-03 9.99942852e-01 1.97819030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8075520179999998 meters Centerline goodness : 0.991127 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.12, Z:0.02 [[ 9.99442692e-01 -3.04983880e-02 -1.35703342e-02 1.82407934e+00] [ 3.05176615e-02 9.99533489e-01 1.21542191e-03 -1.16627488e-01] [ 1.35269351e-02 -1.62887941e-03 9.99907180e-01 2.21614825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8375520179999998 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:0.02 [[ 0.99943939 -0.03092813 -0.01282025 1.85557687] [ 0.03090171 0.99951989 -0.00225373 -0.11735082] [ 0.0128838 0.00185629 0.99991528 0.02249732] [ 0. 0. 0. 1. ]] SLAMing on 1.8675520179999998 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.12, Z:0.02 [[ 0.99943593 -0.03131985 -0.01212014 1.88566176] [ 0.03137622 0.99949757 0.0044887 -0.12258934] [ 0.01197347 -0.00486645 0.99991647 0.01948352] [ 0. 0. 0. 1. ]] SLAMing on 1.8975520179999998 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.12, Z:0.02 [[ 9.99368760e-01 -3.26691983e-02 -1.39572823e-02 1.91848443e+00] [ 3.26504427e-02 9.99465600e-01 -1.56960390e-03 -1.21939244e-01] [ 1.40011012e-02 1.11290166e-03 9.99901360e-01 2.30351135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9275520179999999 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.12, Z:0.02 [[ 0.99937542 -0.03230604 -0.01432127 1.9519821 ] [ 0.03227427 0.99947606 -0.00244397 -0.1235517 ] [ 0.01439272 0.00198024 0.99989446 0.02298717] [ 0. 0. 0. 1. ]] SLAMing on 1.957552018 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.13, Z:0.02 [[ 0.99940093 -0.03170365 -0.01388027 1.98196675] [ 0.03178049 0.99948055 0.00535084 -0.12734308] [ 0.01370342 -0.00578876 0.99988935 0.0219884 ] [ 0. 0. 0. 1. ]] SLAMing on 1.987552018 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.13, Z:0.02 [[ 0.99937494 -0.03214554 -0.01471004 2.01380131] [ 0.03221623 0.99947036 0.0045944 -0.12762526] [ 0.01455456 -0.00506543 0.99988125 0.02431604] [ 0. 0. 0. 1. ]] SLAMing on 2.017552018 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.13, Z:0.03 [[ 0.99933093 -0.03305247 -0.01565968 2.04494441] [ 0.03314725 0.99943346 0.00583198 -0.12892937] [ 0.01545805 -0.00634716 0.99986037 0.02665015] [ 0. 0. 0. 1. ]] SLAMing on 2.047552018 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.13, Z:0.03 [[ 0.99934658 -0.0330589 -0.01461268 2.07394012] [ 0.03314733 0.99943335 0.00585137 -0.13120171] [ 0.01441096 -0.00633192 0.99987611 0.02717503] [ 0. 0. 0. 1. ]] SLAMing on 2.077552018 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:0.03 [[ 9.99227837e-01 -3.57586532e-02 -1.62803379e-02 2.10763410e+00] [ 3.57483934e-02 9.99360398e-01 -9.20866278e-04 -1.30037218e-01] [ 1.63028539e-02 3.38159295e-04 9.99867042e-01 3.08385531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1075520180000002 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.13, Z:0.03 [[ 9.99166960e-01 -3.72608386e-02 -1.66437930e-02 2.13933400e+00] [ 3.72756570e-02 9.99304852e-01 5.80879675e-04 -1.32581263e-01] [ 1.66105791e-02 -1.20080410e-03 9.99861314e-01 3.08548657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.137552018 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.13, Z:0.03 [[ 9.99115427e-01 -3.84391329e-02 -1.70527624e-02 2.17253949e+00] [ 3.84617844e-02 9.99259569e-01 1.00222835e-03 -1.34712800e-01] [ 1.70016112e-02 -1.65722147e-03 9.99854089e-01 3.10245950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1675520180000003 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.14, Z:0.03 [[ 0.99898744 -0.04056064 -0.01946623 2.20302289] [ 0.04071205 0.99914318 0.00744609 -0.13878256] [ 0.01914754 -0.00823106 0.99978279 0.03070037] [ 0. 0. 0. 1. ]] SLAMing on 2.197552018 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.03 [[ 9.98952354e-01 -4.11614632e-02 -1.99982161e-02 2.23525161e+00] [ 4.11534883e-02 9.99152508e-01 -8.10331685e-04 -1.37217841e-01] [ 2.00146222e-02 -1.35136056e-05 9.99799687e-01 3.35364083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.227552018 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.14, Z:0.03 [[ 0.99887607 -0.04232557 -0.02133385 2.26808544] [ 0.04240739 0.99909463 0.00339721 -0.13988869] [ 0.02117074 -0.00429811 0.99976664 0.03359148] [ 0. 0. 0. 1. ]] SLAMing on 2.257552018 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.14, Z:0.03 [[ 0.99888163 -0.04200774 -0.02169874 2.29900788] [ 0.04207766 0.99911049 0.00277576 -0.14127768] [ 0.02156284 -0.00368569 0.9997607 0.03446024] [ 0. 0. 0. 1. ]] SLAMing on 2.287552018 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.14, Z:0.04 [[ 9.98879514e-01 -4.18930684e-02 -2.20156098e-02 2.33172321e+00] [ 4.19106145e-02 9.99121308e-01 3.35986777e-04 -1.41992578e-01] [ 2.19821893e-02 -1.25829804e-03 9.99757571e-01 3.63333525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.317552018 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.14, Z:0.04 [[ 9.98911480e-01 -4.16371807e-02 -2.10285764e-02 2.36417045e+00] [ 4.16629164e-02 9.99131414e-01 7.87036242e-04 -1.43387019e-01] [ 2.09775413e-02 -1.66229136e-03 9.99778565e-01 3.66054785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347552018 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.14, Z:0.04 [[ 0.99894436 -0.04178548 -0.01908251 2.39778613] [ 0.04162889 0.99909672 -0.00853089 -0.14151174] [ 0.01942174 0.00772751 0.99978152 0.03835288] [ 0. 0. 0. 1. ]] SLAMing on 2.3775520180000003 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.14, Z:0.04 [[ 0.99913586 -0.03888387 -0.01468288 2.42983957] [ 0.03878309 0.99922252 -0.00708711 -0.14490246] [ 0.01494704 0.00651154 0.99986708 0.03528654] [ 0. 0. 0. 1. ]] SLAMing on 2.407552018 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.14, Z:0.04 [[ 0.9991329 -0.03932443 -0.01367627 2.46489265] [ 0.0391517 0.99915287 -0.01267646 -0.14487168] [ 0.01416318 0.01213001 0.99982612 0.03527286] [ 0. 0. 0. 1. ]] SLAMing on 2.437552018 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.15, Z:0.03 [[ 0.99919585 -0.03829388 -0.01188407 2.49903356] [ 0.03820451 0.9992406 -0.00765805 -0.15081006] [ 0.0121683 0.00719786 0.99990006 0.03046209] [ 0. 0. 0. 1. ]] SLAMing on 2.467552018 meters Centerline goodness : 0.990287 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.16, Z:0.03 [[ 0.99910749 -0.03970395 -0.01441562 2.52772565] [ 0.03986536 0.99914354 0.01108806 -0.15791226] [ 0.01396304 -0.01165285 0.99983461 0.02851299] [ 0. 0. 0. 1. ]] SLAMing on 2.497552018 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.16, Z:0.03 [[ 0.99859452 -0.04738135 -0.02374843 2.54186234] [ 0.04837494 0.99789574 0.04317362 -0.1605298 ] [ 0.02165283 -0.04426177 0.99878529 0.0292655 ] [ 0. 0. 0. 1. ]] SLAMing on 2.527552018 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.15, Z:0.04 [[ 0.99873033 -0.04417337 -0.02421676 2.57960799] [ 0.04425326 0.9990165 0.0027729 -0.15291827] [ 0.02407045 -0.00384105 0.99970289 0.04347486] [ 0. 0. 0. 1. ]] SLAMing on 2.557552018 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.15, Z:0.04 [[ 0.99868675 -0.04460397 -0.02520445 2.61113046] [ 0.04471046 0.99899322 0.00367721 -0.1543394 ] [ 0.02501506 -0.00479929 0.99967555 0.04472574] [ 0. 0. 0. 1. ]] SLAMing on 2.5875520180000002 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.15, Z:0.05 [[ 9.98646271e-01 -4.51012191e-02 -2.59134133e-02 2.64275725e+00] [ 4.51770874e-02 9.98976231e-01 2.34951987e-03 -1.54440974e-01] [ 2.57809177e-02 -3.51703179e-03 9.99661430e-01 4.60775172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.617552018 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.16, Z:0.05 [[ 9.98633873e-01 -4.54122618e-02 -2.58479103e-02 2.67526061e+00] [ 4.54645644e-02 9.98964915e-01 1.43910112e-03 -1.55135704e-01] [ 2.57558027e-02 -2.61229911e-03 9.99664851e-01 4.70155811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.647552018 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.16, Z:0.05 [[ 0.99862761 -0.04516152 -0.02652042 2.70667371] [ 0.04535709 0.99894756 0.00681954 -0.15870021] [ 0.02618453 -0.00801307 0.99962501 0.04694205] [ 0. 0. 0. 1. ]] SLAMing on 2.677552018 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.15, Z:0.05 [[ 9.98608764e-01 -4.52663583e-02 -2.70461209e-02 2.73663835e+00] [ 4.52186213e-02 9.98974293e-01 -2.37434410e-03 -1.54532343e-01] [ 2.71258575e-02 1.14805252e-03 9.99631367e-01 4.98008155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.707552018 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.16, Z:0.05 [[ 9.98648398e-01 -4.49837106e-02 -2.60354009e-02 2.76913843e+00] [ 4.49708128e-02 9.98987716e-01 -1.08099414e-03 -1.56620278e-01] [ 2.60576728e-02 -9.13000714e-05 9.99660437e-01 4.85355805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.737552018 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.16, Z:0.05 [[ 0.99864933 -0.04492518 -0.02610067 2.80075904] [ 0.04505416 0.99897497 0.00437462 -0.15992415] [ 0.02587739 -0.00554465 0.99964975 0.04786911] [ 0. 0. 0. 1. ]] SLAMing on 2.767552018 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.16, Z:0.05 [[ 0.99872011 -0.04388189 -0.02514982 2.83414128] [ 0.04377765 0.99903034 -0.00468044 -0.15858959] [ 0.02533082 0.00357345 0.99967274 0.05036988] [ 0. 0. 0. 1. ]] SLAMing on 2.797552018 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.16, Z:0.05 [[ 9.98750246e-01 -4.34735839e-02 -2.46575347e-02 2.86598900e+00] [ 4.34926969e-02 9.99053716e-01 2.39125048e-04 -1.60932931e-01] [ 2.46238061e-02 -1.31124889e-03 9.99695928e-01 4.92560246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.827552018 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.16, Z:0.05 [[ 9.98772009e-01 -4.31247456e-02 -2.43870872e-02 2.89864202e+00] [ 4.32077590e-02 9.99061937e-01 2.88711760e-03 -1.63756544e-01] [ 2.42397043e-02 -3.93728363e-03 9.99698422e-01 4.96991930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8575520180000002 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.17, Z:0.05 [[ 0.99876746 -0.04325184 -0.02434835 2.93093348] [ 0.04336039 0.9990517 0.00394776 -0.16520838] [ 0.02415451 -0.00499865 0.99969574 0.05074862] [ 0. 0. 0. 1. ]] SLAMing on 2.887552018 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.16, Z:0.05 [[ 0.99883062 -0.04275198 -0.02257575 2.96464089] [ 0.04253962 0.99904667 -0.0098047 -0.16157137] [ 0.02297339 0.00883287 0.99969706 0.05361254] [ 0. 0. 0. 1. ]] SLAMing on 2.917552018 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.17, Z:0.05 [[ 0.99884692 -0.04242687 -0.02246757 2.99657574] [ 0.04251134 0.99909055 0.00329529 -0.16834311] [ 0.02230733 -0.00424661 0.99974214 0.04932007] [ 0. 0. 0. 1. ]] SLAMing on 2.947552018 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.17, Z:0.05 [[ 9.98815461e-01 -4.30222766e-02 -2.27323113e-02 3.02947091e+00] [ 4.30199156e-02 9.99074039e-01 -5.93113018e-04 -1.67865173e-01] [ 2.27367792e-02 -3.85531661e-04 9.99741412e-01 5.12028191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.977552018 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.17, Z:0.05 [[ 9.98874868e-01 -4.22695635e-02 -2.15007359e-02 3.06182198e+00] [ 4.21952584e-02 9.99101779e-01 -3.89814328e-03 -1.68474822e-01] [ 2.16461963e-02 2.98652824e-03 9.99761233e-01 5.09728872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.007552018 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.17, Z:0.05 [[ 9.98896716e-01 -4.18257222e-02 -2.13532057e-02 3.09522039e+00] [ 4.17827958e-02 9.99123707e-01 -2.45270063e-03 -1.70576462e-01] [ 2.14370800e-02 1.55779797e-03 9.99768986e-01 4.99704826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.037552018 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.17, Z:0.05 [[ 9.98931456e-01 -4.13035019e-02 -2.07356586e-02 3.12618076e+00] [ 4.12732641e-02 9.99146119e-01 -1.88428347e-03 -1.72266505e-01] [ 2.07957803e-02 1.02644171e-03 9.99783217e-01 4.87593321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.067552018 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.18, Z:0.05 [[ 9.98884262e-01 -4.19237492e-02 -2.17400678e-02 3.15857620e+00] [ 4.19961583e-02 9.99113608e-01 2.88468546e-03 -1.75133130e-01] [ 2.15998608e-02 -3.79446624e-03 9.99759495e-01 4.80319927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.097552018 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.17, Z:0.05 [[ 9.98872308e-01 -4.19676697e-02 -2.21997154e-02 3.19121239e+00] [ 4.19614327e-02 9.99118952e-01 -7.46902680e-04 -1.74956768e-01] [ 2.22115022e-02 -1.85471461e-04 9.99753277e-01 4.96324090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1275520180000003 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.18, Z:0.05 [[ 0.99885624 -0.0419621 -0.0229215 3.22269358] [ 0.04209396 0.9990996 0.00530045 -0.17857297] [ 0.02267844 -0.00625925 0.99972322 0.0490828 ] [ 0. 0. 0. 1. ]] SLAMing on 3.157552018 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.18, Z:0.05 [[ 9.98871700e-01 -4.19018653e-02 -2.23508318e-02 3.25401832e+00] [ 4.18987837e-02 9.99121676e-01 -6.06356457e-04 -1.77316612e-01] [ 2.23566080e-02 -3.30800361e-04 9.99750005e-01 5.10915678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.18, Z:0.05 [[ 9.98880890e-01 -4.16709830e-02 -2.23717862e-02 3.28647528e+00] [ 4.17382627e-02 9.99125328e-01 2.54867847e-03 -1.79845731e-01] [ 2.22460123e-02 -3.47958571e-03 9.99746472e-01 5.10121159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.217552018 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.18, Z:0.05 [[ 9.98913659e-01 -4.08184584e-02 -2.24801018e-02 3.31917990e+00] [ 4.08309388e-02 9.99166065e-01 9.62644421e-05 -1.79418976e-01] [ 2.24574255e-02 -1.01404353e-03 9.99747286e-01 5.30586530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.247552018 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.19, Z:0.05 [[ 0.99917104 -0.03677165 -0.01746643 3.34593739] [ 0.03697918 0.99924741 0.01171118 -0.18528908] [ 0.01702265 -0.01234737 0.99977886 0.04766552] [ 0. 0. 0. 1. ]] SLAMing on 3.277552018 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.18, Z:0.06 [[ 0.99898181 -0.03962061 -0.02157639 3.38082706] [ 0.03940918 0.99917173 -0.01013807 -0.17611765] [ 0.0219602 0.00927744 0.9997158 0.05803256] [ 0. 0. 0. 1. ]] SLAMing on 3.307552018 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.18, Z:0.06 [[ 9.98966582e-01 -3.95881693e-02 -2.23281239e-02 3.41355974e+00] [ 3.95790841e-02 9.99216081e-01 -8.48841636e-04 -1.80605632e-01] [ 2.23442245e-02 -3.57622649e-05 9.99750336e-01 5.56671463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3375520180000002 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.18, Z:0.05 [[ 0.99897752 -0.03874601 -0.0232951 3.44365497] [ 0.03890631 0.99922193 0.00646764 -0.18373186] [ 0.02302637 -0.00736735 0.99970771 0.05470434] [ 0. 0. 0. 1. ]] SLAMing on 3.367552018 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.18, Z:0.06 [[ 9.98930293e-01 -3.96263669e-02 -2.38331799e-02 3.47623416e+00] [ 3.95763778e-02 9.99213254e-01 -2.56568421e-03 -1.80834136e-01] [ 2.39160980e-02 1.61970874e-03 9.99712657e-01 5.79905744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.397552018 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.18, Z:0.06 [[ 9.98941507e-01 -3.93932132e-02 -2.37495400e-02 3.50727570e+00] [ 3.93765662e-02 9.99223759e-01 -1.16836779e-03 -1.82530885e-01] [ 2.37771304e-02 2.31955744e-04 9.99717257e-01 5.73633422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.427552018 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.19, Z:0.06 [[ 0.99881685 -0.04157907 -0.02522076 3.53639996] [ 0.04188468 0.9990538 0.01171261 -0.18789252] [ 0.02470989 -0.01275512 0.99961329 0.05571613] [ 0. 0. 0. 1. ]] SLAMing on 3.457552018 meters Centerline goodness : 0.988992 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.18, Z:0.06 [[ 9.98722322e-01 -4.32668500e-02 -2.61094579e-02 3.56843615e+00] [ 4.33180127e-02 9.99060358e-01 1.39687021e-03 -1.84542391e-01] [ 2.60244862e-02 -2.52609529e-03 9.99658114e-01 6.08284178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.487552018 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.19, Z:0.06 [[ 0.99862404 -0.04513789 -0.02669436 3.59943031] [ 0.0452525 0.99896871 0.00370462 -0.18523511] [ 0.02649961 -0.00490751 0.99963678 0.06147806] [ 0. 0. 0. 1. ]] SLAMing on 3.517552018 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.18, Z:0.06 [[ 9.98475478e-01 -4.73760948e-02 -2.83235848e-02 3.63137317e+00] [ 4.74537003e-02 9.98871286e-01 2.07372481e-03 -1.84118086e-01] [ 2.81933706e-02 -3.41462227e-03 9.99596656e-01 6.36486911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.547552018 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.18, Z:0.06 [[ 9.98597388e-01 -4.58825654e-02 -2.64205728e-02 3.65876009e+00] [ 4.59394069e-02 9.98943028e-01 1.54814565e-03 -1.84440613e-01] [ 2.63216142e-02 -2.75971965e-03 9.99649717e-01 6.30198187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.577552018 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.18, Z:0.07 [[ 9.98358129e-01 -4.96116903e-02 -2.86308771e-02 3.69414025e+00] [ 4.96607969e-02 9.98765635e-01 1.00621566e-03 -1.84457985e-01] [ 2.85456161e-02 -2.42639575e-03 9.99589546e-01 6.53346625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.18, Z:0.07 [[ 9.98368391e-01 -4.99724454e-02 -2.76280834e-02 3.72503519e+00] [ 4.99889422e-02 9.98749767e-01 -9.36868916e-05 -1.84848922e-01] [ 2.75982236e-02 -1.28756463e-03 9.99618267e-01 6.56251298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.637552018 meters Centerline goodness : 0.989801 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.19, Z:0.07 [[ 0.99820863 -0.0527877 -0.02815993 3.75547151] [ 0.0530079 0.99856863 0.00713083 -0.18788226] [ 0.0277432 -0.00861076 0.999578 0.06611492] [ 0. 0. 0. 1. ]] SLAMing on 3.667552018 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.19, Z:0.07 [[ 9.98182923e-01 -5.37240451e-02 -2.72869853e-02 3.78617689e+00] [ 5.37389215e-02 9.98555002e-01 -1.88379387e-04 -1.85775317e-01] [ 2.72576761e-02 -1.27833607e-03 9.99627623e-01 6.93144762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.697552018 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.19, Z:0.07 [[ 9.98099086e-01 -5.52971761e-02 -2.72109809e-02 3.81772051e+00] [ 5.53918011e-02 9.98460948e-01 2.73548171e-03 -1.87080237e-01] [ 2.70178374e-02 -4.23754704e-03 9.99625970e-01 6.98807311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.727552018 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.19, Z:0.07 [[ 9.97981326e-01 -5.69986902e-02 -2.80075495e-02 3.85057159e+00] [ 5.70560239e-02 9.98370194e-01 1.25155634e-03 -1.87104572e-01] [ 2.78905655e-02 -2.84702927e-03 9.99606928e-01 7.17765903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.757552018 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.19, Z:0.07 [[ 0.99779042 -0.05936853 -0.02982701 3.8802875 ] [ 0.05966098 0.99817802 0.00901186 -0.19007978] [ 0.02923765 -0.01077146 0.99951445 0.07189318] [ 0. 0. 0. 1. ]] SLAMing on 3.787552018 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.19, Z:0.08 [[ 9.97659698e-01 -6.10963891e-02 -3.06978458e-02 3.91302168e+00] [ 6.11719855e-02 9.98126070e-01 1.52863752e-03 -1.87824831e-01] [ 3.05469260e-02 -3.40290823e-03 9.99527541e-01 7.54410903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.817552018 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.19, Z:0.08 [[ 9.97559540e-01 -6.24774656e-02 -3.11693815e-02 3.94582693e+00] [ 6.25241611e-02 9.98043313e-01 5.24767591e-04 -1.88110121e-01] [ 3.10756066e-02 -2.47232634e-03 9.99513979e-01 7.63580602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.847552018 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.19, Z:0.08 [[ 9.97422518e-01 -6.42528249e-02 -3.19357855e-02 3.97641450e+00] [ 6.43804373e-02 9.97920970e-01 2.98275245e-03 -1.89891212e-01] [ 3.16777398e-02 -5.03110430e-03 9.99485472e-01 7.60630422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.877552018 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.19, Z:0.08 [[ 9.97318935e-01 -6.56445647e-02 -3.23377833e-02 4.00859819e+00] [ 6.57736116e-02 9.97830234e-01 2.94197231e-03 -1.89915953e-01] [ 3.20744934e-02 -5.06105749e-03 9.99472667e-01 7.75103478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.907552018 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.19, Z:0.08 [[ 0.9972478 -0.06604522 -0.03368767 4.03888441] [ 0.06628321 0.99778283 0.00599626 -0.19058457] [ 0.03321696 -0.00821268 0.99941442 0.07911639] [ 0. 0. 0. 1. ]] SLAMing on 3.937552018 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.19, Z:0.08 [[ 9.97252301e-01 -6.55504899e-02 -3.45105995e-02 4.07029661e+00] [ 6.56418526e-02 9.97842090e-01 1.51984102e-03 -1.88989537e-01] [ 3.43365025e-02 -3.78100464e-03 9.99403176e-01 8.26730957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.967552018 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.19, Z:0.08 [[ 9.97338467e-01 -6.46271411e-02 -3.37537270e-02 4.10242794e+00] [ 6.47339900e-02 9.97900385e-01 2.08123430e-03 -1.88007951e-01] [ 3.35483529e-02 -4.26070845e-03 9.99428014e-01 8.34863358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.997552018 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.19, Z:0.08 [[ 9.97409702e-01 -6.39856905e-02 -3.28590592e-02 4.13493284e+00] [ 6.40481772e-02 9.97946444e-01 8.51548348e-04 -1.87316632e-01] [ 3.27370944e-02 -2.95390543e-03 9.99459633e-01 8.40948140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027552018 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.19, Z:0.09 [[ 9.97503679e-01 -6.28653354e-02 -3.21614772e-02 4.16642244e+00] [ 6.27888371e-02 9.98021097e-01 -3.38401730e-03 -1.85753831e-01] [ 3.23105702e-02 1.35618795e-03 9.99476957e-01 8.54813059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.057552018 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.19, Z:0.08 [[ 9.97596957e-01 -6.16165152e-02 -3.16814866e-02 4.19883169e+00] [ 6.16572061e-02 9.98097337e-01 3.08111128e-04 -1.87837466e-01] [ 3.16022227e-02 -2.26076267e-03 9.99497968e-01 8.40696048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087552018 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:0.08 [[ 0.99763948 -0.06083399 -0.03185428 4.23110695] [ 0.06100564 0.99812753 0.00444366 -0.18922919] [ 0.0315243 -0.00637646 0.99948265 0.08397339] [ 0. 0. 0. 1. ]] SLAMing on 4.117552018 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.19, Z:0.09 [[ 9.97666386e-01 -6.06369205e-02 -3.13838365e-02 4.26310551e+00] [ 6.06370612e-02 9.98159430e-01 -9.48139561e-04 -1.87294084e-01] [ 3.13835646e-02 -9.57096643e-04 9.99506956e-01 8.61969151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147552018 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.19, Z:0.09 [[ 9.97684622e-01 -6.04238252e-02 -3.12146795e-02 4.29470066e+00] [ 6.04800244e-02 9.98169039e-01 8.58531486e-04 -1.88053283e-01] [ 3.11056508e-02 -2.74440824e-03 9.99512334e-01 8.64510770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.177552018 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.19, Z:0.09 [[ 9.97663149e-01 -6.07461101e-02 -3.12754077e-02 4.32693930e+00] [ 6.07999174e-02 9.98149676e-01 7.71434977e-04 -1.87682081e-01] [ 3.11706764e-02 -2.67117445e-03 9.99510507e-01 8.75349697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207552018 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.19, Z:0.09 [[ 9.97643541e-01 -6.10164780e-02 -3.13744289e-02 4.35992368e+00] [ 6.10859860e-02 9.98131711e-01 1.26083029e-03 -1.88421284e-01] [ 3.12388810e-02 -3.17439712e-03 9.99506906e-01 8.83154797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237552018 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.19, Z:0.09 [[ 9.97617902e-01 -6.12276369e-02 -3.17757316e-02 4.39071681e+00] [ 6.12998022e-02 9.98118551e-01 1.30098891e-03 -1.88766962e-01] [ 3.16362907e-02 -3.24573589e-03 9.99494177e-01 8.92071772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267552018 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.19, Z:0.09 [[ 9.97591584e-01 -6.18644289e-02 -3.13659628e-02 4.42322154e+00] [ 6.19345508e-02 9.98079407e-01 1.26806583e-03 -1.89413800e-01] [ 3.12272734e-02 -3.20764862e-03 9.99507163e-01 8.93374492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.297552018 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.19, Z:0.09 [[ 9.97552677e-01 -6.24535296e-02 -3.14358571e-02 4.45651364e+00] [ 6.23813900e-02 9.98047023e-01 -3.27131812e-03 -1.88337215e-01] [ 3.15787689e-02 1.30229969e-03 9.99500418e-01 9.02324877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3275520180000004 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.19, Z:0.09 [[ 0.99746635 -0.06312046 -0.03281282 4.48735053] [ 0.06334364 0.99797489 0.00580617 -0.19154771] [ 0.03237988 -0.00786994 0.99944465 0.08878487] [ 0. 0. 0. 1. ]] SLAMing on 4.357552018 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.19, Z:0.09 [[ 9.97493388e-01 -6.27340396e-02 -3.27319720e-02 4.51853313e+00] [ 6.27147094e-02 9.98030184e-01 -1.61790084e-03 -1.88874355e-01] [ 3.27689935e-02 -4.38930720e-04 9.99462856e-01 9.17842748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387552018 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.19, Z:0.09 [[ 9.97553245e-01 -6.25355441e-02 -3.12542814e-02 4.55188106e+00] [ 6.24652676e-02 9.98041941e-01 -3.22085274e-03 -1.89378760e-01] [ 3.13945015e-02 1.26066505e-03 9.99506276e-01 9.16479220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.417552018 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.19, Z:0.09 [[ 9.97636441e-01 -6.16985931e-02 -3.02459044e-02 4.58317412e+00] [ 6.17147850e-02 9.98093746e-01 -3.98779297e-04 -1.90719355e-01] [ 3.02128521e-02 -1.46878273e-03 9.99542408e-01 9.07011877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447552018 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.19, Z:0.09 [[ 9.97687799e-01 -6.14548190e-02 -2.90234456e-02 4.61706394e+00] [ 6.13592628e-02 9.98107024e-01 -4.17244070e-03 -1.89612171e-01] [ 2.92249215e-02 2.38193596e-03 9.99570023e-01 9.13379858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.477552018 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.19, Z:0.09 [[ 9.97675884e-01 -6.16452476e-02 -2.90291936e-02 4.64965186e+00] [ 6.17071289e-02 9.98093529e-01 1.23984291e-03 -1.92229624e-01] [ 2.88974198e-02 -3.02826956e-03 9.99577795e-01 9.01212141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552018 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.19, Z:0.09 [[ 9.97744667e-01 -6.05372617e-02 -2.89968767e-02 4.68100414e+00] [ 6.05889599e-02 9.98162389e-01 9.06781272e-04 -1.92018939e-01] [ 2.88886976e-02 -2.66162678e-03 9.99579091e-01 9.13348301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.537552018 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.19, Z:0.09 [[ 9.97897115e-01 -5.84694586e-02 -2.79762514e-02 4.71395959e+00] [ 5.84827745e-02 9.98288359e-01 -3.42714420e-04 -1.90350373e-01] [ 2.79484044e-02 -1.29413507e-03 9.99608529e-01 9.25489276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.19, Z:0.09 [[ 9.97955590e-01 -5.75650350e-02 -2.77652173e-02 4.74675879e+00] [ 5.76063222e-02 9.98339139e-01 6.88766457e-04 -1.90316060e-01] [ 2.76794542e-02 -2.28681039e-03 9.99614235e-01 9.30151512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.597552018 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.19, Z:0.09 [[ 9.98035568e-01 -5.61702852e-02 -2.77471368e-02 4.77971863e+00] [ 5.61988545e-02 9.98419564e-01 2.50260403e-04 -1.90019132e-01] [ 2.76892271e-02 -1.80912609e-03 9.99614943e-01 9.42188899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552018 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.19, Z:0.09 [[ 0.99810084 -0.05479483 -0.02814677 4.80986813] [ 0.05496196 0.99847492 0.00519823 -0.19123929] [ 0.02781901 -0.00673536 0.99959028 0.09401301] [ 0. 0. 0. 1. ]] SLAMing on 4.657552018 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.19, Z:0.10 [[ 9.98176061e-01 -5.26843454e-02 -2.94772818e-02 4.84258575e+00] [ 5.27816059e-02 9.98602873e-01 2.53065548e-03 -1.89344403e-01] [ 2.93027723e-02 -4.08189799e-03 9.99562247e-01 9.63861249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.19, Z:0.10 [[ 9.98191948e-01 -5.21031441e-02 -2.99682735e-02 4.87422646e+00] [ 5.21884354e-02 9.98635109e-01 2.07042427e-03 -1.88347365e-01] [ 2.98194944e-02 -3.63067814e-03 9.99548706e-01 9.80079194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.717552018 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.19, Z:0.10 [[ 9.98237697e-01 -5.10902548e-02 -3.01875100e-02 4.90634835e+00] [ 5.11007335e-02 9.98693414e-01 -4.24758937e-04 -1.86766176e-01] [ 3.01697685e-02 -1.11859352e-03 9.99544163e-01 9.96035207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747552018 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.19, Z:0.10 [[ 0.99829097 -0.04889493 -0.03200667 4.93601064] [ 0.04914278 0.99876721 0.00700294 -0.1875731 ] [ 0.0316248 -0.00856387 0.99946312 0.09931693] [ 0. 0. 0. 1. ]] SLAMing on 4.777552018 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.19, Z:0.10 [[ 9.98303939e-01 -4.81993327e-02 -3.26507250e-02 4.96776137e+00] [ 4.82771137e-02 9.98832703e-01 1.59760482e-03 -1.85218211e-01] [ 3.25356084e-02 -3.17117795e-03 9.99465546e-01 1.02405556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807552018 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.19, Z:0.10 [[ 0.99830578 -0.04792405 -0.03299787 4.99892467] [ 0.0481855 0.99881264 0.00717349 -0.18661941] [ 0.0326149 -0.00875135 0.99942968 0.10289998] [ 0. 0. 0. 1. ]] SLAMing on 4.837552018 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.18, Z:0.11 [[ 9.98365829e-01 -4.68976279e-02 -3.26539908e-02 5.03026800e+00] [ 4.69364951e-02 9.98897785e-01 4.24336679e-04 -1.83263476e-01] [ 3.25980988e-02 -1.95630712e-03 9.99466626e-01 1.06511638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867552018 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.18, Z:0.11 [[ 9.98488778e-01 -4.44430389e-02 -3.23260956e-02 5.06197887e+00] [ 4.46001269e-02 9.98996281e-01 4.15440488e-03 -1.83406924e-01] [ 3.21090149e-02 -5.58987462e-03 9.99468741e-01 1.06763178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.897552018 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.18, Z:0.11 [[ 9.98529978e-01 -4.33590570e-02 -3.25249914e-02 5.09370697e+00] [ 4.33507606e-02 9.99059452e-01 -9.60544313e-04 -1.81009704e-01] [ 3.25360484e-02 -4.50850823e-04 9.99470461e-01 1.09282747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927552018 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.18, Z:0.11 [[ 0.99853932 -0.04226379 -0.0336599 5.12415527] [ 0.04253374 0.99906804 0.00734439 -0.18394796] [ 0.03331813 -0.00876535 0.99940636 0.10846433] [ 0. 0. 0. 1. ]] SLAMing on 4.957552018 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.18, Z:0.11 [[ 0.9985299 -0.04098935 -0.03546712 5.15389037] [ 0.04120386 0.9991365 0.0053382 -0.18225052] [ 0.03521769 -0.00679173 0.99935659 0.11161358] [ 0. 0. 0. 1. ]] SLAMing on 4.987552018 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.18, Z:0.11 [[ 9.98592269e-01 -4.08716134e-02 -3.38081469e-02 5.18435228e+00] [ 4.08835790e-02 9.99163860e-01 -3.37581441e-04 -1.80233618e-01] [ 3.37936761e-02 -1.04509183e-03 9.99428284e-01 1.12908076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.017552018 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.18, Z:0.11 [[ 9.98633010e-01 -4.02649187e-02 -3.33293672e-02 5.21482516e+00] [ 4.01962567e-02 9.99188080e-01 -2.72786401e-03 -1.79912028e-01] [ 3.34121436e-02 1.38441925e-03 9.99440700e-01 1.13768122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047552018 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.18, Z:0.11 [[ 9.98615335e-01 -4.04796879e-02 -3.35977444e-02 5.24534796e+00] [ 4.06615050e-02 9.99161708e-01 4.74580424e-03 -1.83143502e-01] [ 3.33774710e-02 -6.10536774e-03 9.99424169e-01 1.11864198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077552018 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.18, Z:0.11 [[ 9.98620734e-01 -3.99655679e-02 -3.40497241e-02 5.27659775e+00] [ 3.99337316e-02 9.99201026e-01 -1.61481857e-03 -1.81145108e-01] [ 3.40870564e-02 2.52858759e-04 9.99418835e-01 1.14121054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107552018 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.18, Z:0.11 [[ 9.98656575e-01 -3.98385379e-02 -3.31351101e-02 5.30764846e+00] [ 3.97665022e-02 9.99204991e-01 -2.83044006e-03 -1.81140263e-01] [ 3.32215280e-02 1.50897015e-03 9.99446874e-01 1.13646289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.137552018 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.18, Z:0.11 [[ 9.98647096e-01 -3.96893583e-02 -3.35966091e-02 5.33800188e+00] [ 3.97473906e-02 9.99209197e-01 1.06095036e-03 -1.82908804e-01] [ 3.35279323e-02 -2.39489254e-03 9.99434911e-01 1.12504489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167552018 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.18, Z:0.11 [[ 0.99870592 -0.03939156 -0.03216813 5.36974852] [ 0.03915228 0.99920095 -0.0080347 -0.18016979] [ 0.03245892 0.00676485 0.99945018 0.11402865] [ 0. 0. 0. 1. ]] SLAMing on 5.197552018 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.18, Z:0.11 [[ 9.98760626e-01 -3.87854040e-02 -3.11914138e-02 5.40110411e+00] [ 3.86101940e-02 9.99235112e-01 -6.20029530e-03 -1.81447842e-01] [ 3.14080368e-02 4.98830427e-03 9.99494198e-01 1.11622262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227552018 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.18, Z:0.11 [[ 9.98602746e-01 -4.17547231e-02 -3.23897849e-02 5.42564909e+00] [ 4.18442254e-02 9.99121961e-01 2.09009067e-03 -1.79773619e-01] [ 3.22740743e-02 -3.44249574e-03 9.99473128e-01 1.09216813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.257552018 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.19, Z:0.11 [[ 0.99866517 -0.03982218 -0.03289489 5.45939807] [ 0.04008365 0.99916946 0.00732758 -0.18558211] [ 0.03257577 -0.00863635 0.99943196 0.10946654] [ 0. 0. 0. 1. ]] SLAMing on 5.2875520179999995 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.18, Z:0.12 [[ 9.98542731e-01 -4.37714441e-02 -3.15670004e-02 5.48706463e+00] [ 4.35931048e-02 9.99029403e-01 -6.31614486e-03 -1.76330009e-01] [ 3.18128284e-02 4.93083698e-03 9.99481681e-01 1.15104883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317552018 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.18, Z:0.11 [[ 9.98514145e-01 -4.48741038e-02 -3.09162862e-02 5.51787312e+00] [ 4.49058284e-02 9.98991169e-01 3.32232973e-04 -1.79243656e-01] [ 3.08701883e-02 -1.72006077e-03 9.99521922e-01 1.13386214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552018 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.19, Z:0.11 [[ 0.99847729 -0.04530345 -0.03147546 5.55214679] [ 0.04573667 0.99886655 0.01318252 -0.18752022] [ 0.03084257 -0.01460203 0.99941759 0.11237439] [ 0. 0. 0. 1. ]] SLAMing on 5.377552018 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.18, Z:0.12 [[ 9.98301811e-01 -5.02704158e-02 -2.94343344e-02 5.58471686e+00] [ 5.01828788e-02 9.98733171e-01 -3.70563830e-03 -1.83407574e-01] [ 2.95833301e-02 2.22224579e-03 9.99559847e-01 1.18781197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407552018 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.19, Z:0.12 [[ 9.98157878e-01 -5.29323271e-02 -2.96482532e-02 5.61602648e+00] [ 5.29806457e-02 9.98595181e-01 8.45989917e-04 -1.85728512e-01] [ 2.95618226e-02 -2.41521510e-03 9.99560036e-01 1.17246122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.437552018 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.19, Z:0.12 [[ 9.97970799e-01 -5.64668764e-02 -2.94240631e-02 5.64843067e+00] [ 5.65493391e-02 9.98397848e-01 1.97733714e-03 -1.87308139e-01] [ 2.92652673e-02 -3.63723605e-03 9.99565063e-01 1.17858181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467552018 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.19, Z:0.12 [[ 9.97834589e-01 -5.92079947e-02 -2.86451854e-02 5.68103684e+00] [ 5.91344908e-02 9.98244210e-01 -3.40712242e-03 -1.86399365e-01] [ 2.87966193e-02 1.70582615e-03 9.99583836e-01 1.19250550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.497552018 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.19, Z:0.12 [[ 9.97526352e-01 -6.44478399e-02 -2.80651672e-02 5.71489132e+00] [ 6.43876488e-02 9.97920320e-01 -3.04407886e-03 -1.87674138e-01] [ 2.82029849e-02 1.22949875e-03 9.99601461e-01 1.18540347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.19, Z:0.12 [[ 9.97362884e-01 -6.68534882e-02 -2.82469105e-02 5.74754785e+00] [ 6.68878143e-02 9.97760466e-01 2.71034915e-04 -1.89434338e-01] [ 2.81655310e-02 -2.15969427e-03 9.99600940e-01 1.17437578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.557552018 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.19, Z:0.12 [[ 9.97379966e-01 -6.71126144e-02 -2.70018514e-02 5.77966984e+00] [ 6.70475290e-02 9.97744294e-01 -3.30961761e-03 -1.89289175e-01] [ 2.71630603e-02 1.49053889e-03 9.99629905e-01 1.17624058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552018 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.19, Z:0.12 [[ 9.97328414e-01 -6.78281558e-02 -2.71178244e-02 5.81174798e+00] [ 6.78536103e-02 9.97695288e-01 1.85160273e-05 -1.91534713e-01] [ 2.70540697e-02 -1.85850885e-03 9.99632244e-01 1.16139678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617552018 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.19, Z:0.12 [[ 0.9972925 -0.06841036 -0.02697569 5.84617375] [ 0.06820018 0.99763427 -0.00863723 -0.18837978] [ 0.02750275 0.0067741 0.99959877 0.11818467] [ 0. 0. 0. 1. ]] SLAMing on 5.647552018 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.19, Z:0.12 [[ 9.97298001e-01 -6.81687537e-02 -2.73809960e-02 5.87950890e+00] [ 6.82079257e-02 9.97671003e-01 4.98121868e-04 -1.91242111e-01] [ 2.72832694e-02 -2.36437688e-03 9.99624946e-01 1.15447439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.677552018 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.19, Z:0.12 [[ 0.99762748 -0.06469539 -0.02353544 5.91224998] [ 0.06442272 0.99784854 -0.0121658 -0.18697392] [ 0.02427187 0.01062072 0.99964898 0.11636175] [ 0. 0. 0. 1. ]] SLAMing on 5.707552018 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.19, Z:0.11 [[ 0.99763014 -0.06434902 -0.0243579 5.94736334] [ 0.06417697 0.9979082 -0.00778115 -0.18809206] [ 0.02480766 0.00619949 0.99967302 0.11440849] [ 0. 0. 0. 1. ]] SLAMing on 5.737552018 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.19, Z:0.11 [[ 9.97836813e-01 -6.16751501e-02 -2.27567621e-02 5.98002535e+00] [ 6.16813684e-02 9.98095799e-01 -4.29241992e-04 -1.91019613e-01] [ 2.27399022e-02 -9.75354764e-04 9.99740939e-01 1.12155294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552018 meters Centerline goodness : 0.988180 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.20, Z:0.11 [[ 0.99813858 -0.05726874 -0.02096831 6.00040158] [ 0.05750802 0.99828453 0.01099172 -0.19602417] [ 0.02030286 -0.0121771 0.99971972 0.10790162] [ 0. 0. 0. 1. ]] SLAMing on 5.797552018 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.18, Z:0.12 [[ 0.99783531 -0.0616083 -0.02300222 6.0436063 ] [ 0.06121335 0.99797133 -0.01749715 -0.18350046] [ 0.02403353 0.01605123 0.99958229 0.1193849 ] [ 0. 0. 0. 1. ]] SLAMing on 5.827552018 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.19, Z:0.11 [[ 9.97824210e-01 -6.13858147e-02 -2.40546825e-02 6.07685527e+00] [ 6.14367689e-02 9.98110018e-01 1.38429439e-03 -1.91366157e-01] [ 2.39242436e-02 -2.85912442e-03 9.99709686e-01 1.13055633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.857552018 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.19, Z:0.11 [[ 9.97791963e-01 -6.17577669e-02 -2.44372073e-02 6.10621658e+00] [ 6.19009136e-02 9.98069041e-01 5.14456706e-03 -1.92357168e-01] [ 2.40723030e-02 -6.64589312e-03 9.99688130e-01 1.12472602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552018 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.19, Z:0.11 [[ 9.97709520e-01 -6.31313522e-02 -2.42929061e-02 6.13753668e+00] [ 6.32590219e-02 9.97986895e-01 4.52256510e-03 -1.91680630e-01] [ 2.39584862e-02 -6.04895173e-03 9.99694654e-01 1.13119600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.917552018 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.19, Z:0.12 [[ 9.97524178e-01 -6.51975596e-02 -2.63589338e-02 6.17049990e+00] [ 6.51939034e-02 9.97872115e-01 -9.98970253e-04 -1.89133222e-01] [ 2.63679754e-02 -7.21944803e-04 9.99652044e-01 1.16713440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.19, Z:0.12 [[ 9.97414714e-01 -6.64906882e-02 -2.72557489e-02 6.20115624e+00] [ 6.66204093e-02 9.97770855e-01 3.87829008e-03 -1.90393952e-01] [ 2.69371217e-02 -5.68405274e-03 9.99620970e-01 1.16343245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.977552018 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.19, Z:0.12 [[ 9.97581832e-01 -6.38774907e-02 -2.73889685e-02 6.22555825e+00] [ 6.39401215e-02 9.97952732e-01 1.41615879e-03 -1.89896111e-01] [ 2.72424353e-02 -3.16398825e-03 9.99623849e-01 1.17366226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007552018 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.18, Z:0.12 [[ 9.97220844e-01 -6.84699959e-02 -2.93674567e-02 6.26518440e+00] [ 6.82994521e-02 9.97641877e-01 -6.77273323e-03 -1.84864550e-01] [ 2.97619336e-02 4.74812955e-03 9.99545738e-01 1.21849296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0375520179999995 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.19, Z:0.12 [[ 9.97183078e-01 -6.87481488e-02 -2.99933478e-02 6.29844377e+00] [ 6.87537994e-02 9.97633301e-01 -8.44094681e-04 -1.86627081e-01] [ 2.99803925e-02 -1.22043969e-03 9.99549742e-01 1.20463616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067552018 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.20, Z:0.11 [[ 0.99747945 -0.06542918 -0.0274548 6.32258661] [ 0.06608438 0.99753309 0.02367657 -0.19594894] [ 0.02583793 -0.02543123 0.99934261 0.11180973] [ 0. 0. 0. 1. ]] SLAMing on 6.097552018 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.18, Z:0.13 [[ 0.99703932 -0.0701849 -0.03141132 6.36014389] [ 0.06958241 0.99737809 -0.01988057 -0.17601856] [ 0.03272427 0.01763604 0.99930881 0.13047913] [ 0. 0. 0. 1. ]] SLAMing on 6.127552018 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.19, Z:0.12 [[ 9.97131362e-01 -6.90635816e-02 -3.09720764e-02 6.39157602e+00] [ 6.92148801e-02 9.97594390e-01 3.83849507e-03 -1.85465920e-01] [ 3.06324694e-02 -5.97121238e-03 9.99512880e-01 1.21329338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.157552018 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.19, Z:0.12 [[ 0.9975877 -0.06481473 -0.02485622 6.41545025] [ 0.06520385 0.99775654 0.01517686 -0.1900166 ] [ 0.02381677 -0.01676097 0.99957583 0.11819799] [ 0. 0. 0. 1. ]] SLAMing on 6.187552018 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.18, Z:0.13 [[ 0.99708812 -0.06899262 -0.03248522 6.45434776] [ 0.06873101 0.99759369 -0.00910359 -0.17682559] [ 0.03303513 0.00684434 0.99943076 0.13037772] [ 0. 0. 0. 1. ]] SLAMing on 6.217552018 meters Centerline goodness : 0.987860 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.19, Z:0.12 [[ 0.99763388 -0.06470109 -0.02324658 6.48059694] [ 0.06525818 0.99757825 0.0240625 -0.19008968] [ 0.02163341 -0.02552259 0.99944014 0.11840873] [ 0. 0. 0. 1. ]] SLAMing on 6.247552018 meters Centerline goodness : 0.986928 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.18, Z:0.13 [[ 9.97670672e-01 -6.46642459e-02 -2.17201629e-02 6.51185395e+00] [ 6.46057848e-02 9.97905129e-01 -3.38330038e-03 -1.77173926e-01] [ 2.18934406e-02 1.97217139e-03 9.99758365e-01 1.30198197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277552018 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.17, Z:0.14 [[ 0.99719439 -0.06748724 -0.03238557 6.54982072] [ 0.06688765 0.99757471 -0.01925461 -0.16922349] [ 0.03360646 0.0170344 0.99928997 0.1384323 ] [ 0. 0. 0. 1. ]] SLAMing on 6.307552018 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.18, Z:0.13 [[ 9.97400734e-01 -6.46397586e-02 -3.18351700e-02 6.58097511e+00] [ 6.47828669e-02 9.97893304e-01 3.48346424e-03 -1.77065533e-01] [ 3.15429327e-02 -5.53678337e-03 9.99487062e-01 1.30179904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.337552018 meters Centerline goodness : 0.987702 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.18, Z:0.12 [[ 0.99789941 -0.06102466 -0.02174317 6.60802926] [ 0.06144996 0.99792045 0.01945974 -0.18326005] [ 0.02051043 -0.02075498 0.99957419 0.12401735] [ 0. 0. 0. 1. ]] SLAMing on 6.367552018 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.17, Z:0.14 [[ 0.9973173 -0.06508962 -0.03348935 6.64318025] [ 0.06464419 0.9978071 -0.01421708 -0.1667666 ] [ 0.0343413 0.01201405 0.99933795 0.14065893] [ 0. 0. 0. 1. ]] SLAMing on 6.397552018 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.17, Z:0.14 [[ 9.97295594e-01 -6.50610840e-02 -3.41841117e-02 6.67698056e+00] [ 6.51548240e-02 9.97873829e-01 1.63426731e-03 -1.73196099e-01] [ 3.40051033e-02 -3.85710737e-03 9.99414216e-01 1.35808247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427552018 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.18, Z:0.13 [[ 0.99793112 -0.05989694 -0.02336317 6.70384389] [ 0.06031862 0.99802078 0.01778146 -0.18055733] [ 0.02225187 -0.01915391 0.9995689 0.12809425] [ 0. 0. 0. 1. ]] SLAMing on 6.457552018 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.17, Z:0.13 [[ 9.97819932e-01 -6.09708292e-02 -2.52574818e-02 6.73537525e+00] [ 6.11029946e-02 9.98121351e-01 4.49369981e-03 -1.73917429e-01] [ 2.49360473e-02 -6.02721102e-03 9.99670879e-01 1.34573647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552018 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.17, Z:0.14 [[ 9.97772255e-01 -6.16982793e-02 -2.53742030e-02 6.76753586e+00] [ 6.16588189e-02 9.98094553e-01 -2.33535209e-03 -1.70979876e-01] [ 2.54699410e-02 7.65606129e-04 9.99675295e-01 1.39350639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.517552018 meters Centerline goodness : 0.989092 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.17, Z:0.14 [[ 9.97704959e-01 -6.25691159e-02 -2.58828255e-02 6.80031648e+00] [ 6.26384263e-02 9.98034524e-01 1.87501816e-03 -1.72283817e-01] [ 2.57146352e-02 -3.49197438e-03 9.99663225e-01 1.39106667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552018 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.17, Z:0.14 [[ 9.97561305e-01 -6.43634533e-02 -2.69961027e-02 6.83175940e+00] [ 6.44209006e-02 9.97922017e-01 1.26279337e-03 -1.71838228e-01] [ 2.68587275e-02 -2.99882704e-03 9.99634741e-01 1.40805186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577552018 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.17, Z:0.14 [[ 9.97491772e-01 -6.53205347e-02 -2.72652284e-02 6.86368955e+00] [ 6.54900614e-02 9.97838768e-01 5.37078020e-03 -1.73691830e-01] [ 2.68554797e-02 -7.14291054e-03 9.99613806e-01 1.39971252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552018 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.17, Z:0.15 [[ 0.99681111 -0.06995483 -0.03839189 6.90089726] [ 0.06948281 0.99749186 -0.01349581 -0.16511573] [ 0.0392397 0.0107852 0.99917162 0.15107755] [ 0. 0. 0. 1. ]] SLAMing on 6.637552018 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.17, Z:0.14 [[ 0.9967672 -0.06970012 -0.03996313 6.92999577] [ 0.07022218 0.99746146 0.01181036 -0.17447978] [ 0.0390385 -0.01457848 0.99913135 0.14317749] [ 0. 0. 0. 1. ]] SLAMing on 6.667552018 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.17, Z:0.14 [[ 9.97389251e-01 -6.55493666e-02 -3.02978872e-02 6.95802207e+00] [ 6.57695853e-02 9.97814766e-01 6.32887398e-03 -1.74971793e-01] [ 2.98168255e-02 -8.30503035e-03 9.99520877e-01 1.44007290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697552018 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.17, Z:0.15 [[ 0.99681051 -0.06941593 -0.03937293 6.9956336 ] [ 0.06896777 0.99753893 -0.01263032 -0.16624777] [ 0.04015277 0.00987457 0.99914476 0.1533951 ] [ 0. 0. 0. 1. ]] SLAMing on 6.727552018 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.17, Z:0.15 [[ 9.96923687e-01 -6.80194134e-02 -3.89425337e-02 7.02574172e+00] [ 6.81405944e-02 9.97674120e-01 1.79146606e-03 -1.72153697e-01] [ 3.87301036e-02 -4.43952234e-03 9.99239846e-01 1.47978204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.757552018 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.17, Z:0.15 [[ 9.96974836e-01 -6.69594366e-02 -3.94665761e-02 7.05850652e+00] [ 6.69764164e-02 9.97754159e-01 -8.93278661e-04 -1.70948966e-01] [ 3.94377538e-02 -1.75275348e-03 9.99220492e-01 1.50068296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7875520179999995 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.17, Z:0.15 [[ 9.97039308e-01 -6.63803537e-02 -3.88106490e-02 7.09000429e+00] [ 6.64783020e-02 9.97787104e-01 1.23727529e-03 -1.71097711e-01] [ 3.86426343e-02 -3.81367815e-03 9.99245817e-01 1.50427507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817552018 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.17, Z:0.15 [[ 9.97089198e-01 -6.54195873e-02 -3.91587659e-02 7.12118504e+00] [ 6.56027243e-02 9.97839998e-01 3.40886269e-03 -1.72001820e-01] [ 3.88511765e-02 -5.96786189e-03 9.99227187e-01 1.51660377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847552018 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.17, Z:0.15 [[ 9.97184595e-01 -6.43011841e-02 -3.85777299e-02 7.15236325e+00] [ 6.46214454e-02 9.97884508e-01 7.11172762e-03 -1.73015876e-01] [ 3.80388265e-02 -9.58465389e-03 9.99230295e-01 1.52966868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.877552018 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.17, Z:0.16 [[ 9.97197705e-01 -6.42806764e-02 -3.82718079e-02 7.18467978e+00] [ 6.43178331e-02 9.97929431e-01 -2.60851405e-04 -1.69539782e-01] [ 3.82093312e-02 -2.20143933e-03 9.99267332e-01 1.57558182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907552018 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.17, Z:0.16 [[ 9.97311826e-01 -6.30138295e-02 -3.73949095e-02 7.21745637e+00] [ 6.29408508e-02 9.98012361e-01 -3.12678620e-03 -1.68836239e-01] [ 3.75176127e-02 7.64713429e-04 9.99295674e-01 1.58960567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.937552018 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.17, Z:0.16 [[ 9.97448220e-01 -6.15104110e-02 -3.62424878e-02 7.25065169e+00] [ 6.14451805e-02 9.98106212e-01 -2.91198150e-03 -1.69181076e-01] [ 3.63529693e-02 6.77624566e-04 9.99338783e-01 1.58666394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967552018 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.17, Z:0.16 [[ 9.97580002e-01 -5.92189401e-02 -3.64315276e-02 7.28327715e+00] [ 5.93323746e-02 9.98236199e-01 2.03946005e-03 -1.71391236e-01] [ 3.62464950e-02 -4.19609360e-03 9.99334070e-01 1.57110261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9975520179999995 meters Centerline goodness : 0.989594 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.17, Z:0.16 [[ 9.97646501e-01 -5.77775576e-02 -3.69217149e-02 7.31356596e+00] [ 5.79444142e-02 9.98313800e-01 3.46433005e-03 -1.71730788e-01] [ 3.66592969e-02 -5.59558389e-03 9.99312156e-01 1.58110939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027552018 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.17, Z:0.16 [[ 9.97710226e-01 -5.66717533e-02 -3.69136566e-02 7.34426365e+00] [ 5.67303399e-02 9.98389391e-01 5.40803712e-04 -1.70143067e-01] [ 3.68235549e-02 -2.63368968e-03 9.99318312e-01 1.60195876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.057552018 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.17, Z:0.16 [[ 9.98172398e-01 -5.23353763e-02 -3.02137910e-02 7.37184132e+00] [ 5.24574062e-02 9.98617842e-01 3.25991386e-03 -1.72153964e-01] [ 3.00014220e-02 -4.83889314e-03 9.99538143e-01 1.58941615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087552018 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.17, Z:0.16 [[ 9.97788434e-01 -5.51908643e-02 -3.70433383e-02 7.40806326e+00] [ 5.50509312e-02 9.98472069e-01 -4.78774385e-03 -1.67626777e-01] [ 3.72509784e-02 2.73788517e-03 9.99302191e-01 1.64088329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.117552018 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.17, Z:0.16 [[ 9.97855576e-01 -5.41132911e-02 -3.68239345e-02 7.43860049e+00] [ 5.42951241e-02 9.98517098e-01 3.95519570e-03 -1.71238370e-01] [ 3.65552996e-02 -5.94607418e-03 9.99313942e-01 1.61946135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147552018 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.17, Z:0.17 [[ 9.97771341e-01 -5.52926269e-02 -3.73507109e-02 7.47241152e+00] [ 5.50760958e-02 9.98458989e-01 -6.80229203e-03 -1.65919341e-01] [ 3.76692696e-02 4.73000072e-03 9.99279067e-01 1.66747979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.177552018 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.17, Z:0.16 [[ 9.97789326e-01 -5.44180050e-02 -3.81463281e-02 7.50456122e+00] [ 5.45098046e-02 9.98512296e-01 1.36983099e-03 -1.69818765e-01] [ 3.80150342e-02 -3.44615163e-03 9.99271225e-01 1.64898382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2075520179999994 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.17, Z:0.16 [[ 0.99787064 -0.05314466 -0.03781316 7.53313452] [ 0.05356981 0.99851078 0.01031986 -0.17320902] [ 0.0372084 -0.01232353 0.99923154 0.16321491] [ 0. 0. 0. 1. ]] SLAMing on 7.237552018 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.17, Z:0.17 [[ 9.98072244e-01 -5.10794330e-02 -3.52517752e-02 7.56149116e+00] [ 5.12537663e-02 9.98677414e-01 4.05895711e-03 -1.70741392e-01] [ 3.49978225e-02 -5.85791868e-03 9.99370220e-01 1.65665839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267552018 meters Centerline goodness : 0.990656 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.16, Z:0.17 [[ 0.99782646 -0.05405748 -0.03768484 7.59577358] [ 0.05361898 0.99848258 -0.01255177 -0.16346062] [ 0.03830617 0.01050386 0.99921084 0.17370516] [ 0. 0. 0. 1. ]] SLAMing on 7.297552018 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.17, Z:0.16 [[ 0.99814787 -0.05186588 -0.03179243 7.62509758] [ 0.05226749 0.99856181 0.01193374 -0.17426382] [ 0.03112776 -0.01357335 0.99942325 0.164989 ] [ 0. 0. 0. 1. ]] SLAMing on 7.327552018 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.16, Z:0.18 [[ 0.99775751 -0.05461007 -0.03869991 7.6595096 ] [ 0.05414952 0.99845014 -0.01285109 -0.16307767] [ 0.03934172 0.01072669 0.99916824 0.17592781] [ 0. 0. 0. 1. ]] SLAMing on 7.357552018 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.17, Z:0.17 [[ 9.97755643e-01 -5.40188807e-02 -3.95681445e-02 7.69205816e+00] [ 5.40991621e-02 9.98535106e-01 9.60253147e-04 -1.68563483e-01] [ 3.94583096e-02 -3.09870146e-03 9.99216413e-01 1.72180326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387552018 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.17, Z:0.17 [[ 9.97672915e-01 -5.44234712e-02 -4.10711514e-02 7.72378876e+00] [ 5.44351449e-02 9.98516959e-01 -8.34873704e-04 -1.67467900e-01] [ 4.10556779e-02 -1.40278319e-03 9.99155875e-01 1.74971390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.417552018 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.17, Z:0.17 [[ 0.99764558 -0.05405738 -0.04220295 7.75358165] [ 0.0544899 0.99847225 0.00916558 -0.17081528] [ 0.04164301 -0.01144364 0.99906702 0.17403578] [ 0. 0. 0. 1. ]] SLAMing on 7.447552018 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.17, Z:0.18 [[ 9.97587391e-01 -5.52226546e-02 -4.20696580e-02 7.78496084e+00] [ 5.51311193e-02 9.98473558e-01 -3.33377891e-03 -1.66040126e-01] [ 4.21895412e-02 1.00638847e-03 9.99109118e-01 1.79166737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.477552018 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.17, Z:0.18 [[ 9.97510863e-01 -5.54189739e-02 -4.35983398e-02 7.81463673e+00] [ 5.57314223e-02 9.98427870e-01 5.98305167e-03 -1.69758285e-01] [ 4.31982230e-02 -8.39795653e-03 9.99031225e-01 1.78145490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507552018 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.17, Z:0.18 [[ 9.97437173e-01 -5.65683535e-02 -4.38076184e-02 7.84601696e+00] [ 5.66227203e-02 9.98395647e-01 1.85079952e-07 -1.67562604e-01] [ 4.37373250e-02 -2.48069113e-03 9.99039985e-01 1.81928439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5375520179999995 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.17, Z:0.18 [[ 9.97327109e-01 -5.74403307e-02 -4.51580224e-02 7.87487023e+00] [ 5.77809932e-02 9.98309568e-01 6.27394895e-03 -1.69444333e-01] [ 4.47213082e-02 -8.86645475e-03 9.98960155e-01 1.82560710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567552018 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.17, Z:0.19 [[ 9.97209592e-01 -5.96257853e-02 -4.49198792e-02 7.90561866e+00] [ 5.96051891e-02 9.98220409e-01 -1.79896884e-03 -1.66455445e-01] [ 4.49472051e-02 -8.83508917e-04 9.98988973e-01 1.87573101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.597552018 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.17, Z:0.19 [[ 9.97095717e-01 -6.09629499e-02 -4.56470241e-02 7.93709994e+00] [ 6.11071902e-02 9.98129640e-01 1.76989249e-03 -1.67678982e-01] [ 4.54537498e-02 -4.55411360e-03 9.98956063e-01 1.88460521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627552018 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.17, Z:0.19 [[ 0.99649697 -0.06650225 -0.05070736 7.95921935] [ 0.06744728 0.9975753 0.01715744 -0.16630843] [ 0.04944341 -0.02051741 0.99856616 0.18985777] [ 0. 0. 0. 1. ]] SLAMing on 7.657552018 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.16, Z:0.20 [[ 9.96419351e-01 -6.83155545e-02 -4.98142791e-02 7.98940671e+00] [ 6.83612358e-02 9.97660323e-01 -7.88127249e-04 -1.58901733e-01] [ 4.97515712e-02 -2.62006044e-03 9.98758187e-01 1.98459729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687552018 meters Centerline goodness : 0.991509 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.16, Z:0.20 [[ 0.99682717 -0.06494299 -0.04602185 8.02544273] [ 0.06444074 0.99784554 -0.01231578 -0.1606496 ] [ 0.04672252 0.00931102 0.99886451 0.2000019 ] [ 0. 0. 0. 1. ]] SLAMing on 7.717552018 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.16, Z:0.20 [[ 9.96960129e-01 -6.42314625e-02 -4.41001270e-02 8.05719976e+00] [ 6.40836017e-02 9.97933182e-01 -4.75989585e-03 -1.64915189e-01] [ 4.43147151e-02 1.91933140e-03 9.99015777e-01 1.96847572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7475520179999995 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.17, Z:0.20 [[ 9.96841512e-01 -6.57385673e-02 -4.45582845e-02 8.08952876e+00] [ 6.56303735e-02 9.97836427e-01 -3.88830991e-03 -1.65133177e-01] [ 4.47174913e-02 9.51651875e-04 9.98999219e-01 1.97372726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.777552018 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.17, Z:0.20 [[ 9.96537589e-01 -6.88588106e-02 -4.65971948e-02 8.12177871e+00] [ 6.89042724e-02 9.97623076e-01 -6.31818653e-04 -1.66898084e-01] [ 4.65299431e-02 -2.58111477e-03 9.98913561e-01 1.97761890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807552018 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.17, Z:0.20 [[ 9.96441561e-01 -6.98994651e-02 -4.70986154e-02 8.15287290e+00] [ 7.00532743e-02 9.97541935e-01 1.62098979e-03 -1.68453454e-01] [ 4.68695376e-02 -4.91463382e-03 9.98888929e-01 1.98253153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.837552018 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.17, Z:0.20 [[ 9.96276321e-01 -7.24066828e-02 -4.68055994e-02 8.18536834e+00] [ 7.22802393e-02 9.97374699e-01 -4.39055535e-03 -1.65751373e-01] [ 4.70006262e-02 9.91086407e-04 9.98894368e-01 2.01067376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867552018 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.17, Z:0.20 [[ 9.96020883e-01 -7.43464032e-02 -4.91427820e-02 8.21695304e+00] [ 7.47855536e-02 9.97173962e-01 7.15620339e-03 -1.69980963e-01] [ 4.84718647e-02 -1.08028982e-02 9.98766127e-01 2.00327004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.897552018 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.17, Z:0.21 [[ 9.95689967e-01 -7.83694536e-02 -4.95955483e-02 8.24952171e+00] [ 7.82794298e-02 9.96924375e-01 -3.75791042e-03 -1.65237323e-01] [ 4.97375163e-02 -1.40597541e-04 9.98762314e-01 2.05982096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927552018 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.18, Z:0.20 [[ 0.99605656 -0.07586204 -0.04600294 8.27611052] [ 0.07699568 0.99675702 0.02339052 -0.17724647] [ 0.0440793 -0.02684031 0.99866742 0.19644658] [ 0. 0. 0. 1. ]] SLAMing on 7.9575520179999994 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.16, Z:0.22 [[ 0.99536972 -0.08277527 -0.04886072 8.31181913] [ 0.08165566 0.99635978 -0.02448543 -0.15554482] [ 0.05070965 0.0203823 0.99850543 0.21693353] [ 0. 0. 0. 1. ]] SLAMing on 7.987552018 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.17, Z:0.21 [[ 9.95183626e-01 -8.41621009e-02 -5.02622214e-02 8.34277044e+00] [ 8.45492191e-02 9.96403442e-01 5.62234421e-03 -1.68210469e-01] [ 4.96082621e-02 -9.84489647e-03 9.98720230e-01 2.07063791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.017552018 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.16, Z:0.21 [[ 9.95045679e-01 -8.60124929e-02 -4.98592799e-02 8.37601448e+00] [ 8.60325330e-02 9.96290795e-01 -1.74801328e-03 -1.64799900e-01] [ 4.98246926e-02 -2.55016708e-03 9.98754723e-01 2.11396228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047552018 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.16, Z:0.21 [[ 9.94824791e-01 -8.78656378e-02 -5.10221982e-02 8.40950474e+00] [ 8.80089418e-02 9.96119525e-01 5.64455689e-04 -1.64601234e-01] [ 5.07746115e-02 -5.05194418e-03 9.98697360e-01 2.12798823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.077552018 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.17, Z:0.21 [[ 0.99521599 -0.08467646 -0.04873431 8.43480778] [ 0.08531411 0.99629169 0.0111525 -0.16919963] [ 0.04760924 -0.01525687 0.99874951 0.20932337] [ 0. 0. 0. 1. ]] SLAMing on 8.107552018 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.16, Z:0.22 [[ 9.94533185e-01 -9.08143472e-02 -5.15412361e-02 8.46998964e+00] [ 9.03434049e-02 9.95845431e-01 -1.13993884e-02 -1.57265184e-01] [ 5.23623325e-02 6.68065926e-03 9.98605806e-01 2.21011418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.137552018 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.16, Z:0.22 [[ 9.94397159e-01 -9.14483827e-02 -5.30234238e-02 8.50329317e+00] [ 9.15841381e-02 9.95797333e-01 1.31094651e-04 -1.62025904e-01] [ 5.27885956e-02 -4.98646472e-03 9.98593260e-01 2.18743580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167552018 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.16, Z:0.22 [[ 9.94780345e-01 -8.88568450e-02 -5.01649811e-02 8.52972211e+00] [ 8.93221702e-02 9.95977429e-01 7.10709573e-03 -1.64396405e-01] [ 4.93316748e-02 -1.15508441e-02 9.98715657e-01 2.16641126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.197552018 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.16, Z:0.23 [[ 9.94075218e-01 -9.46574179e-02 -5.34268967e-02 8.56647439e+00] [ 9.43212727e-02 9.95503057e-01 -8.78413480e-03 -1.55568958e-01] [ 5.40181225e-02 3.69279783e-03 9.98533127e-01 2.25718559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227552017999999 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.16, Z:0.22 [[ 9.94001868e-01 -9.51281622e-02 -5.39529341e-02 8.59765323e+00] [ 9.53719047e-02 9.95439791e-01 1.95528963e-03 -1.58671287e-01] [ 5.35208943e-02 -7.08915564e-03 9.98541565e-01 2.23798380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.257552018 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.16, Z:0.22 [[ 9.94092887e-01 -9.46851028e-02 -5.30477365e-02 8.62789978e+00] [ 9.49466345e-02 9.95479407e-01 2.42619250e-03 -1.57829098e-01] [ 5.25782050e-02 -7.44856476e-03 9.98589030e-01 2.24748906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287552018 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.16, Z:0.23 [[ 9.94014360e-01 -9.52838676e-02 -5.34456380e-02 8.66042055e+00] [ 9.54462901e-02 9.95434461e-01 4.89049043e-04 -1.55872623e-01] [ 5.31550314e-02 -5.58730964e-03 9.98570641e-01 2.27723079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317552018 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.16, Z:0.22 [[ 0.99462607 -0.09110283 -0.04918602 8.68643041] [ 0.0921478 0.99555617 0.0194084 -0.16319067] [ 0.04719929 -0.02383649 0.99860105 0.22154264] [ 0. 0. 0. 1. ]] SLAMing on 8.347552018 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.14, Z:0.24 [[ 0.99384974 -0.09636386 -0.05455914 8.72133427] [ 0.0955126 0.99526534 -0.01800682 -0.14337962] [ 0.05603603 0.01268499 0.99834816 0.23935839] [ 0. 0. 0. 1. ]] SLAMing on 8.377552018 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.15, Z:0.23 [[ 9.93743607e-01 -9.63659108e-02 -5.64557855e-02 8.75568153e+00] [ 9.66056782e-02 9.95321562e-01 1.52696736e-03 -1.49729171e-01] [ 5.60445130e-02 -6.97136350e-03 9.98403933e-01 2.34804209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407552018 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.15, Z:0.24 [[ 9.93648427e-01 -9.63838572e-02 -5.80771601e-02 8.78682808e+00] [ 9.69576462e-02 9.95262914e-01 7.13764052e-03 -1.49653580e-01] [ 5.71140903e-02 -1.27233300e-02 9.98286581e-01 2.36413237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.437552018 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.14, Z:0.24 [[ 9.93740679e-01 -9.55586783e-02 -5.78619228e-02 8.81788624e+00] [ 9.57502832e-02 9.95405239e-01 5.41676836e-04 -1.44180580e-01] [ 5.75442991e-02 -6.07858180e-03 9.98324449e-01 2.41046046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467552018 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.14, Z:0.24 [[ 9.93986876e-01 -9.21164572e-02 -5.92000751e-02 8.84712920e+00] [ 9.27502745e-02 9.95656914e-01 8.04336800e-03 -1.42106387e-01] [ 5.82020375e-02 -1.34858254e-02 9.98213732e-01 2.42077748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.497552018 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.14, Z:0.25 [[ 9.93998532e-01 -9.20845445e-02 -5.90538248e-02 8.87931909e+00] [ 9.22458983e-02 9.95736257e-01 6.22871249e-06 -1.36482066e-01] [ 5.88014610e-02 -5.45366445e-03 9.98254800e-01 2.47321758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527552018 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.13, Z:0.25 [[ 9.94173991e-01 -9.06775497e-02 -5.82722670e-02 8.91202451e+00] [ 9.05772534e-02 9.95879863e-01 -4.36564950e-03 -1.32569844e-01] [ 5.84280437e-02 -9.37926709e-04 9.98291182e-01 2.49195189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.557552017999999 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.13, Z:0.25 [[ 9.94359048e-01 -8.81107253e-02 -5.90473034e-02 8.94467348e+00] [ 8.82978330e-02 9.96093960e-01 5.62056517e-04 -1.30610772e-01] [ 5.87671391e-02 -5.77263492e-03 9.98255028e-01 2.49082800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587552018 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.13, Z:0.25 [[ 9.94322201e-01 -8.71458416e-02 -6.10652341e-02 8.97360843e+00] [ 8.77680044e-02 9.96112131e-01 7.57624708e-03 -1.30513690e-01] [ 6.01675820e-02 -1.28928044e-02 9.98105023e-01 2.50145350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.617552018 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.12, Z:0.26 [[ 9.94207890e-01 -8.81023646e-02 -6.15519687e-02 9.00600786e+00] [ 8.83233510e-02 9.96091473e-01 8.73381482e-04 -1.24492346e-01] [ 6.12344442e-02 -6.30479890e-03 9.98103498e-01 2.55263220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647552018 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.12, Z:0.26 [[ 9.94497571e-01 -8.64156370e-02 -5.92192491e-02 9.03749535e+00] [ 8.60611502e-02 9.96253465e-01 -8.51535611e-03 -1.18709507e-01] [ 5.97332420e-02 3.37202428e-03 9.98208680e-01 2.58172713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.677552018 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.12, Z:0.26 [[ 9.94418987e-01 -8.67165733e-02 -6.00925435e-02 9.06997231e+00] [ 8.67253418e-02 9.96229205e-01 -2.46713350e-03 -1.18175207e-01] [ 6.00798882e-02 -2.75818198e-03 9.98189761e-01 2.56842548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707552018 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.12, Z:0.26 [[ 9.94222868e-01 -8.78277693e-02 -6.17022767e-02 9.10166352e+00] [ 8.82050324e-02 9.96096497e-01 3.41198152e-03 -1.18173535e-01] [ 6.11617550e-02 -8.83472137e-03 9.98088767e-01 2.57355618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.737552018 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.12, Z:0.26 [[ 9.94062580e-01 -8.89927793e-02 -6.26088779e-02 9.13126964e+00] [ 8.92788376e-02 9.96005079e-01 1.78076198e-03 -1.15299642e-01] [ 6.22002854e-02 -7.35983669e-03 9.98036551e-01 2.60726192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767552018 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.11, Z:0.26 [[ 9.93216902e-01 -9.51249772e-02 -6.68687040e-02 9.15128827e+00] [ 9.56928095e-02 9.95396625e-01 5.33335459e-03 -1.05279791e-01] [ 6.60535470e-02 -1.16960321e-02 9.97747529e-01 2.63116575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.797552018 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.10, Z:0.27 [[ 9.93308872e-01 -9.62809254e-02 -6.37766983e-02 9.18468260e+00] [ 9.60911630e-02 9.95354192e-01 -6.04324103e-03 -9.95141592e-02] [ 6.40622529e-02 -1.25572181e-04 9.97945896e-01 2.67334031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827552018 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.10, Z:0.27 [[ 9.93261731e-01 -9.58819218e-02 -6.50983156e-02 9.21790699e+00] [ 9.60846860e-02 9.95373163e-01 -1.61316806e-05 -1.00215763e-01] [ 6.47986631e-02 -6.23892824e-03 9.97878855e-01 2.67357526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.857552018 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.10, Z:0.27 [[ 9.93345864e-01 -9.41399547e-02 -6.63450258e-02 9.25019170e+00] [ 9.43581488e-02 9.95538304e-01 1.55942068e-04 -9.94869807e-02] [ 6.60343341e-02 -6.41509822e-03 9.97796729e-01 2.70061985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887552018 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.09, Z:0.27 [[ 9.92720708e-01 -9.85136038e-02 -6.92868367e-02 9.27054580e+00] [ 9.88008874e-02 9.95106960e-01 7.23284863e-04 -8.68990237e-02] [ 6.88765600e-02 -7.56362081e-03 9.97596517e-01 2.73155873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.917552018 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.09, Z:0.28 [[ 9.93340161e-01 -9.36793913e-02 -6.70782817e-02 9.30799462e+00] [ 9.37128475e-02 9.95595729e-01 -2.65461147e-03 -9.06622770e-02] [ 6.70315332e-02 -3.64916460e-03 9.97744184e-01 2.75245814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947552018 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.09, Z:0.28 [[ 9.93290901e-01 -9.42421340e-02 -6.70194453e-02 9.34053833e+00] [ 9.44419509e-02 9.95530352e-01 -1.87623594e-04 -8.84788984e-02] [ 6.67375740e-02 -6.14308235e-03 9.97751652e-01 2.76124676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.977552017999999 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.09, Z:0.28 [[ 9.93257433e-01 -9.44028643e-02 -6.72887098e-02 9.37246627e+00] [ 9.46419857e-02 9.95511306e-01 3.67626004e-04 -8.57071094e-02] [ 6.69519664e-02 -6.73348437e-03 9.97733479e-01 2.78142959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007552018 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.08, Z:0.28 [[ 9.93530083e-01 -9.29731403e-02 -6.52224640e-02 9.40335677e+00] [ 9.29111206e-02 9.95666412e-01 -3.99003003e-03 -7.99742370e-02] [ 6.53107823e-02 -2.09567735e-03 9.97862771e-01 2.80985917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.037552018 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.08, Z:0.28 [[ 9.93406719e-01 -9.25950313e-02 -6.75962303e-02 9.43235967e+00] [ 9.33327755e-02 9.95604165e-01 7.83190796e-03 -8.14480494e-02] [ 6.65738927e-02 -1.40892138e-02 9.97682019e-01 2.80618333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067552018 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.07, Z:0.29 [[ 9.93582233e-01 -9.24042018e-02 -6.52365695e-02 9.46387501e+00] [ 9.21006955e-02 9.95720304e-01 -7.65100333e-03 -7.22658429e-02] [ 6.56643617e-02 1.59356754e-03 9.97840494e-01 2.87166943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.097552018 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.07, Z:0.29 [[ 9.93827059e-01 -8.86355631e-02 -6.67196696e-02 9.49179110e+00] [ 8.85372808e-02 9.96062993e-01 -4.43435787e-03 -7.14938948e-02] [ 6.68500356e-02 -1.50019329e-03 9.97761907e-01 2.87109992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127552018 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.07, Z:0.29 [[ 9.93576958e-01 -9.02950764e-02 -6.82028424e-02 9.52547005e+00] [ 9.11129951e-02 9.95800142e-01 8.97209693e-03 -7.36360212e-02] [ 6.71062640e-02 -1.51286340e-02 9.97631131e-01 2.85323860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.157552018 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.06, Z:0.29 [[ 9.93802622e-01 -8.88967108e-02 -6.67362147e-02 9.55821639e+00] [ 8.84493255e-02 9.96034081e-01 -9.63467907e-03 -6.29678392e-02] [ 6.73280355e-02 3.67219615e-03 9.97724136e-01 2.92882952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187552018 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.06, Z:0.29 [[ 9.94010536e-01 -8.67669758e-02 -6.64420484e-02 9.59163822e+00] [ 8.66090976e-02 9.96228495e-01 -5.25838858e-03 -6.36691120e-02] [ 6.66477163e-02 -5.27592201e-04 9.97776430e-01 2.90767241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.217552018 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.07, Z:0.29 [[ 9.94128358e-01 -8.45044901e-02 -6.75854977e-02 9.62242391e+00] [ 8.47861140e-02 9.96398321e-01 1.30424742e-03 -6.55954189e-02] [ 6.72318616e-02 -7.02690106e-03 9.97712634e-01 2.89994920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247552018 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.06, Z:0.29 [[ 9.94440777e-01 -8.15807585e-02 -6.65741790e-02 9.65298897e+00] [ 8.16559190e-02 9.96659302e-01 -1.59590712e-03 -6.33332430e-02] [ 6.64819701e-02 -3.84914066e-03 9.97780202e-01 2.92531619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.277552018 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.06, Z:0.29 [[ 9.94317374e-01 -8.20388463e-02 -6.78423741e-02 9.68396496e+00] [ 8.23351837e-02 9.96603444e-01 1.57876101e-03 -6.27424680e-02] [ 6.74824239e-02 -7.15560384e-03 9.97694803e-01 2.94404744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307552017999999 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.06, Z:0.30 [[ 9.94128820e-01 -8.22768184e-02 -7.02738505e-02 9.71317851e+00] [ 8.30849580e-02 9.96504922e-01 8.65039800e-03 -6.35285889e-02] [ 6.93165107e-02 -1.44383099e-02 9.97490229e-01 2.96140519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.337552018 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.06, Z:0.30 [[ 9.94959846e-01 -8.03067362e-02 -6.00477519e-02 9.74293968e+00] [ 8.05087498e-02 9.96753451e-01 9.48526391e-04 -6.00263848e-02] [ 5.97766308e-02 -5.77811510e-03 9.98195055e-01 2.98245032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367552018 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.05, Z:0.31 [[ 0.99438475 -0.08203921 -0.06684717 9.77583624] [ 0.08107196 0.99656223 -0.01706073 -0.05089074] [ 0.06801701 0.0115455 0.99761736 0.30717287] [ 0. 0. 0. 1. ]] SLAMing on 9.397552017999999 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.06, Z:0.30 [[ 9.94232474e-01 -8.18024467e-02 -6.93552283e-02 9.80763735e+00] [ 8.17730950e-02 9.96645618e-01 -3.26699952e-03 -5.65240077e-02] [ 6.93898329e-02 -2.42323465e-03 9.97586677e-01 3.02450159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427552018 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.06, Z:0.31 [[ 9.94184643e-01 -8.21705211e-02 -6.96053259e-02 9.83785091e+00] [ 8.20245545e-02 9.96617979e-01 -4.95746921e-03 -5.52807414e-02] [ 6.97772770e-02 -7.80706082e-04 9.97562290e-01 3.05112839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.457552018 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.05, Z:0.31 [[ 9.94143068e-01 -8.34115222e-02 -6.87173833e-02 9.86706385e+00] [ 8.32207132e-02 9.96515181e-01 -5.63980898e-03 -5.47486277e-02] [ 6.89483407e-02 -1.11932647e-04 9.97620225e-01 3.06243040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487552018 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.06, Z:0.31 [[ 9.93920060e-01 -8.50481727e-02 -6.99265509e-02 9.89714781e+00] [ 8.53220640e-02 9.96352986e-01 9.33981273e-04 -5.68120427e-02] [ 6.95920944e-02 -6.89458037e-03 9.97551706e-01 3.05995880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.517552018 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.06, Z:0.31 [[ 9.93645247e-01 -8.68220262e-02 -7.16314084e-02 9.92646720e+00] [ 8.73098644e-02 9.96174325e-01 3.70170753e-03 -5.72017270e-02] [ 7.10359801e-02 -9.93231264e-03 9.97424302e-01 3.08278695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547552018 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.05, Z:0.31 [[ 9.93485327e-01 -8.94632690e-02 -7.05919854e-02 9.95706241e+00] [ 8.92066201e-02 9.95990023e-01 -6.78625405e-03 -5.21545673e-02] [ 7.09160337e-02 4.44771399e-04 9.97482189e-01 3.13358578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.577552018 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.05, Z:0.32 [[ 9.93144753e-01 -9.33277547e-02 -7.03806058e-02 9.98784559e+00] [ 9.32928726e-02 9.95631497e-01 -3.78975512e-03 -5.27128323e-02] [ 7.04268373e-02 -2.80223348e-03 9.97513011e-01 3.15016586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607552018 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.05, Z:0.32 [[ 9.92868642e-01 -9.55681311e-02 -7.12642398e-02 1.00186421e+01] [ 9.60289353e-02 9.95373838e-01 3.06045765e-03 -5.42770256e-02] [ 7.06420776e-02 -9.88206150e-03 9.97452777e-01 3.15591388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.637552018 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.05, Z:0.32 [[ 9.92862754e-01 -9.69299659e-02 -6.94847717e-02 1.00500171e+01] [ 9.69298579e-02 9.95285472e-01 -3.38118961e-03 -5.10763182e-02] [ 6.94849223e-02 -3.37809182e-03 9.97577282e-01 3.20022890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667552018 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.05, Z:0.32 [[ 9.92583901e-01 -9.97155757e-02 -6.95270012e-02 1.00822046e+01] [ 9.96594486e-02 9.95012382e-01 -4.28420880e-03 -4.95830350e-02] [ 6.96074294e-02 -2.67658592e-03 9.97570870e-01 3.23004669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.697552018 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.05, Z:0.32 [[ 9.92300147e-01 -1.02960922e-01 -6.88437844e-02 1.01137828e+01] [ 1.02977521e-01 9.94678152e-01 -3.31723111e-03 -5.04851956e-02] [ 6.88189534e-02 -3.79767334e-03 9.97621937e-01 3.24700014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727552017999999 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.05, Z:0.33 [[ 9.92036110e-01 -1.05318925e-01 -6.90816883e-02 1.01467234e+01] [ 1.05393020e-01 9.94427296e-01 -2.58147546e-03 -4.98373352e-02] [ 6.89685947e-02 -4.71981087e-03 9.97607667e-01 3.27026648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.757552018 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.05, Z:0.33 [[ 9.91634901e-01 -1.08322036e-01 -7.01894507e-02 1.01784520e+01] [ 1.08425863e-01 9.94101783e-01 -2.34022561e-03 -4.92584250e-02] [ 7.00289561e-02 -5.28970238e-03 9.97530934e-01 3.29864319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787552018 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.05, Z:0.33 [[ 9.91234405e-01 -1.11995189e-01 -7.00816106e-02 1.02072105e+01] [ 1.12695166e-01 9.93610868e-01 6.10272818e-03 -5.32780026e-02] [ 6.89503737e-02 -1.39470929e-02 9.97522594e-01 3.29563068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.817552018 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.05, Z:0.34 [[ 9.90715241e-01 -1.15531362e-01 -7.16646117e-02 1.02391840e+01] [ 1.15826755e-01 9.93269431e-01 -3.40301246e-05 -4.97526706e-02] [ 7.11861996e-02 -8.26696526e-03 9.97428786e-01 3.35928554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847552018 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.05, Z:0.34 [[ 9.90239051e-01 -1.18434496e-01 -7.34839589e-02 1.02714238e+01] [ 1.18781695e-01 9.92920330e-01 3.57271440e-04 -4.89918952e-02] [ 7.29214035e-02 -9.08233332e-03 9.97296335e-01 3.39163450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.877552018 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.05, Z:0.34 [[ 9.89903347e-01 -1.20452196e-01 -7.47170157e-02 1.03028705e+01] [ 1.20717438e-01 9.92686433e-01 -9.72533090e-04 -4.77950826e-02] [ 7.42877116e-02 -8.05693295e-03 9.97204303e-01 3.42424339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907552018 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.05, Z:0.35 [[ 9.89541353e-01 -1.22180438e-01 -7.66801858e-02 1.03337167e+01] [ 1.22519452e-01 9.92466071e-01 -2.85286084e-04 -4.79940114e-02] [ 7.61373391e-02 -9.11251194e-03 9.97055699e-01 3.45084592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.937552018 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.05, Z:0.35 [[ 9.89455550e-01 -1.22642109e-01 -7.70495122e-02 1.03650354e+01] [ 1.22883254e-01 9.92419809e-01 -1.62156156e-03 -4.62961099e-02] [ 7.66643339e-02 -7.86363168e-03 9.97025949e-01 3.48234519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967552018 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.04, Z:0.35 [[ 9.89277475e-01 -1.23608830e-01 -7.77877479e-02 1.03974337e+01] [ 1.23750012e-01 9.92308826e-01 -3.02147893e-03 -4.43622390e-02] [ 7.75629502e-02 -6.63715367e-03 9.96965364e-01 3.51897348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.997552018 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.04, Z:0.35 [[ 9.89248060e-01 -1.24267910e-01 -7.71087639e-02 1.04281695e+01] [ 1.24571213e-01 9.92210277e-01 -8.82735476e-04 -4.42247567e-02] [ 7.66178036e-02 -8.73228791e-03 9.97022296e-01 3.53535338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027552018 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.04, Z:0.36 [[ 9.89092926e-01 -1.25258599e-01 -7.74949484e-02 1.04601848e+01] [ 1.25317100e-01 9.92108156e-01 -4.12698644e-03 -4.17029521e-02] [ 7.74003109e-02 -5.62946908e-03 9.96984203e-01 3.57448561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.057552017999999 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.04, Z:0.36 [[ 9.89297709e-01 -1.24401933e-01 -7.62509165e-02 1.04911657e+01] [ 1.24522507e-01 9.92211656e-01 -3.18968639e-03 -4.11011957e-02] [ 7.60538513e-02 -6.33940587e-03 9.97083559e-01 3.58983452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087552018 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.04, Z:0.36 [[ 9.89518219e-01 -1.22332639e-01 -7.67360446e-02 1.05213254e+01] [ 1.22956513e-01 9.92406094e-01 3.44105208e-03 -4.24815147e-02] [ 7.57323653e-02 -1.28401802e-02 9.97045505e-01 3.61185299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.117552018 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.04, Z:0.37 [[ 9.89545673e-01 -1.22622372e-01 -7.59151860e-02 1.05535800e+01] [ 1.22512087e-01 9.92448116e-01 -6.12574017e-03 -3.68292211e-02] [ 7.60930361e-02 -3.23882821e-03 9.97095462e-01 3.67300859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147552017999999 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.04, Z:0.37 [[ 9.89575448e-01 -1.21357727e-01 -7.75418317e-02 1.05854377e+01] [ 1.21917138e-01 9.92537124e-01 2.50390390e-03 -3.86529845e-02] [ 7.66592785e-02 -1.19314800e-02 9.96985955e-01 3.67752684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.177552018 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.03, Z:0.37 [[ 9.89775700e-01 -1.21014799e-01 -7.54949086e-02 1.06175770e+01] [ 1.20631571e-01 9.92650611e-01 -9.63265657e-03 -3.23701167e-02] [ 7.61057612e-02 4.27099973e-04 9.97099659e-01 3.73425221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207552018 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.03, Z:0.37 [[ 9.89755308e-01 -1.20827025e-01 -7.60608932e-02 1.06504252e+01] [ 1.20962701e-01 9.92652997e-01 -2.83764082e-03 -3.32874166e-02] [ 7.58449373e-02 -6.39196102e-03 9.97099137e-01 3.72993252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.237552018 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.03, Z:0.37 [[ 9.90035488e-01 -1.18788043e-01 -7.56249523e-02 1.06811778e+01] [ 1.18729165e-01 9.92912585e-01 -5.28998855e-03 -3.19601382e-02] [ 7.57173542e-02 -3.74161108e-03 9.97122301e-01 3.74846028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267552018 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.03, Z:0.38 [[ 9.90062588e-01 -1.17880706e-01 -7.66825383e-02 1.07128702e+01] [ 1.18227865e-01 9.92986491e-01 -1.25635119e-05 -3.33383010e-02] [ 7.61462056e-02 -9.05357410e-03 9.97055559e-01 3.75690108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.297552018 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.03, Z:0.38 [[ 9.89894102e-01 -1.18202726e-01 -7.83440024e-02 1.07452625e+01] [ 1.18391143e-01 9.92964484e-01 -2.25179180e-03 -3.12680245e-02] [ 7.80589798e-02 -7.04620056e-03 9.96923842e-01 3.79276445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327552018 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.03, Z:0.38 [[ 9.89970496e-01 -1.17650438e-01 -7.82099168e-02 1.07771353e+01] [ 1.17455107e-01 9.93052747e-01 -7.10907469e-03 -2.86689319e-02] [ 7.85029585e-02 -2.14837993e-03 9.96911566e-01 3.82238836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.357552018 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.03, Z:0.38 [[ 9.90233157e-01 -1.15069091e-01 -7.87235662e-02 1.08084934e+01] [ 1.14970902e-01 9.93351964e-01 -5.79379639e-03 -2.94401193e-02] [ 7.88668960e-02 -3.31371012e-03 9.96879648e-01 3.82492160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387552018 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.03, Z:0.38 [[ 9.90201932e-01 -1.14280950e-01 -8.02496006e-02 1.08409509e+01] [ 1.14475542e-01 9.93423660e-01 -2.18687990e-03 -2.96548004e-02] [ 7.99717706e-02 -7.02116383e-03 9.96772401e-01 3.83961197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.417552018 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.03, Z:0.39 [[ 9.90319832e-01 -1.13256219e-01 -8.02474906e-02 1.08732896e+01] [ 1.13153229e-01 9.93560360e-01 -5.84445899e-03 -2.69150970e-02] [ 8.03926470e-02 -3.29237905e-03 9.96757835e-01 3.87362370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447552018 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.03, Z:0.39 [[ 9.90634830e-01 -1.10458722e-01 -8.02589857e-02 1.09051741e+01] [ 1.10410172e-01 9.93873246e-01 -5.05620494e-03 -2.67006875e-02] [ 8.03257606e-02 -3.85255573e-03 9.96761220e-01 3.89536822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.477552017999999 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.03, Z:0.39 [[ 9.90917464e-01 -1.08194335e-01 -7.98534014e-02 1.09346567e+01] [ 1.08514379e-01 9.94094824e-01 -3.33557281e-04 -2.76408451e-02] [ 7.94179420e-02 -8.33471451e-03 9.96806562e-01 3.90523561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507552018 meters Centerline goodness : 0.990069 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.02, Z:0.40 [[ 9.90926709e-01 -1.07746515e-01 -8.03426730e-02 1.09644098e+01] [ 1.07757314e-01 9.94168297e-01 -4.21404989e-03 -2.46270268e-02] [ 8.03281876e-02 -4.48169607e-03 9.96758394e-01 3.95210624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.537552018 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.02, Z:0.40 [[ 9.91224618e-01 -1.06339497e-01 -7.85217648e-02 1.09958958e+01] [ 1.06059201e-01 9.94329666e-01 -7.74340681e-03 -2.19760980e-02] [ 7.88999502e-02 -6.52500165e-04 9.96882326e-01 3.97715046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567552017999999 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.02, Z:0.40 [[ 9.91653141e-01 -1.02334883e-01 -7.84322645e-02 1.10259032e+01] [ 1.02631195e-01 9.94719444e-01 -2.54369838e-04 -2.44755032e-02] [ 7.80441295e-02 -7.79735040e-03 9.96919413e-01 3.97624416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.597552018 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.02, Z:0.40 [[ 9.91836219e-01 -1.01127969e-01 -7.76791433e-02 1.10543149e+01] [ 1.01184075e-01 9.94862499e-01 -3.22343327e-03 -2.21637759e-02] [ 7.76060459e-02 -4.66277442e-03 9.96973199e-01 4.00477563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627552018 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.02, Z:0.40 [[ 9.91919787e-01 -1.00016811e-01 -7.80498196e-02 1.10815344e+01] [ 1.00201685e-01 9.94965933e-01 -1.55394202e-03 -2.23485234e-02] [ 7.78123319e-02 -6.27933764e-03 9.96948249e-01 4.02297152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.657552018 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.02, Z:0.41 [[ 9.91799526e-01 -1.00906884e-01 -7.84315004e-02 1.11120386e+01] [ 1.00534979e-01 9.94895607e-01 -8.68618690e-03 -1.82883749e-02] [ 7.89076512e-02 7.29846778e-04 9.96881663e-01 4.07016355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687552018 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.02, Z:0.41 [[ 9.91919581e-01 -1.00012412e-01 -7.80580701e-02 1.11405281e+01] [ 1.00261387e-01 9.94960862e-01 -7.32819431e-04 -2.19215590e-02] [ 7.77380157e-02 -7.09931246e-03 9.96948545e-01 4.05269447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.717552018 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.02, Z:0.41 [[ 9.91435636e-01 -1.02777752e-01 -8.05736461e-02 1.11701117e+01] [ 1.02942382e-01 9.94685063e-01 -2.11915707e-03 -2.02606146e-02] [ 8.03632044e-02 -6.19343524e-03 9.96746405e-01 4.10001800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747552018 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.02, Z:0.41 [[ 9.91242110e-01 -1.04688930e-01 -8.04941416e-02 1.11984014e+01] [ 1.04680412e-01 9.94496455e-01 -4.33741302e-03 -1.91865582e-02] [ 8.05052176e-02 -4.12673351e-03 9.96745645e-01 4.12989944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.777552018 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.02, Z:0.42 [[ 9.90800785e-01 -1.08778992e-01 -8.05042592e-02 1.12268296e+01] [ 1.09033847e-01 9.94037268e-01 -1.23659403e-03 -2.25084912e-02] [ 8.01587494e-02 -7.55247071e-03 9.96753498e-01 4.15138437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807552017999999 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.02, Z:0.42 [[ 9.90415839e-01 -1.12321760e-01 -8.03759164e-02 1.12575712e+01] [ 1.12226081e-01 9.93666229e-01 -5.72125247e-03 -2.07285637e-02] [ 8.05094548e-02 -3.35385505e-03 9.96748203e-01 4.19301552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.837552018 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.02, Z:0.42 [[ 9.90061952e-01 -1.15366759e-01 -8.04228930e-02 1.12872802e+01] [ 1.15473410e-01 9.93304959e-01 -3.33914308e-03 -2.15921378e-02] [ 8.02696846e-02 -5.98074721e-03 9.96755240e-01 4.20787180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867552018 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.02, Z:0.42 [[ 9.89461207e-01 -1.20567012e-01 -8.01879949e-02 1.13176369e+01] [ 1.20826091e-01 9.92672350e-01 -1.63128955e-03 -2.48379504e-02] [ 7.97970850e-02 -8.07470420e-03 9.96778423e-01 4.23145019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.897552017999999 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.02, Z:0.43 [[ 9.89101547e-01 -1.23119148e-01 -8.07453033e-02 1.13492045e+01] [ 1.23273069e-01 9.92367961e-01 -3.09510641e-03 -2.42360207e-02] [ 8.05101189e-02 -6.89234679e-03 9.96729962e-01 4.26883178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927552018 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.02, Z:0.43 [[ 9.88812098e-01 -1.25633157e-01 -8.04173192e-02 1.13807511e+01] [ 1.25733053e-01 9.92056676e-01 -3.84056979e-03 -2.38577728e-02] [ 8.02610413e-02 -6.31351319e-03 9.96753884e-01 4.28982884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.957552018 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.03, Z:0.43 [[ 9.88487217e-01 -1.27259989e-01 -8.18407977e-02 1.14101760e+01] [ 1.27734915e-01 9.91808179e-01 5.72237135e-04 -2.59778106e-02] [ 8.10975497e-02 -1.10195764e-02 9.96645251e-01 4.31258941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987552018 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.03, Z:0.44 [[ 9.88063180e-01 -1.30214315e-01 -8.23127298e-02 1.14407229e+01] [ 1.30466997e-01 9.91449928e-01 -2.32451255e-03 -2.76377567e-02] [ 8.19116348e-02 -8.44232941e-03 9.96603839e-01 4.35088298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.017552018 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.03, Z:0.44 [[ 9.88111402e-01 -1.31207080e-01 -8.01283965e-02 1.14703019e+01] [ 1.30915907e-01 9.91353532e-01 -8.89948829e-03 -2.52407272e-02] [ 8.06032447e-02 -1.69639583e-03 9.96744821e-01 4.37486556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047552018 meters Centerline goodness : 0.990713 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.03, Z:0.44 [[ 9.87822548e-01 -1.31734387e-01 -8.27808300e-02 1.15021382e+01] [ 1.32191772e-01 9.91224159e-01 4.47697441e-05 -2.93214180e-02] [ 8.20484609e-02 -1.09871692e-02 9.96567776e-01 4.38507547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.077552018 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.03, Z:0.44 [[ 9.87668952e-01 -1.32880292e-01 -8.27820609e-02 1.15325410e+01] [ 1.32938521e-01 9.91112503e-01 -4.83280341e-03 -2.69092773e-02] [ 8.26885200e-02 -6.23171485e-03 9.96555956e-01 4.42502123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107552018 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.03, Z:0.44 [[ 9.87496440e-01 -1.33016719e-01 -8.46010271e-02 1.15630165e+01] [ 1.33149712e-01 9.91087481e-01 -4.09379206e-03 -2.88884934e-02] [ 8.43915617e-02 -7.22199729e-03 9.96406497e-01 4.44947951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.137552018 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.03, Z:0.45 [[ 9.87409309e-01 -1.33141485e-01 -8.54178056e-02 1.15924127e+01] [ 1.33173321e-01 9.91078319e-01 -5.35090566e-03 -2.73783337e-02] [ 8.53681627e-02 -6.09183875e-03 9.96330852e-01 4.47775274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167552018 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.03, Z:0.45 [[ 9.87371836e-01 -1.32262426e-01 -8.71980969e-02 1.16225876e+01] [ 1.32603973e-01 9.91167300e-01 -1.88953811e-03 -2.85517656e-02] [ 8.66778172e-02 -9.69713735e-03 9.96189200e-01 4.49808432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.197552018 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.03, Z:0.45 [[ 9.87559561e-01 -1.31513942e-01 -8.61985896e-02 1.16501537e+01] [ 1.31292702e-01 9.91309271e-01 -8.25567458e-03 -2.64192240e-02] [ 8.65351973e-02 -3.16427534e-03 9.96243769e-01 4.52769523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227552017999999 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.03, Z:0.45 [[ 9.87538126e-01 -1.30789337e-01 -8.75362672e-02 1.16793307e+01] [ 1.30993600e-01 9.91377274e-01 -3.43174629e-03 -2.77736431e-02] [ 8.72303018e-02 -8.07771046e-03 9.96155422e-01 4.54313909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.257552018 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.03, Z:0.46 [[ 9.87781190e-01 -1.29060712e-01 -8.73593378e-02 1.17064170e+01] [ 1.29451316e-01 9.91585049e-01 -1.20304346e-03 -2.77317767e-02] [ 8.67794789e-02 -1.01204376e-02 9.96176138e-01 4.56792425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287552018 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.02, Z:0.46 [[ 9.87689022e-01 -1.29601245e-01 -8.76008703e-02 1.17345610e+01] [ 1.29757100e-01 9.91537994e-01 -3.93712514e-03 -2.47941011e-02] [ 8.73698475e-02 -7.47817959e-03 9.96147874e-01 4.61462129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.317552017999999 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.02, Z:0.46 [[ 9.88275954e-01 -1.27908036e-01 -8.33676971e-02 1.17610664e+01] [ 1.27344077e-01 9.91785165e-01 -1.20694729e-02 -2.16262278e-02] [ 8.42266278e-02 1.31158747e-03 9.96445761e-01 4.64491714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347552018 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.02, Z:0.47 [[ 9.88108739e-01 -1.28574880e-01 -8.43185670e-02 1.17913730e+01] [ 1.28689079e-01 9.91676507e-01 -4.10211382e-03 -2.34434166e-02] [ 8.41441707e-02 -6.79754421e-03 9.96430405e-01 4.65263294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.377552018 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.02, Z:0.47 [[ 9.88138606e-01 -1.29101872e-01 -8.31552851e-02 1.18186721e+01] [ 1.28990039e-01 9.91622994e-01 -6.73856823e-03 -2.13289616e-02] [ 8.33286545e-02 -4.06756404e-03 9.96513818e-01 4.68353342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407552018 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.02, Z:0.47 [[ 9.87902765e-01 -1.29819721e-01 -8.48231479e-02 1.18455438e+01] [ 1.30570493e-01 9.91433401e-01 3.34041131e-03 -2.34123993e-02] [ 8.36628507e-02 -1.43754018e-02 9.96390423e-01 4.69241517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.437552018 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.02, Z:0.47 [[ 9.87323138e-01 -1.33848086e-01 -8.53095064e-02 1.18732749e+01] [ 1.34058379e-01 9.90967992e-01 -3.28485556e-03 -2.09942440e-02] [ 8.49786619e-02 -8.19324024e-03 9.96349084e-01 4.74778561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467552018 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.02, Z:0.48 [[ 9.86738587e-01 -1.38269206e-01 -8.50210969e-02 1.19023010e+01] [ 1.37974281e-01 9.90391549e-01 -9.36363300e-03 -1.73180592e-02] [ 8.54988779e-02 -2.49126667e-03 9.96335152e-01 4.78274004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.497552018 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.02, Z:0.48 [[ 9.86274704e-01 -1.41829527e-01 -8.45375221e-02 1.19302614e+01] [ 1.41836882e-01 9.89872164e-01 -5.94968865e-03 -2.05357180e-02] [ 8.45251814e-02 -6.12251111e-03 9.96402533e-01 4.77893380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527552018 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.02, Z:0.48 [[ 9.85452293e-01 -1.46309586e-01 -8.64712828e-02 1.19602548e+01] [ 1.46324558e-01 9.89217210e-01 -6.19962386e-03 -1.88426371e-02] [ 8.64459455e-02 -6.54343870e-03 9.96235054e-01 4.81297255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.557552017999999 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.02, Z:0.48 [[ 9.85021859e-01 -1.48611953e-01 -8.74438349e-02 1.19883588e+01] [ 1.48966494e-01 9.88839100e-01 -2.49368055e-03 -1.96619628e-02] [ 8.68384738e-02 -1.05698716e-02 9.96166330e-01 4.82714551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587552018 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.02, Z:0.49 [[ 9.84394183e-01 -1.51832456e-01 -8.89662767e-02 1.20158285e+01] [ 1.52365105e-01 9.88323942e-01 -8.12984725e-04 -1.91343193e-02] [ 8.80509387e-02 -1.27550587e-02 9.96034307e-01 4.85555596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.617552018 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.01, Z:0.49 [[ 9.83883731e-01 -1.55759719e-01 -8.78163685e-02 1.20446411e+01] [ 1.55242320e-01 9.87794356e-01 -1.27331418e-02 -1.31599371e-02] [ 8.87278238e-02 -1.10488577e-03 9.96055296e-01 4.90006278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647552017999999 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.02, Z:0.49 [[ 9.83111953e-01 -1.58613378e-01 -9.12835332e-02 1.20729079e+01] [ 1.59663528e-01 9.87162249e-01 4.27222583e-03 -1.89437928e-02] [ 8.94340258e-02 -1.87747272e-02 9.95815778e-01 4.90286834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.677552018 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.01, Z:0.50 [[ 9.82723928e-01 -1.61399114e-01 -9.05759775e-02 1.21011807e+01] [ 1.61560335e-01 9.86846961e-01 -5.59770771e-03 -1.25314635e-02] [ 9.02880932e-02 -9.13248396e-03 9.95873816e-01 4.96707304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707552018 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.01, Z:0.50 [[ 9.82627296e-01 -1.61722785e-01 -9.10458036e-02 1.21294841e+01] [ 1.62211527e-01 9.86753869e-01 -2.05511603e-03 -1.20495137e-02] [ 9.01721580e-02 -1.27492657e-02 9.95844585e-01 4.99173562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.737552018 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.01, Z:0.50 [[ 9.82470497e-01 -1.63753804e-01 -8.90865542e-02 1.21585910e+01] [ 1.63622282e-01 9.86483569e-01 -8.82705500e-03 -7.12436691e-03] [ 8.93278857e-02 -5.90422418e-03 9.95984773e-01 5.03996472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767552018 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.01, Z:0.51 [[ 9.82263303e-01 -1.64495900e-01 -8.99994608e-02 1.21893986e+01] [ 1.64865092e-01 9.86310377e-01 -3.36761261e-03 -6.89531185e-03] [ 8.93213607e-02 -1.15298871e-02 9.95936121e-01 5.05672872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.797552018 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.00, Z:0.51 [[ 9.82217918e-01 -1.64594904e-01 -9.03132261e-02 1.22186292e+01] [ 1.65030347e-01 9.86284859e-01 -2.67621598e-03 -4.85692629e-03] [ 8.95150589e-02 -1.22757957e-02 9.95909815e-01 5.08749762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827552018 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:12.25, Y:0.00, Z:0.51 [[ 9.82024419e-01 -1.66550540e-01 -8.88198035e-02 1.22478573e+01] [ 1.66147599e-01 9.86028327e-01 -1.19630004e-02 5.94618097e-04] [ 8.95712865e-02 -3.00923859e-03 9.95975868e-01 5.13051784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.857552018 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:12.28, Y:0.00, Z:0.51 [[ 9.82004130e-01 -1.66814274e-01 -8.85487795e-02 1.22776299e+01] [ 1.66615710e-01 9.85974378e-01 -9.68149071e-03 1.48976902e-03] [ 8.89218386e-02 -5.24635391e-03 9.96024790e-01 5.14107403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887552018 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:12.31, Y:0.00, Z:0.52 [[ 9.81787157e-01 -1.67459022e-01 -8.97298984e-02 1.23076866e+01] [ 1.67865536e-01 9.85805181e-01 -3.05075807e-03 1.41938488e-03] [ 8.89670757e-02 -1.20673624e-02 9.95961464e-01 5.15484932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.917552018 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:12.34, Y:0.01, Z:0.52 [[ 9.81577082e-01 -1.68648890e-01 -8.97996919e-02 1.23362258e+01] [ 1.68902183e-01 9.85621003e-01 -4.82602838e-03 5.18664588e-03] [ 8.93223667e-02 -1.04302451e-02 9.95948154e-01 5.18336107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947552018 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:12.37, Y:0.01, Z:0.52 [[ 9.81322605e-01 -1.70289876e-01 -8.94835364e-02 1.23651923e+01] [ 1.70017798e-01 9.85382786e-01 -1.07103977e-02 9.62382404e-03] [ 8.99994087e-02 -4.70343846e-03 9.95930713e-01 5.21656113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.977552017999999 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:12.40, Y:0.01, Z:0.52 [[ 9.81130158e-01 -1.70383917e-01 -9.13943845e-02 1.23950812e+01] [ 1.70792412e-01 9.85301200e-01 -3.39071615e-03 9.41028973e-03] [ 9.06287202e-02 -1.22827335e-02 9.95809003e-01 5.22540472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007552018 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:12.42, Y:0.01, Z:0.53 [[ 9.81031106e-01 -1.70874271e-01 -9.15420835e-02 1.24247013e+01] [ 1.70967014e-01 9.85252689e-01 -6.88618942e-03 1.32261525e-02] [ 9.13687565e-02 -8.89511061e-03 9.95777398e-01 5.26101246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.037552018 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:12.45, Y:0.02, Z:0.53 [[ 9.81093130e-01 -1.70250048e-01 -9.20390727e-02 1.24525329e+01] [ 1.70484238e-01 9.85345771e-01 -5.36999841e-03 1.53244257e-02] [ 9.16045535e-02 -1.04227426e-02 9.95740916e-01 5.27849559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067552017999999 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:12.48, Y:0.02, Z:0.53 [[ 9.81075682e-01 -1.70507586e-01 -9.17478585e-02 1.24823740e+01] [ 1.70419917e-01 9.85331812e-01 -8.84721325e-03 2.04233004e-02] [ 9.19106006e-02 -6.95587663e-03 9.95742967e-01 5.31776848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.097552018 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:12.51, Y:0.02, Z:0.53 [[ 9.81010116e-01 -1.70679050e-01 -9.21293355e-02 1.25123939e+01] [ 1.70817033e-01 9.85281692e-01 -6.44426659e-03 2.22789218e-02] [ 9.18732489e-02 -9.41536899e-03 9.95726196e-01 5.33687856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127552018 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:12.54, Y:0.03, Z:0.54 [[ 9.81228822e-01 -1.70315915e-01 -9.04571011e-02 1.25404304e+01] [ 1.69869168e-01 9.85385149e-01 -1.26717452e-02 2.75514033e-02] [ 9.12932839e-02 -2.93199086e-03 9.95819733e-01 5.36287838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.157552018 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:12.57, Y:0.03, Z:0.54 [[ 9.81219172e-01 -1.69783472e-01 -9.15560420e-02 1.25704851e+01] [ 1.70003921e-01 9.85428354e-01 -5.44301274e-03 2.77135014e-02] [ 9.11460534e-02 -1.02240977e-02 9.95785049e-01 5.37012037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187552018 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:12.60, Y:0.03, Z:0.54 [[ 9.81615206e-01 -1.66997418e-01 -9.24307785e-02 1.25966162e+01] [ 1.68049068e-01 9.85771842e-01 3.65860971e-03 2.69494443e-02] [ 9.05046804e-02 -1.91242531e-02 9.95712391e-01 5.37916150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.217552018 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:12.63, Y:0.04, Z:0.55 [[ 9.81215185e-01 -1.69667840e-01 -9.18127673e-02 1.26257457e+01] [ 1.69135660e-01 9.85498893e-01 -1.36036734e-02 3.80536089e-02] [ 9.27894865e-02 -2.18068203e-03 9.95683361e-01 5.45754174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247552018 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:12.65, Y:0.04, Z:0.55 [[ 9.81335187e-01 -1.68308426e-01 -9.30243224e-02 1.26535424e+01] [ 1.68643377e-01 9.85667731e-01 -4.30537572e-03 3.73867169e-02] [ 9.24157038e-02 -1.14629192e-02 9.95654528e-01 5.45918983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.277552018 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:12.68, Y:0.04, Z:0.55 [[ 9.81056458e-01 -1.69678181e-01 -9.34748107e-02 1.26823622e+01] [ 1.69651886e-01 9.85469217e-01 -8.28614377e-03 4.28567371e-02] [ 9.35225263e-02 -7.72900306e-03 9.95587163e-01 5.50025500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307552017999999 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:12.71, Y:0.05, Z:0.55 [[ 9.81173250e-01 -1.68939584e-01 -9.35867037e-02 1.27111904e+01] [ 1.69085800e-01 9.85580408e-01 -6.42271215e-03 4.56749303e-02] [ 9.33222719e-02 -9.52238930e-03 9.95590417e-01 5.51995206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.337552018 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:12.74, Y:0.05, Z:0.55 [[ 9.80937371e-01 -1.69474883e-01 -9.50796364e-02 1.27390477e+01] [ 1.69782468e-01 9.85469359e-01 -4.90469026e-03 4.89836136e-02] [ 9.45292902e-02 -1.13316614e-02 9.95457587e-01 5.54806571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367552018 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:12.77, Y:0.05, Z:0.56 [[ 9.80978388e-01 -1.69739726e-01 -9.41797632e-02 1.27670133e+01] [ 1.69343927e-01 9.85481036e-01 -1.22377521e-02 5.46428127e-02] [ 9.48896033e-02 -3.94380061e-03 9.95479990e-01 5.58563457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.397552017999999 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:12.80, Y:0.06, Z:0.56 [[ 9.80882221e-01 -1.69967319e-01 -9.47690775e-02 1.27963945e+01] [ 1.69827361e-01 9.85427071e-01 -9.59973746e-03 5.70372477e-02] [ 9.50196561e-02 -6.67817055e-03 9.95452996e-01 5.59711390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427552018 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:12.82, Y:0.06, Z:0.56 [[ 9.81154342e-01 -1.68436237e-01 -9.46857541e-02 1.28233084e+01] [ 1.68523406e-01 9.85671844e-01 -7.13290480e-03 6.11422314e-02] [ 9.45305214e-02 -8.95828530e-03 9.95481657e-01 5.61331632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.457552018 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:12.85, Y:0.07, Z:0.57 [[ 9.80993631e-01 -1.68610267e-01 -9.60316267e-02 1.28536084e+01] [ 1.68574233e-01 9.85651904e-01 -8.54700191e-03 6.63714449e-02] [ 9.60948681e-02 -7.80390336e-03 9.95341587e-01 5.65293863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487552018 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:12.88, Y:0.07, Z:0.57 [[ 9.81260585e-01 -1.67118581e-01 -9.59116473e-02 1.28818885e+01] [ 1.67134267e-01 9.85902274e-01 -7.92730456e-03 7.03719558e-02] [ 9.58843111e-02 -8.25137132e-03 9.95358284e-01 5.67804391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.517552018 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:12.91, Y:0.08, Z:0.57 [[ 9.82085741e-01 -1.62602392e-01 -9.52263590e-02 1.29095463e+01] [ 1.62680797e-01 9.86653978e-01 -6.99182435e-03 7.66911818e-02] [ 9.50923533e-02 -8.62492899e-03 9.95431090e-01 5.70144615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547552018 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:12.94, Y:0.08, Z:0.57 [[ 9.82482786e-01 -1.60422418e-01 -9.48273350e-02 1.29385195e+01] [ 1.60163002e-01 9.87035892e-01 -1.03903765e-02 8.34098286e-02] [ 9.52648326e-02 -4.97946458e-03 9.95439509e-01 5.73849926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577552018 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:12.97, Y:0.09, Z:0.58 [[ 9.82909076e-01 -1.57153342e-01 -9.58779166e-02 1.29672771e+01] [ 1.57476686e-01 9.87513635e-01 -4.23250758e-03 8.66268292e-02] [ 9.53459027e-02 -1.09383664e-02 9.95384102e-01 5.75240735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607552018 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:13.00, Y:0.10, Z:0.58 [[ 9.84064665e-01 -1.50570961e-01 -9.45786458e-02 1.29959612e+01] [ 1.50339080e-01 9.88587751e-01 -9.61349235e-03 9.71737918e-02] [ 9.49468035e-02 -4.75856844e-03 9.95470974e-01 5.79700127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.637552018 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:13.02, Y:0.10, Z:0.58 [[ 9.84859381e-01 -1.45735862e-01 -9.38778874e-02 1.30236082e+01] [ 1.45659007e-01 9.89304832e-01 -7.70738316e-03 1.01749363e-01] [ 9.39970897e-02 -6.08347127e-03 9.95553885e-01 5.81602615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667552018 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:13.05, Y:0.11, Z:0.59 [[ 9.85199746e-01 -1.43028682e-01 -9.44682802e-02 1.30530225e+01] [ 1.42754338e-01 9.89710708e-01 -9.69088229e-03 1.08774578e-01] [ 9.48823427e-02 -3.93830202e-03 9.95480703e-01 5.85738595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.697552018 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:13.08, Y:0.11, Z:0.59 [[ 9.85766230e-01 -1.39377024e-01 -9.40158764e-02 1.30808261e+01] [ 1.39442843e-01 9.90212536e-01 -5.90145442e-03 1.12840947e-01] [ 9.39182266e-02 -7.29238664e-03 9.95553207e-01 5.86769022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727552017999999 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:13.11, Y:0.12, Z:0.59 [[ 9.86630773e-01 -1.34313951e-01 -9.23010341e-02 1.31092010e+01] [ 1.33581810e-01 9.90937577e-01 -1.40932032e-02 1.22619805e-01] [ 9.33574769e-02 1.57504875e-03 9.95631408e-01 5.90666770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.757552018 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:13.13, Y:0.12, Z:0.59 [[ 0.98571414 -0.13413461 -0.1018604 13.13109857] [ 0.13678027 0.99041109 0.01941716 0.11973453] [ 0.09827916 -0.03307226 0.99460919 0.58915232] [ 0. 0. 0. 1. ]] SLAMing on 12.787552018 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:13.16, Y:0.14, Z:0.61 [[ 0.98718665 -0.13209327 -0.08952032 13.16485431] [ 0.12893808 0.99083822 -0.04018205 0.14302034] [ 0.09400794 0.02812461 0.99517411 0.60543239] [ 0. 0. 0. 1. ]] SLAMing on 12.817552017999999 meters Centerline goodness : 0.989860 Centerline is valid? [True, True] Translation: X:13.20, Y:0.13, Z:0.60 [[ 9.87340446e-01 -1.28898073e-01 -9.24344638e-02 1.31964914e+01] [ 1.28454540e-01 9.91657056e-01 -1.07570345e-02 1.34619747e-01] [ 9.30498493e-02 -1.25277132e-03 9.95660663e-01 5.96773416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847552018 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:13.23, Y:0.14, Z:0.60 [[ 9.87614131e-01 -1.26302741e-01 -9.30910621e-02 1.32250070e+01] [ 1.26228393e-01 9.91978511e-01 -6.71020824e-03 1.37537806e-01] [ 9.31918509e-02 -5.12363871e-03 9.95634987e-01 5.98103024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.877552018 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:13.25, Y:0.14, Z:0.60 [[ 9.87667146e-01 -1.25518069e-01 -9.35885877e-02 1.32517615e+01] [ 1.25842522e-01 9.92047204e-01 -2.45034631e-03 1.40285816e-01] [ 9.31518596e-02 -9.35729739e-03 9.95607941e-01 5.99832914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907552018 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:13.28, Y:0.15, Z:0.60 [[ 9.87756040e-01 -1.25302329e-01 -9.29372502e-02 1.32786238e+01] [ 1.25217863e-01 9.92106220e-01 -6.76283485e-03 1.45797819e-01] [ 9.30510229e-02 -4.95737287e-03 9.95649000e-01 6.03995065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.937552018 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:13.30, Y:0.14, Z:0.60 [[ 0.98664142 -0.12670061 -0.10239953 13.29829309] [ 0.12974433 0.99126649 0.02360429 0.14412732] [ 0.09851455 -0.03657473 0.99446326 0.60490877] [ 0. 0. 0. 1. ]] SLAMing on 12.967552018 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:13.33, Y:0.17, Z:0.63 [[ 0.98849511 -0.12475215 -0.08552383 13.33404047] [ 0.12070171 0.9913769 -0.0510191 0.1707435 ] [ 0.09115109 0.04010926 0.99502901 0.62501217] [ 0. 0. 0. 1. ]] SLAMing on 12.997552018 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:13.37, Y:0.15, Z:0.61 [[ 9.88571510e-01 -1.19789507e-01 -9.15250995e-02 1.33653464e+01] [ 1.20685574e-01 9.92681474e-01 4.29931955e-03 1.51272899e-01] [ 9.03402573e-02 -1.52959440e-02 9.95793489e-01 6.10066316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027552018 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:13.39, Y:0.16, Z:0.62 [[ 9.88883461e-01 -1.19734123e-01 -8.81659824e-02 1.33913243e+01] [ 1.19564226e-01 9.92800181e-01 -7.22471355e-03 1.59110559e-01] [ 8.83962480e-02 -3.39709768e-03 9.96079597e-01 6.15934139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.057552017999999 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:13.42, Y:0.16, Z:0.62 [[ 9.88928599e-01 -1.18617193e-01 -8.91638209e-02 1.34202084e+01] [ 1.18255633e-01 9.92939206e-01 -9.34554331e-03 1.62155838e-01] [ 8.96427956e-02 -1.30204900e-03 9.95973129e-01 6.20112353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552018 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:13.44, Y:0.16, Z:0.62 [[ 0.98747491 -0.1211271 -0.10110155 13.43990241] [ 0.12450445 0.99183039 0.02776895 0.15691216] [ 0.09691201 -0.04000873 0.99448849 0.61817778] [ 0. 0. 0. 1. ]] SLAMing on 13.117552018 meters Centerline goodness : 0.988662 Centerline is valid? [True, True] Translation: X:13.47, Y:0.18, Z:0.64 [[ 0.98886339 -0.12030603 -0.08761085 13.47482572] [ 0.117094 0.99227659 -0.04094109 0.18077588] [ 0.09185965 0.03022644 0.9953131 0.63723066] [ 0. 0. 0. 1. ]] SLAMing on 13.147552017999999 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:13.51, Y:0.17, Z:0.63 [[ 9.89055399e-01 -1.16694230e-01 -9.02877263e-02 1.35073403e+01] [ 1.16066959e-01 9.93166645e-01 -1.21850858e-02 1.69147324e-01] [ 9.10926875e-02 1.57230309e-03 9.95841177e-01 6.27193311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.177552018 meters Centerline goodness : 0.989877 Centerline is valid? [True, True] Translation: X:13.54, Y:0.17, Z:0.63 [[ 9.88568241e-01 -1.18810761e-01 -9.28269103e-02 1.35364188e+01] [ 1.18426956e-01 9.92915855e-01 -9.65194890e-03 1.70822529e-01] [ 9.33160664e-02 -1.45159829e-03 9.95635478e-01 6.29435442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207552018 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:13.57, Y:0.17, Z:0.63 [[ 9.88495977e-01 -1.19337990e-01 -9.29201191e-02 1.35650031e+01] [ 1.18968798e-01 9.92852330e-01 -9.52240999e-03 1.71453739e-01] [ 9.33923420e-02 -1.64173091e-03 9.95628031e-01 6.31440459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.237552017999999 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:13.60, Y:0.17, Z:0.64 [[ 9.88459395e-01 -1.21369746e-01 -9.06499286e-02 1.35956364e+01] [ 1.20120925e-01 9.92574983e-01 -1.91276137e-02 1.74628148e-01] [ 9.22983650e-02 8.01791609e-03 9.95699114e-01 6.35171236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267552018 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:13.62, Y:0.17, Z:0.63 [[ 9.88052753e-01 -1.21510590e-01 -9.47994437e-02 1.36246416e+01] [ 1.22276885e-01 9.92493374e-01 2.29492245e-03 1.67633418e-01] [ 9.38089623e-02 -1.38592852e-02 9.95493746e-01 6.32750833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.297552018 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:13.65, Y:0.17, Z:0.64 [[ 9.87833816e-01 -1.24181959e-01 -9.36119283e-02 1.36523930e+01] [ 1.23755119e-01 9.92258561e-01 -1.03739010e-02 1.74462699e-01] [ 9.41754887e-02 -1.33726509e-03 9.95554714e-01 6.39527940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327552018 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:13.68, Y:0.17, Z:0.64 [[ 9.87448668e-01 -1.24873217e-01 -9.67047459e-02 1.36783106e+01] [ 1.26169986e-01 9.91981121e-01 7.38858287e-03 1.67632547e-01] [ 9.50066461e-02 -1.94970827e-02 9.95285688e-01 6.38814323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.357552018 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:13.71, Y:0.18, Z:0.65 [[ 9.86628346e-01 -1.30034494e-01 -9.82625911e-02 1.37065811e+01] [ 1.30271202e-01 9.91470205e-01 -4.03068415e-03 1.75881512e-01] [ 9.79485593e-02 -8.82399862e-03 9.95152359e-01 6.48414228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387552018 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:13.73, Y:0.18, Z:0.65 [[ 9.86168775e-01 -1.31554509e-01 -1.00819432e-01 1.37315741e+01] [ 1.32504535e-01 9.91178568e-01 2.75566945e-03 1.75171172e-01] [ 9.95675400e-02 -1.60765872e-02 9.94900924e-01 6.51561039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.417552018 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:13.76, Y:0.18, Z:0.66 [[ 9.85796694e-01 -1.35786223e-01 -9.88280285e-02 1.37602981e+01] [ 1.35059755e-01 9.90738040e-01 -1.40356510e-02 1.81125162e-01] [ 9.98185352e-02 4.88608981e-04 9.95005538e-01 6.59157653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447552018 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:13.79, Y:0.18, Z:0.66 [[ 9.85144722e-01 -1.37722592e-01 -1.02578572e-01 1.37880431e+01] [ 1.38655363e-01 9.90338705e-01 1.98467800e-03 1.77230821e-01] [ 1.01314195e-01 -1.61782642e-02 9.94722925e-01 6.59955316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.477552017999999 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:13.82, Y:0.19, Z:0.67 [[ 9.85158037e-01 -1.40650600e-01 -9.83923354e-02 1.38161216e+01] [ 1.39447312e-01 9.90046503e-01 -1.90359806e-02 1.87333355e-01] [ 1.00090410e-01 5.03290259e-03 9.94965617e-01 6.67522644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507552018 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:13.85, Y:0.19, Z:0.67 [[ 9.84999468e-01 -1.41423754e-01 -9.88704739e-02 1.38456269e+01] [ 1.40965461e-01 9.89946068e-01 -1.16413441e-02 1.85806344e-01] [ 9.95227995e-02 -2.47060418e-03 9.95032215e-01 6.67753470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.537552018 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:13.87, Y:0.18, Z:0.67 [[ 9.84447296e-01 -1.43940982e-01 -1.00719987e-01 1.38741370e+01] [ 1.44349003e-01 9.89521457e-01 -3.26354983e-03 1.83823966e-01] [ 1.00134347e-01 -1.13260370e-02 9.94909460e-01 6.69076052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567552017999999 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:13.90, Y:0.19, Z:0.67 [[ 9.84120412e-01 -1.45783744e-01 -1.01262601e-01 1.39007753e+01] [ 1.45684859e-01 9.89295292e-01 -8.41109256e-03 1.87561239e-01] [ 1.01404815e-01 -6.47489989e-03 9.94824175e-01 6.73953045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.597552018 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:13.93, Y:0.19, Z:0.68 [[ 9.83862744e-01 -1.47383225e-01 -1.01450905e-01 1.39289132e+01] [ 1.47119219e-01 9.89066987e-01 -1.01207916e-02 1.90167541e-01] [ 1.01833376e-01 -4.96790814e-03 9.94789065e-01 6.76970795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627552018 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:13.96, Y:0.19, Z:0.68 [[ 9.83510964e-01 -1.48572620e-01 -1.03113333e-01 1.39571671e+01] [ 1.48691898e-01 9.88861733e-01 -6.57205418e-03 1.90892096e-01] [ 1.02941256e-01 -8.86842984e-03 9.94647902e-01 6.79250638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657552018 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.20, Z:0.68 [[ 9.83228266e-01 -1.51052297e-01 -1.02202647e-01 1.39851736e+01] [ 1.50397171e-01 9.88524669e-01 -1.41304706e-02 1.95516252e-01] [ 1.03164278e-01 -1.47751091e-03 9.94663234e-01 6.82611795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687552018 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:14.01, Y:0.20, Z:0.68 [[ 9.83202874e-01 -1.51139702e-01 -1.02317636e-01 1.40132306e+01] [ 1.50569957e-01 9.88509700e-01 -1.33139036e-02 1.97055438e-01] [ 1.03154235e-01 -2.31569370e-03 9.94662677e-01 6.83906479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.717552018 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:14.04, Y:0.20, Z:0.69 [[ 9.82611295e-01 -1.52055621e-01 -1.06555768e-01 1.40411832e+01] [ 1.52528751e-01 9.88291945e-01 -3.74331099e-03 1.96312042e-01] [ 1.05877398e-01 -1.25745985e-02 9.94299681e-01 6.86323401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747552018 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:14.07, Y:0.20, Z:0.69 [[ 9.82476345e-01 -1.52714568e-01 -1.06857341e-01 1.40684039e+01] [ 1.52601179e-01 9.88244229e-01 -9.28566451e-03 2.01728987e-01] [ 1.07019207e-01 -7.18361059e-03 9.94231002e-01 6.91237977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.777552018 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:14.09, Y:0.20, Z:0.69 [[ 9.81536496e-01 -1.54923407e-01 -1.12182192e-01 1.40873835e+01] [ 1.56242455e-01 9.87714147e-01 3.00967042e-03 2.04375307e-01] [ 1.10337670e-01 -2.04817224e-02 9.93683097e-01 6.93625044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807552017999999 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:14.12, Y:0.21, Z:0.70 [[ 9.82702313e-01 -1.51940256e-01 -1.05878815e-01 1.41217290e+01] [ 1.50331628e-01 9.88366678e-01 -2.30588885e-02 2.13489779e-01] [ 1.08150666e-01 6.74308839e-03 9.94111646e-01 7.03043289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.837552018 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:14.15, Y:0.21, Z:0.70 [[ 9.83157402e-01 -1.49462180e-01 -1.05178795e-01 1.41503195e+01] [ 1.48517168e-01 9.88767033e-01 -1.68049421e-02 2.14042257e-01] [ 1.06509028e-01 9.01046538e-04 9.94311327e-01 7.02345968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867552018 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:14.17, Y:0.21, Z:0.70 [[ 9.82204371e-01 -1.50830815e-01 -1.11913529e-01 1.41709936e+01] [ 1.52499374e-01 9.88282505e-01 6.45227132e-03 2.13269551e-01] [ 1.09628981e-01 -2.34041922e-02 9.93697001e-01 7.02497921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.897552017999999 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:14.20, Y:0.22, Z:0.71 [[ 9.82665085e-01 -1.50155997e-01 -1.08731353e-01 1.41955898e+01] [ 1.49598410e-01 9.88657194e-01 -1.33142172e-02 2.24091860e-01] [ 1.09497244e-01 -3.18262110e-03 9.93982004e-01 7.11806078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927552018 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:14.23, Y:0.22, Z:0.72 [[ 9.83943002e-01 -1.44236664e-01 -1.05128269e-01 1.42281076e+01] [ 1.42612051e-01 9.89514868e-01 -2.28501233e-02 2.24791615e-01] [ 1.07321810e-01 7.49066094e-03 9.94196117e-01 7.16332197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.957552018 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:14.25, Y:0.23, Z:0.72 [[ 9.82886722e-01 -1.47920006e-01 -1.09787811e-01 1.42534055e+01] [ 1.48549110e-01 9.88901941e-01 -2.47234250e-03 2.25006461e-01] [ 1.08935089e-01 -1.38788491e-02 9.93951973e-01 7.15283959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:14.28, Y:0.23, Z:0.72 [[ 9.83029558e-01 -1.48440336e-01 -1.07788473e-01 1.42789974e+01] [ 1.47869714e-01 9.88917252e-01 -1.33122750e-02 2.31131445e-01] [ 1.08569959e-01 -2.85229083e-03 9.94084719e-01 7.21847827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.017552018 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:14.31, Y:0.23, Z:0.72 [[ 9.82988459e-01 -1.48713635e-01 -1.07786570e-01 1.43070100e+01] [ 1.48142964e-01 9.88876148e-01 -1.33276610e-02 2.34736879e-01] [ 1.08569573e-01 -2.86688513e-03 9.94084719e-01 7.24802520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552018 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:14.34, Y:0.24, Z:0.73 [[ 0.98419389 -0.14528127 -0.10127063 14.34389849] [ 0.14284862 0.98926171 -0.03091185 0.23855349] [ 0.10467407 0.01595688 0.99437856 0.72910183] [ 0. 0. 0. 1. ]] SLAMing on 14.077552018 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:14.37, Y:0.23, Z:0.73 [[ 9.83953485e-01 -1.42938637e-01 -1.06789908e-01 1.43719817e+01] [ 1.43523237e-01 9.89644433e-01 -2.23089194e-03 2.28664722e-01] [ 1.06002919e-01 -1.31317394e-02 9.94279105e-01 7.25335533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552018 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:14.39, Y:0.23, Z:0.73 [[ 9.82762599e-01 -1.47847668e-01 -1.10989821e-01 1.43911319e+01] [ 1.48614099e-01 9.88894302e-01 -1.38154856e-03 2.34686235e-01] [ 1.09961460e-01 -1.51369180e-02 9.93820583e-01 7.30208610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.137552018 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:14.42, Y:0.24, Z:0.74 [[ 9.82730341e-01 -1.48783518e-01 -1.10020645e-01 1.44179159e+01] [ 1.48171995e-01 9.88865884e-01 -1.37595139e-02 2.41714030e-01] [ 1.10842851e-01 -2.78008654e-03 9.93834057e-01 7.36939401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552018 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:14.45, Y:0.24, Z:0.74 [[ 9.83650735e-01 -1.44664426e-01 -1.07254070e-01 1.44541761e+01] [ 1.43560859e-01 9.89478126e-01 -1.79810531e-02 2.39590670e-01] [ 1.08726775e-01 2.28958970e-03 9.94069035e-01 7.40050915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.197552018 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:14.47, Y:0.24, Z:0.74 [[ 9.82574511e-01 -1.49074661e-01 -1.11013850e-01 1.44732055e+01] [ 1.49254873e-01 9.88775838e-01 -6.73239338e-03 2.43052005e-01] [ 1.10771442e-01 -9.95428002e-03 9.93796056e-01 7.40937614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999999 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:14.50, Y:0.25, Z:0.75 [[ 9.82392460e-01 -1.51276489e-01 -1.09637942e-01 1.44991820e+01] [ 1.50672265e-01 9.88487119e-01 -1.38233476e-02 2.45839922e-01] [ 1.10466841e-01 -2.93944456e-03 9.93875463e-01 7.46110747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.257552018 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:14.53, Y:0.25, Z:0.75 [[ 9.82083736e-01 -1.53110074e-01 -1.09858271e-01 1.45264624e+01] [ 1.52513024e-01 9.88204165e-01 -1.38674316e-02 2.48006512e-01] [ 1.10685645e-01 -3.13583812e-03 9.93850519e-01 7.49310868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552018 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:14.56, Y:0.25, Z:0.75 [[ 0.98325513 -0.15059237 -0.10262204 14.5646855 ] [ 0.14815992 0.98847835 -0.03097092 0.25016737] [ 0.10610365 0.01524785 0.99423816 0.75323561] [ 0. 0. 0. 1. ]] SLAMing on 14.317552017999999 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:14.58, Y:0.24, Z:0.75 [[ 9.81181937e-01 -1.57690536e-01 -1.11425767e-01 1.45846304e+01] [ 1.59471265e-01 9.87176334e-01 7.19725631e-03 2.41017063e-01] [ 1.08861941e-01 -2.48310260e-02 9.93746697e-01 7.48832933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552018 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:14.61, Y:0.25, Z:0.76 [[ 9.80781638e-01 -1.61711052e-01 -1.09164622e-01 1.46102169e+01] [ 1.61159337e-01 9.86830272e-01 -1.39169915e-02 2.50901224e-01] [ 1.09977485e-01 -3.94336840e-03 9.93926256e-01 7.58181335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.377552018 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:14.64, Y:0.25, Z:0.76 [[ 9.80259524e-01 -1.65132209e-01 -1.08731873e-01 1.46366725e+01] [ 1.64602001e-01 9.86262173e-01 -1.38963111e-02 2.53375423e-01] [ 1.09532861e-01 -4.27549252e-03 9.93973980e-01 7.61099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:14.66, Y:0.25, Z:0.76 [[ 9.79394390e-01 -1.69665755e-01 -1.09545246e-01 1.46649066e+01] [ 1.69153919e-01 9.85489967e-01 -1.40170451e-02 2.53676586e-01] [ 1.10333954e-01 -4.80179239e-03 9.93882972e-01 7.64399704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.437552018 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:14.69, Y:0.26, Z:0.77 [[ 9.78931477e-01 -1.72591921e-01 -1.09110919e-01 1.46928513e+01] [ 1.72098314e-01 9.84980336e-01 -1.39966912e-02 2.56724267e-01] [ 1.09887826e-01 -5.07600361e-03 9.93931034e-01 7.67210160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552018 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:14.72, Y:0.26, Z:0.77 [[ 9.78590178e-01 -1.74198196e-01 -1.09618666e-01 1.47204146e+01] [ 1.73706072e-01 9.84696638e-01 -1.40972583e-02 2.59393352e-01] [ 1.10396849e-01 -5.24598940e-03 9.93873742e-01 7.70081259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497552018 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:14.75, Y:0.26, Z:0.77 [[ 9.78578217e-01 -1.73888532e-01 -1.10215475e-01 1.47469558e+01] [ 1.73385161e-01 9.84751586e-01 -1.42091287e-02 2.61393950e-01] [ 1.11005668e-01 -5.20498400e-03 9.93806143e-01 7.73025108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552018 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:14.77, Y:0.26, Z:0.78 [[ 9.78659473e-01 -1.73293144e-01 -1.10431524e-01 1.47742089e+01] [ 1.72781238e-01 9.84856965e-01 -1.42619115e-02 2.64939785e-01] [ 1.11230747e-01 -5.12294065e-03 9.93781403e-01 7.76289872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.557552017999999 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:14.80, Y:0.27, Z:0.78 [[ 9.78773866e-01 -1.72464704e-01 -1.10714252e-01 1.48013381e+01] [ 1.71941047e-01 9.85002968e-01 -1.43327729e-02 2.68908502e-01] [ 1.11525764e-01 -5.00778084e-03 9.93748925e-01 7.79045652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552018 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:14.83, Y:0.27, Z:0.78 [[ 9.79500343e-01 -1.68316054e-01 -1.10674224e-01 1.48286911e+01] [ 1.67762550e-01 9.85722811e-01 -1.43619531e-02 2.73034724e-01] [ 1.11511454e-01 -4.49945206e-03 9.93752962e-01 7.82153105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.617552018 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:14.86, Y:0.28, Z:0.78 [[ 9.80029745e-01 -1.65153519e-01 -1.10752042e-01 1.48566895e+01] [ 1.64575259e-01 9.86259315e-01 -1.44064851e-02 2.76500844e-01] [ 1.11609515e-01 -4.10826217e-03 9.93743648e-01 7.84878078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999999 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:14.88, Y:0.28, Z:0.79 [[ 9.80508084e-01 -1.62257253e-01 -1.10799284e-01 1.48829983e+01] [ 1.61656238e-01 9.86741379e-01 -1.44468200e-02 2.81112742e-01] [ 1.11674340e-01 -3.74617173e-03 9.93737796e-01 7.87748399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.677552018 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:14.91, Y:0.29, Z:0.79 [[ 9.81063057e-01 -1.58653089e-01 -1.11105698e-01 1.49101487e+01] [ 1.58023808e-01 9.87328780e-01 -1.45036710e-02 2.85013740e-01] [ 1.11998905e-01 -3.32832962e-03 9.93702756e-01 7.90714501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552018 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:14.94, Y:0.29, Z:0.79 [[ 9.81718861e-01 -1.54574459e-01 -1.11062214e-01 1.49366352e+01] [ 1.53915741e-01 9.87977097e-01 -1.45327487e-02 2.89405654e-01] [ 1.11973315e-01 -2.82714944e-03 9.93707192e-01 7.93817765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.737552017999999 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:14.96, Y:0.30, Z:0.80 [[ 9.83053253e-01 -1.46998712e-01 -1.09533925e-01 1.49634740e+01] [ 1.46309297e-01 9.89134820e-01 -1.43491122e-02 2.95395463e-01] [ 1.10453121e-01 -1.91989014e-03 9.93879481e-01 7.97114122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552018 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:14.99, Y:0.30, Z:0.80 [[ 9.83637330e-01 -1.43911254e-01 -1.08384284e-01 1.49903930e+01] [ 1.43213871e-01 9.89589426e-01 -1.42321885e-02 2.99617388e-01] [ 1.09304114e-01 -1.52282107e-03 9.94007189e-01 8.00504582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.797552018 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:15.03, Y:0.30, Z:0.80 [[ 9.85261609e-01 -1.36401824e-01 -1.03218719e-01 1.50256391e+01] [ 1.34920617e-01 9.90628917e-01 -2.12314860e-02 3.00697447e-01] [ 1.05147461e-01 6.99223476e-03 9.94432059e-01 8.04078136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552018 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:15.05, Y:0.30, Z:0.80 [[ 9.84563815e-01 -1.38351503e-01 -1.07205200e-01 1.50471001e+01] [ 1.38685941e-01 9.90326789e-01 -4.36583854e-03 3.02917025e-01] [ 1.06772202e-01 -1.05694074e-02 9.94227330e-01 8.03781901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.857552018 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:15.07, Y:0.31, Z:0.81 [[ 9.84652204e-01 -1.38622947e-01 -1.06036389e-01 1.50735519e+01] [ 1.37912384e-01 9.90344910e-01 -1.40404367e-02 3.09867416e-01] [ 1.06958925e-01 -7.98784207e-04 9.94263119e-01 8.09221793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552018 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:15.10, Y:0.31, Z:0.81 [[ 9.84661052e-01 -1.38469091e-01 -1.06155185e-01 1.51014311e+01] [ 1.37752478e-01 9.90366472e-01 -1.40892370e-02 3.12611909e-01] [ 1.07083459e-01 -7.50016815e-04 9.94249752e-01 8.11859637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.917552018 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:15.13, Y:0.31, Z:0.81 [[ 9.84594029e-01 -1.38745572e-01 -1.06415523e-01 1.51297452e+01] [ 1.38023478e-01 9.90327777e-01 -1.41567871e-02 3.13585578e-01] [ 1.07350440e-01 -7.49152576e-04 9.94220962e-01 8.13451281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552018 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:15.16, Y:0.31, Z:0.82 [[ 9.84706929e-01 -1.35543434e-01 -1.09454291e-01 1.51627673e+01] [ 1.35148546e-01 9.90763696e-01 -1.10530509e-02 3.09821132e-01] [ 1.09941507e-01 -3.90857246e-03 9.93930374e-01 8.18311200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.977552017999999 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:15.19, Y:0.31, Z:0.82 [[ 9.84398952e-01 -1.36983907e-01 -1.10426955e-01 1.51909897e+01] [ 1.37181443e-01 9.90528703e-01 -5.84298750e-03 3.10320358e-01] [ 1.10181464e-01 -9.39669823e-03 9.93867067e-01 8.19957600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552018 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:15.21, Y:0.32, Z:0.82 [[ 9.83983030e-01 -1.42984549e-01 -1.06455697e-01 1.52119445e+01] [ 1.41232183e-01 9.89688900e-01 -2.38611050e-02 3.24363484e-01] [ 1.08769791e-01 8.44395197e-03 9.94031102e-01 8.23782728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.037552018 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:15.24, Y:0.32, Z:0.82 [[ 9.83656361e-01 -1.43029486e-01 -1.09374260e-01 1.52404417e+01] [ 1.42262289e-01 9.89717947e-01 -1.48265568e-02 3.20715506e-01] [ 1.10370302e-01 -9.75595646e-04 9.93890057e-01 8.23040370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999999 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:15.27, Y:0.32, Z:0.83 [[ 9.83461325e-01 -1.43977776e-01 -1.09882771e-01 1.52677761e+01] [ 1.43205376e-01 9.89580362e-01 -1.49307331e-02 3.22553230e-01] [ 1.10887526e-01 -1.05200495e-03 9.93832405e-01 8.25765006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.097552018 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:15.29, Y:0.32, Z:0.83 [[ 9.83313979e-01 -1.44596894e-01 -1.10387302e-01 1.52947962e+01] [ 1.43817351e-01 9.89490043e-01 -1.50341060e-02 3.24228371e-01] [ 1.11401021e-01 -1.09236274e-03 9.93774934e-01 8.28117927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127552018 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:15.33, Y:0.32, Z:0.83 [[ 9.83382932e-01 -1.41586884e-01 -1.13627299e-01 1.53282541e+01] [ 1.42250708e-01 9.89828021e-01 -2.28595387e-03 3.15448420e-01] [ 1.12795145e-01 -1.39155956e-02 9.93520816e-01 8.32183992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.157552017999999 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:15.35, Y:0.33, Z:0.84 [[ 9.83257605e-01 -1.47883914e-01 -1.06465162e-01 1.53502278e+01] [ 1.45880883e-01 9.88949704e-01 -2.64054980e-02 3.31540836e-01] [ 1.09193639e-01 1.04321749e-02 9.93965753e-01 8.37170597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552018 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:15.38, Y:0.33, Z:0.84 [[ 9.83296865e-01 -1.46539054e-01 -1.07951757e-01 1.53790138e+01] [ 1.45796258e-01 9.89204156e-01 -1.47847378e-02 3.27454365e-01] [ 1.08952868e-01 -1.20117587e-03 9.94046191e-01 8.37799345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.217552018 meters Centerline goodness : 0.989496 Centerline is valid? [True, True] Translation: X:15.41, Y:0.32, Z:0.84 [[ 9.83332519e-01 -1.44712117e-01 -1.10070706e-01 1.54120690e+01] [ 1.45168630e-01 9.89399250e-01 -3.89773178e-03 3.22524164e-01] [ 1.09467923e-01 -1.21460471e-02 9.93916117e-01 8.41416091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552018 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:15.44, Y:0.33, Z:0.85 [[ 9.83107753e-01 -1.47829607e-01 -1.07914564e-01 1.54395088e+01] [ 1.47277716e-01 9.89008282e-01 -1.31107470e-02 3.26114031e-01] [ 1.08666554e-01 -3.00413348e-03 9.94073717e-01 8.47098061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.277552018 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:15.46, Y:0.34, Z:0.85 [[ 9.82871572e-01 -1.52330997e-01 -1.03724351e-01 1.54629005e+01] [ 1.50604415e-01 9.88294788e-01 -2.43253581e-02 3.35482770e-01] [ 1.06215742e-01 8.28735770e-03 9.94308572e-01 8.48633214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999999 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:15.50, Y:0.33, Z:0.85 [[ 9.82924384e-01 -1.48720882e-01 -1.08359373e-01 1.54962597e+01] [ 1.49298826e-01 9.88788142e-01 -2.80537502e-03 3.25183555e-01] [ 1.07561681e-01 -1.34204556e-02 9.94107829e-01 8.50381581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.337552018 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:15.52, Y:0.34, Z:0.86 [[ 9.82688516e-01 -1.54189746e-01 -1.02707365e-01 1.55180388e+01] [ 1.52385796e-01 9.87998940e-01 -2.52322109e-02 3.39364786e-01] [ 1.05365315e-01 9.14426041e-03 9.94391539e-01 8.55048648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552018 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:15.55, Y:0.33, Z:0.86 [[ 9.82994667e-01 -1.50963184e-01 -1.04554300e-01 1.55524541e+01] [ 1.51064219e-01 9.88499181e-01 -6.99791664e-03 3.27970335e-01] [ 1.04408268e-01 -8.91549892e-03 9.94494559e-01 8.56507069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.397552017999999 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.33, Z:0.86 [[ 9.82799907e-01 -1.52661637e-01 -1.03917122e-01 1.55784247e+01] [ 1.52260395e-01 9.88269609e-01 -1.18301347e-02 3.32014502e-01] [ 1.04504141e-01 -4.19580671e-03 9.94515601e-01 8.61313412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552018 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:15.61, Y:0.34, Z:0.86 [[ 9.82664835e-01 -1.53987931e-01 -1.03235357e-01 1.56064799e+01] [ 1.53306198e-01 9.88071552e-01 -1.45539762e-02 3.35269484e-01] [ 1.04245056e-01 -1.52493937e-03 9.94550473e-01 8.64299812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.457552018 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:15.64, Y:0.34, Z:0.87 [[ 9.82928685e-01 -1.55650721e-01 -9.81022608e-02 1.56364168e+01] [ 1.53670996e-01 9.87740169e-01 -2.74696964e-02 3.39433388e-01] [ 1.01175222e-01 1.19252805e-02 9.94797146e-01 8.65506464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:15.66, Y:0.33, Z:0.86 [[ 9.82041887e-01 -1.57401109e-01 -1.04012608e-01 1.56593654e+01] [ 1.57900678e-01 9.87448918e-01 -3.46568683e-03 3.34981950e-01] [ 1.03252640e-01 -1.30202116e-02 9.94569940e-01 8.64548518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.517552018 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:15.69, Y:0.34, Z:0.87 [[ 9.82050443e-01 -1.58724777e-01 -1.01898831e-01 1.56866358e+01] [ 1.58079213e-01 9.87320970e-01 -1.44313703e-02 3.41377644e-01] [ 1.02897468e-01 -1.93575340e-03 9.94690084e-01 8.69901817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552018 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:15.72, Y:0.35, Z:0.87 [[ 9.83032959e-01 -1.56227374e-01 -9.61208079e-02 1.57214266e+01] [ 1.54092617e-01 9.87622140e-01 -2.92911855e-02 3.45740071e-01] [ 9.95071230e-02 1.39826940e-02 9.94938599e-01 8.72678625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577552018 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:15.74, Y:0.34, Z:0.87 [[ 9.82082634e-01 -1.56802674e-01 -1.04530477e-01 1.57446795e+01] [ 1.57981010e-01 9.87437477e-01 3.03805725e-03 3.36852982e-01] [ 1.02740935e-01 -1.94974535e-02 9.94517043e-01 8.71719199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552018 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:15.77, Y:0.35, Z:0.88 [[ 9.81915988e-01 -1.59117839e-01 -1.02579262e-01 1.57706284e+01] [ 1.58456705e-01 9.87257761e-01 -1.46145468e-02 3.46054639e-01] [ 1.03597607e-01 -1.90411462e-03 9.94617469e-01 8.78464725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.637552018 meters Centerline goodness : 0.986711 Centerline is valid? [True, True] Translation: X:15.81, Y:0.35, Z:0.88 [[ 9.82722210e-01 -1.57439708e-01 -9.73128739e-02 1.58052784e+01] [ 1.55459708e-01 9.87455124e-01 -2.76524362e-02 3.49547136e-01] [ 1.00445687e-01 1.20464322e-02 9.94869613e-01 8.80361293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552018 meters Centerline goodness : 0.987432 Centerline is valid? [True, True] Translation: X:15.83, Y:0.34, Z:0.88 [[ 9.81337617e-01 -1.60620450e-01 -1.05723941e-01 1.58291038e+01] [ 1.61548782e-01 9.86864703e-01 2.19859150e-04 3.41989436e-01] [ 1.04299912e-01 -1.72953300e-02 9.94395495e-01 8.80229618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.697552018 meters Centerline goodness : 0.986638 Centerline is valid? [True, True] Translation: X:15.86, Y:0.35, Z:0.89 [[ 9.82047837e-01 -1.60737447e-01 -9.87193958e-02 1.58606910e+01] [ 1.58961835e-01 9.86951529e-01 -2.56478736e-02 3.50113193e-01] [ 1.01553832e-01 9.49482241e-03 9.94784734e-01 8.85613524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999999 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:15.88, Y:0.35, Z:0.89 [[ 9.80866460e-01 -1.63727073e-01 -1.05330112e-01 1.58831718e+01] [ 1.64483427e-01 9.86378668e-01 -1.52487474e-03 3.45675105e-01] [ 1.04145039e-01 -1.58293593e-02 9.94436143e-01 8.86493186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.757552018 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:15.91, Y:0.35, Z:0.89 [[ 9.80495404e-01 -1.67335614e-01 -1.03090037e-01 1.59095915e+01] [ 1.66692667e-01 9.85896583e-01 -1.48822962e-02 3.53236680e-01] [ 1.04126454e-01 -2.59233022e-03 9.94560688e-01 8.91754968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552018 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:15.94, Y:0.35, Z:0.89 [[ 9.79675187e-01 -1.72230222e-01 -1.02826451e-01 1.59374336e+01] [ 1.71613971e-01 9.85051935e-01 -1.48771448e-02 3.52954088e-01] [ 1.03851689e-01 -3.07168604e-03 9.94588051e-01 8.94650591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.817552017999999 meters Centerline goodness : 0.985613 Centerline is valid? [True, True] Translation: X:15.98, Y:0.37, Z:0.90 [[ 0.98139098 -0.17170667 -0.08595671 15.97776332] [ 0.16695567 0.98415179 -0.05975842 0.36699966] [ 0.09485537 0.04429541 0.99450509 0.89500751] [ 0. 0. 0. 1. ]] SLAMing on 15.847552018 meters Centerline goodness : 0.985999 Centerline is valid? [True, True] Translation: X:16.01, Y:0.33, Z:0.89 [[ 0.9792444 -0.17022324 -0.1100202 16.00730857] [ 0.17450579 0.98418447 0.03047389 0.33369344] [ 0.10309281 -0.04904055 0.99346208 0.89298512] [ 0. 0. 0. 1. ]] SLAMing on 15.877552018 meters Centerline goodness : 0.985452 Centerline is valid? [True, True] Translation: X:16.03, Y:0.36, Z:0.90 [[ 9.79029846e-01 -1.80688064e-01 -9.40871091e-02 1.60312961e+01] [ 1.78433990e-01 9.83434216e-01 -3.19132179e-02 3.59708456e-01] [ 9.82948199e-02 1.44556545e-02 9.95052342e-01 8.99735896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999999 meters Centerline goodness : 0.985452 Centerline is valid? [True, True] Translation: X:16.06, Y:0.36, Z:0.90 [[ 9.78996136e-01 -1.79106278e-01 -9.74038313e-02 1.60618505e+01] [ 1.78831863e-01 9.83811124e-01 -1.16119229e-02 3.55500512e-01] [ 9.79067410e-02 -6.05088092e-03 9.95177199e-01 8.99114779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.937552018 meters Centerline goodness : 0.986078 Centerline is valid? [True, True] Translation: X:16.09, Y:0.36, Z:0.90 [[ 9.78179533e-01 -1.84608271e-01 -9.53131022e-02 1.60935338e+01] [ 1.82928602e-01 9.82778476e-01 -2.61456252e-02 3.64749260e-01] [ 9.84983640e-02 8.13962297e-03 9.95103924e-01 9.03271914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552018 meters Centerline goodness : 0.985751 Centerline is valid? [True, True] Translation: X:16.12, Y:0.36, Z:0.91 [[ 9.77181384e-01 -1.86702065e-01 -1.01286134e-01 1.61221821e+01] [ 1.87195337e-01 9.82311478e-01 -4.69740681e-03 3.59316755e-01] [ 1.00371548e-01 -1.43700736e-02 9.94846246e-01 9.05001462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997552018 meters Centerline goodness : 0.985539 Centerline is valid? [True, True] Translation: X:16.15, Y:0.36, Z:0.91 [[ 9.75417611e-01 -1.93929534e-01 -1.04650939e-01 1.61480704e+01] [ 1.94799715e-01 9.80841123e-01 -1.93967709e-03 3.62157961e-01] [ 1.03022105e-01 -1.84939779e-02 9.94507123e-01 9.10610842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999998 meters Centerline goodness : 0.986272 Centerline is valid? [True, True] Translation: X:16.17, Y:0.37, Z:0.92 [[ 9.73673392e-01 -2.00235653e-01 -1.08930290e-01 1.61679700e+01] [ 2.01518200e-01 9.79484458e-01 7.82151223e-04 3.68675772e-01] [ 1.06538912e-01 -2.27129960e-02 9.94049083e-01 9.16927831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.057552018 meters Centerline goodness : 0.985341 Centerline is valid? [True, True] Translation: X:16.20, Y:0.38, Z:0.92 [[ 9.74150818e-01 -2.03059619e-01 -9.89796656e-02 1.62005254e+01] [ 2.00683379e-01 9.79083026e-01 -3.35053576e-02 3.83270716e-01] [ 1.03712896e-01 1.27756978e-02 9.94525222e-01 9.22152643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters Centerline goodness : 0.985401 Centerline is valid? [True, True] Translation: X:16.23, Y:0.38, Z:0.92 [[ 9.73587357e-01 -2.04281886e-01 -1.01963568e-01 1.62309453e+01] [ 2.03846701e-01 9.78891225e-01 -1.47815050e-02 3.80025061e-01] [ 1.02830836e-01 -6.39385063e-03 9.94678309e-01 9.22026506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.117552017999998 meters Centerline goodness : 0.985600 Centerline is valid? [True, True] Translation: X:16.25, Y:0.38, Z:0.93 [[ 9.71696275e-01 -2.09063567e-01 -1.09994426e-01 1.62509445e+01] [ 2.10886212e-01 9.77497441e-01 5.07520211e-03 3.81153053e-01] [ 1.06458231e-01 -2.81278629e-02 9.93919246e-01 9.26507056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552018 meters Centerline goodness : 0.985314 Centerline is valid? [True, True] Translation: X:16.28, Y:0.40, Z:0.93 [[ 9.72204629e-01 -2.10442111e-01 -1.02626885e-01 1.62829388e+01] [ 2.08838385e-01 9.77597768e-01 -2.62513406e-02 3.96473761e-01] [ 1.05852201e-01 4.08924202e-03 9.94373466e-01 9.33120840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.177552017999997 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:16.31, Y:0.40, Z:0.94 [[ 9.71375850e-01 -2.10011414e-01 -1.11014250e-01 1.63072921e+01] [ 2.10820098e-01 9.77514351e-01 -4.53653252e-03 3.95129892e-01] [ 1.09470746e-01 -1.89973569e-02 9.93808460e-01 9.36345815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters Centerline goodness : 0.985909 Centerline is valid? [True, True] Translation: X:16.34, Y:0.41, Z:0.94 [[ 9.73085583e-01 -2.06414180e-01 -1.02457966e-01 1.63416478e+01] [ 2.04282365e-01 9.78421161e-01 -3.09959117e-02 4.10228443e-01] [ 1.06645038e-01 9.23131919e-03 9.94254303e-01 9.39229497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.237552018 meters Centerline goodness : 0.984663 Centerline is valid? [True, True] Translation: X:16.37, Y:0.41, Z:0.94 [[ 9.73925083e-01 -2.01238534e-01 -1.04752015e-01 1.63721092e+01] [ 2.00586343e-01 9.79531387e-01 -1.68339428e-02 4.09514637e-01] [ 1.05995524e-01 -4.61682450e-03 9.94355889e-01 9.38875285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters Centerline goodness : 0.985228 Centerline is valid? [True, True] Translation: X:16.40, Y:0.41, Z:0.94 [[ 9.73935240e-01 -1.97792272e-01 -1.11033171e-01 1.63982943e+01] [ 1.98876613e-01 9.80023629e-01 -1.33436792e-03 4.10884125e-01] [ 1.09079058e-01 -2.07823129e-02 9.93815805e-01 9.43552083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.297552017999998 meters Centerline goodness : 0.985747 Centerline is valid? [True, True] Translation: X:16.42, Y:0.43, Z:0.95 [[ 9.75764893e-01 -1.90530834e-01 -1.07614474e-01 1.64240942e+01] [ 1.89640895e-01 9.81678475e-01 -1.85392396e-02 4.27442498e-01] [ 1.09175110e-01 -2.31816611e-03 9.94019830e-01 9.49940416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552018 meters Centerline goodness : 0.984596 Centerline is valid? [True, True] Translation: X:16.45, Y:0.43, Z:0.95 [[ 9.77008456e-01 -1.83840347e-01 -1.07968529e-01 1.64507234e+01] [ 1.83587517e-01 9.82925621e-01 -1.23631478e-02 4.31422250e-01] [ 1.08397878e-01 -7.74277409e-03 9.94077436e-01 9.51798218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.357552017999996 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:16.48, Y:0.44, Z:0.96 [[ 9.77809381e-01 -1.78647057e-01 -1.09425976e-01 1.64777186e+01] [ 1.78851910e-01 9.83843315e-01 -8.02037318e-03 4.37786948e-01] [ 1.09090831e-01 -1.17286488e-02 9.93962589e-01 9.55879019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:16.50, Y:0.45, Z:0.96 [[ 9.79676838e-01 -1.67688728e-01 -1.10062630e-01 1.65040425e+01] [ 1.67897497e-01 9.85776421e-01 -7.43491057e-03 4.47892951e-01] [ 1.09743897e-01 -1.11954304e-02 9.93896845e-01 9.62933145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.417552018 meters Centerline goodness : 0.985978 Centerline is valid? [True, True] Translation: X:16.53, Y:0.46, Z:0.97 [[ 9.80641098e-01 -1.63880055e-01 -1.07174456e-01 1.65296839e+01] [ 1.63202554e-01 9.86476682e-01 -1.51222685e-02 4.58477729e-01] [ 1.08203340e-01 -2.66162706e-03 9.94125220e-01 9.67161453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:16.55, Y:0.47, Z:0.97 [[ 9.80832363e-01 -1.64423442e-01 -1.04560066e-01 1.65482703e+01] [ 1.63106114e-01 9.86383177e-01 -2.10860790e-02 4.72289218e-01] [ 1.06603336e-01 3.62752260e-03 9.94295012e-01 9.69072859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.477552017999997 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:16.59, Y:0.47, Z:0.97 [[ 9.82794643e-01 -1.50521954e-01 -1.07041255e-01 1.65857178e+01] [ 1.50704469e-01 9.88557958e-01 -6.42864991e-03 4.67155993e-01] [ 1.06784138e-01 -9.81355290e-03 9.94233796e-01 9.72134765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552018 meters Centerline goodness : 0.987081 Centerline is valid? [True, True] Translation: X:16.61, Y:0.47, Z:0.98 [[ 9.82206657e-01 -1.49353301e-01 -1.13858136e-01 1.66097286e+01] [ 1.51271913e-01 9.88456902e-01 8.35231920e-03 4.68031703e-01] [ 1.11296414e-01 -2.54272416e-02 9.93461908e-01 9.77712263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537552018 meters Centerline goodness : 0.987299 Centerline is valid? [True, True] Translation: X:16.64, Y:0.48, Z:0.99 [[ 9.82411228e-01 -1.50512258e-01 -1.10518051e-01 1.66359130e+01] [ 1.50142606e-01 9.88595030e-01 -1.17074848e-02 4.80799954e-01] [ 1.11019716e-01 -5.09190363e-03 9.93805160e-01 9.85249275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters Centerline goodness : 0.987150 Centerline is valid? [True, True] Translation: X:16.66, Y:0.48, Z:0.99 [[ 9.82100729e-01 -1.50559568e-01 -1.13181154e-01 1.66609579e+01] [ 1.50621043e-01 9.88558739e-01 -8.05735475e-03 4.83977552e-01] [ 1.13099331e-01 -9.13432958e-03 9.93541698e-01 9.89624664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.597552018 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:16.69, Y:0.50, Z:0.99 [[ 0.98340483 -0.15192339 -0.0991677 16.69279214] [ 0.14776815 0.98785539 -0.04802398 0.4994777 ] [ 0.10525931 0.03257318 0.9939112 0.99081297] [ 0. 0. 0. 1. ]] SLAMing on 16.627552018 meters Centerline goodness : 0.987088 Centerline is valid? [True, True] Translation: X:16.72, Y:0.49, Z:0.99 [[ 9.82894313e-01 -1.50885275e-01 -1.05604939e-01 1.67229547e+01] [ 1.50356302e-01 9.88546414e-01 -1.29988542e-02 4.88016799e-01] [ 1.06356719e-01 -3.10186819e-03 9.94323200e-01 9.85752445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.657552017999997 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:16.74, Y:0.50, Z:0.99 [[ 9.81895360e-01 -1.59945908e-01 -1.01483042e-01 1.67405773e+01] [ 1.57994871e-01 9.87069835e-01 -2.70325912e-02 5.02054136e-01] [ 1.04494602e-01 1.05093757e-02 9.94469925e-01 9.86026234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999998 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:16.77, Y:0.50, Z:0.99 [[ 9.81054499e-01 -1.63109040e-01 -1.04534738e-01 1.67696752e+01] [ 1.62225478e-01 9.86607996e-01 -1.69574987e-02 4.97178249e-01] [ 1.05900730e-01 -3.21967523e-04 9.94376655e-01 9.85859401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.717552018 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:16.81, Y:0.49, Z:0.99 [[ 9.81196844e-01 -1.60094092e-01 -1.07808329e-01 1.68050140e+01] [ 1.59909312e-01 9.87076782e-01 -1.04133739e-02 4.91009937e-01] [ 1.08082218e-01 -7.02198614e-03 9.94117159e-01 9.90095340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters Centerline goodness : 0.985523 Centerline is valid? [True, True] Translation: X:16.83, Y:0.50, Z:0.99 [[ 9.80802561e-01 -1.62881233e-01 -1.07219590e-01 1.68335843e+01] [ 1.62216790e-01 9.86641903e-01 -1.49488294e-02 4.95334248e-01] [ 1.08222224e-01 -2.73096753e-03 9.94122976e-01 9.93044758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.777552017999998 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:16.85, Y:0.51, Z:0.99 [[ 9.79850484e-01 -1.69385914e-01 -1.05836865e-01 1.68541098e+01] [ 1.67910007e-01 9.85539350e-01 -2.27688305e-02 5.05520731e-01] [ 1.08163114e-01 4.53898081e-03 9.94122798e-01 9.94861578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552018 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:16.89, Y:0.51, Z:1.00 [[ 0.98113995 -0.16662623 -0.09798009 16.89259102] [ 0.16309442 0.98566991 -0.04307005 0.507027 ] [ 0.10375263 0.02627774 0.99425594 0.9954578 ] [ 0. 0. 0. 1. ]] SLAMing on 16.837552017999997 meters Centerline goodness : 0.987185 Centerline is valid? [True, True] Translation: X:16.91, Y:0.49, Z:0.99 [[ 9.79343894e-01 -1.67614767e-01 -1.13096542e-01 1.69142845e+01] [ 1.69992398e-01 9.85376530e-01 1.16480950e-02 4.92216186e-01] [ 1.09490285e-01 -3.06330430e-02 9.93515724e-01 9.93187302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867552017999998 meters Centerline goodness : 0.986389 Centerline is valid? [True, True] Translation: X:16.94, Y:0.51, Z:1.00 [[ 9.79308695e-01 -1.70370554e-01 -1.09217003e-01 1.69395326e+01] [ 1.69419948e-01 9.85379671e-01 -1.79940187e-02 5.07309969e-01] [ 1.10685865e-01 -8.81839978e-04 9.93855051e-01 1.00218553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.897552018 meters Centerline goodness : 0.986125 Centerline is valid? [True, True] Translation: X:16.97, Y:0.51, Z:1.01 [[ 9.79410701e-01 -1.69277786e-01 -1.09998682e-01 1.69665517e+01] [ 1.68303808e-01 9.85568103e-01 -1.81478154e-02 5.09062759e-01] [ 1.11483214e-01 -7.39032357e-04 9.93766042e-01 1.00591769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927552017999997 meters Centerline goodness : 0.986685 Centerline is valid? [True, True] Translation: X:16.99, Y:0.51, Z:1.01 [[ 9.79607960e-01 -1.69362837e-01 -1.08094749e-01 1.69946803e+01] [ 1.68419954e-01 9.85553513e-01 -1.78603601e-02 5.09923965e-01] [ 1.09558041e-01 -7.09161748e-04 9.93980147e-01 1.00890747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.957552017999998 meters Centerline goodness : 0.986385 Centerline is valid? [True, True] Translation: X:17.02, Y:0.51, Z:1.01 [[ 9.79694883e-01 -1.68952513e-01 -1.07948995e-01 1.70225813e+01] [ 1.68005444e-01 9.85623995e-01 -1.78748946e-02 5.10952923e-01] [ 1.09417128e-01 -6.24076147e-04 9.93995726e-01 1.01286894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552018 meters Centerline goodness : 0.986693 Centerline is valid? [True, True] Translation: X:17.05, Y:0.51, Z:1.02 [[ 9.79571164e-01 -1.70721114e-01 -1.06276226e-01 1.70499984e+01] [ 1.69809476e-01 9.85319089e-01 -1.76361744e-02 5.13488273e-01] [ 1.07726862e-01 -7.70822422e-04 9.94180230e-01 1.01561096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.017552017999996 meters Centerline goodness : 0.986422 Centerline is valid? [True, True] Translation: X:17.08, Y:0.51, Z:1.02 [[ 9.79137743e-01 -1.74343647e-01 -1.04372279e-01 1.70775017e+01] [ 1.73480943e-01 9.84684243e-01 -1.73580859e-02 5.11974415e-01] [ 1.05800010e-01 -1.11064424e-03 9.94386808e-01 1.01910343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters Centerline goodness : 0.985826 Centerline is valid? [True, True] Translation: X:17.10, Y:0.51, Z:1.02 [[ 9.78689240e-01 -1.76983905e-01 -1.04134860e-01 1.71049267e+01] [ 1.76138282e-01 9.84212783e-01 -1.73350176e-02 5.13513695e-01] [ 1.05558880e-01 -1.37654023e-03 9.94412102e-01 1.02254300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.077552018 meters Centerline goodness : 0.986245 Centerline is valid? [True, True] Translation: X:17.13, Y:0.52, Z:1.03 [[ 9.78148160e-01 -1.80320860e-01 -1.03491858e-01 1.71323431e+01] [ 1.79500393e-01 9.83606392e-01 -1.72648462e-02 5.15539652e-01] [ 1.04908465e-01 -1.68925171e-03 9.94480447e-01 1.02570520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:17.16, Y:0.52, Z:1.03 [[ 9.77617583e-01 -1.83151790e-01 -1.03533967e-01 1.71590252e+01] [ 1.82342450e-01 9.83082700e-01 -1.73099796e-02 5.17394322e-01] [ 1.04952806e-01 -1.95609683e-03 9.94475280e-01 1.02877226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.137552017999997 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:17.19, Y:0.52, Z:1.03 [[ 9.76695974e-01 -1.88246638e-01 -1.03093053e-01 1.71876741e+01] [ 1.87470772e-01 9.82118663e-01 -1.72522657e-02 5.17216909e-01] [ 1.04497292e-01 -2.47671566e-03 9.94522087e-01 1.03172648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552018 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:17.21, Y:0.52, Z:1.03 [[ 9.76350750e-01 -1.89976837e-01 -1.03189219e-01 1.72148361e+01] [ 1.89205259e-01 9.81785056e-01 -1.73053249e-02 5.19320155e-01] [ 1.04597244e-01 -2.62787597e-03 9.94511192e-01 1.03442768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.197552017999996 meters Centerline goodness : 0.986490 Centerline is valid? [True, True] Translation: X:17.24, Y:0.52, Z:1.04 [[ 9.76307091e-01 -1.89233184e-01 -1.04953636e-01 1.72418089e+01] [ 1.88428912e-01 9.81928799e-01 -1.76175871e-02 5.21185532e-01] [ 1.06390830e-01 -2.57612435e-03 9.94321052e-01 1.03817433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters Centerline goodness : 0.986496 Centerline is valid? [True, True] Translation: X:17.27, Y:0.52, Z:1.04 [[ 9.76078374e-01 -1.91632410e-01 -1.02703590e-01 1.72695261e+01] [ 1.90873988e-01 9.81462885e-01 -1.72547580e-02 5.24172504e-01] [ 1.04106333e-01 -2.76144775e-03 9.94562339e-01 1.04036872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.257552018 meters Centerline goodness : 0.987077 Centerline is valid? [True, True] Translation: X:17.30, Y:0.53, Z:1.04 [[ 9.76343306e-01 -1.90835923e-01 -1.01663169e-01 1.72966482e+01] [ 1.90084825e-01 9.81618468e-01 -1.71155393e-02 5.25629108e-01] [ 1.03060704e-01 -2.61398356e-03 9.94671633e-01 1.04349900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552018 meters Centerline goodness : 0.986572 Centerline is valid? [True, True] Translation: X:17.32, Y:0.53, Z:1.05 [[ 9.76500742e-01 -1.90281568e-01 -1.01189059e-01 1.73239829e+01] [ 1.89533006e-01 9.81726300e-01 -1.70502504e-02 5.29257732e-01] [ 1.02584309e-01 -2.52908437e-03 9.94721098e-01 1.04642208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.317552017999997 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:17.35, Y:0.53, Z:1.05 [[ 9.76735972e-01 -1.89279491e-01 -1.00797398e-01 1.73510969e+01] [ 1.88527883e-01 9.81920367e-01 -1.70185179e-02 5.32721156e-01] [ 1.02196275e-01 -2.38052144e-03 9.94761406e-01 1.04967506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552018 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:17.38, Y:0.53, Z:1.05 [[ 9.77469770e-01 -1.85681532e-01 -1.00375383e-01 1.73778755e+01] [ 1.84913727e-01 9.82608021e-01 -1.69820948e-02 5.34853828e-01] [ 1.01782918e-01 -1.96130185e-03 9.94804700e-01 1.05246524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.377552018 meters Centerline goodness : 0.987870 Centerline is valid? [True, True] Translation: X:17.41, Y:0.54, Z:1.06 [[ 9.77847728e-01 -1.83713821e-01 -1.00314769e-01 1.74051824e+01] [ 1.82935177e-01 9.82978229e-01 -1.69859252e-02 5.38474267e-01] [ 1.01727784e-01 -1.74145175e-03 9.94810749e-01 1.05524661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters Centerline goodness : 0.987573 Centerline is valid? [True, True] Translation: X:17.43, Y:0.54, Z:1.06 [[ 9.78121441e-01 -1.81865505e-01 -1.01011808e-01 1.74323012e+01] [ 1.81062645e-01 9.83322230e-01 -1.71379848e-02 5.42741123e-01] [ 1.02443965e-01 -1.52643481e-03 9.94737606e-01 1.05763646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.437552017999998 meters Centerline goodness : 0.987709 Centerline is valid? [True, True] Translation: X:17.46, Y:0.55, Z:1.06 [[ 9.78842972e-01 -1.76962637e-01 -1.02716408e-01 1.74592898e+01] [ 1.76101792e-01 9.84217066e-01 -1.74621084e-02 5.45634130e-01] [ 1.04185382e-01 -9.95881458e-04 9.94557396e-01 1.05961714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552018 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:17.49, Y:0.55, Z:1.06 [[ 9.79222512e-01 -1.74601924e-01 -1.03137966e-01 1.74868882e+01] [ 1.73719390e-01 9.84638832e-01 -1.75483150e-02 5.49677208e-01] [ 1.04617616e-01 -7.33359361e-04 9.94512251e-01 1.06230163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.497552017999997 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:17.51, Y:0.55, Z:1.07 [[ 9.79643515e-01 -1.71949571e-01 -1.03595025e-01 1.75142756e+01] [ 1.71040463e-01 9.85105666e-01 -1.76631743e-02 5.53561513e-01] [ 1.05089222e-01 -4.15326897e-04 9.94462711e-01 1.06516934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999998 meters Centerline goodness : 0.987801 Centerline is valid? [True, True] Translation: X:17.54, Y:0.56, Z:1.07 [[ 9.80653293e-01 -1.66094986e-01 -1.03593317e-01 1.75412027e+01] [ 1.65149182e-01 9.86109727e-01 -1.77018325e-02 5.56832634e-01] [ 1.05094564e-01 2.51008701e-04 9.94462201e-01 1.06834967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.557552018 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:17.57, Y:0.56, Z:1.07 [[ 9.81246893e-01 -1.63141731e-01 -1.02661147e-01 1.75686599e+01] [ 1.62195105e-01 9.86602474e-01 -1.75586604e-02 5.60532603e-01] [ 1.04150292e-01 5.78245357e-04 9.94561402e-01 1.07142625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:17.60, Y:0.56, Z:1.07 [[ 9.81818703e-01 -1.59928321e-01 -1.02249536e-01 1.75966137e+01] [ 1.58968033e-01 9.87128171e-01 -1.75253828e-02 5.64048692e-01] [ 1.03736203e-01 9.52340883e-04 9.94604390e-01 1.07468297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.617552017999998 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:17.62, Y:0.57, Z:1.08 [[ 9.82395143e-01 -1.56952266e-01 -1.01320128e-01 1.76236365e+01] [ 1.55989703e-01 9.87605344e-01 -1.74039506e-02 5.67289399e-01] [ 1.02795889e-01 1.29265996e-03 9.94701631e-01 1.07763777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552018 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:17.65, Y:0.57, Z:1.08 [[ 9.83318680e-01 -1.51559652e-01 -1.00568614e-01 1.76508795e+01] [ 1.50581558e-01 9.88446365e-01 -1.72909587e-02 5.68198001e-01] [ 1.02027293e-01 1.85874410e-03 9.94779863e-01 1.08072773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.677552017999997 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:17.68, Y:0.57, Z:1.08 [[ 9.83562686e-01 -1.49771720e-01 -1.00860667e-01 1.76783722e+01] [ 1.48777219e-01 9.88718451e-01 -1.73540639e-02 5.70892999e-01] [ 1.02321951e-01 2.06304018e-03 9.94749196e-01 1.08356211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999998 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:17.71, Y:0.57, Z:1.09 [[ 9.83837925e-01 -1.48142685e-01 -1.00581720e-01 1.77056012e+01] [ 1.47141467e-01 9.88963410e-01 -1.73425119e-02 5.73104014e-01] [ 1.02040807e-01 2.26247917e-03 9.94777641e-01 1.08602256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.737552018 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:17.73, Y:0.57, Z:1.09 [[ 9.83973024e-01 -1.46200026e-01 -1.02091331e-01 1.77339179e+01] [ 1.45155404e-01 9.89251824e-01 -1.76277481e-02 5.71439499e-01] [ 1.03571213e-01 2.52612010e-03 9.94618833e-01 1.08985057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:17.76, Y:0.57, Z:1.09 [[ 9.83902598e-01 -1.47403109e-01 -1.01034655e-01 1.77621305e+01] [ 1.46382487e-01 9.89073559e-01 -1.74831859e-02 5.73286179e-01] [ 1.02507782e-01 2.41204784e-03 9.94729278e-01 1.09185057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.797552017999998 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:17.79, Y:0.57, Z:1.09 [[ 9.83790153e-01 -1.48272507e-01 -1.00857314e-01 1.77895303e+01] [ 1.47256005e-01 9.88943735e-01 -1.74916358e-02 5.73677893e-01] [ 1.02335737e-01 2.35625392e-03 9.94747126e-01 1.09481651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552018 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:17.82, Y:0.58, Z:1.10 [[ 9.83756791e-01 -1.48495576e-01 -1.00854550e-01 1.78173868e+01] [ 1.47478611e-01 9.88910281e-01 -1.75075545e-02 5.78702261e-01] [ 1.02335896e-01 2.34928662e-03 9.94747126e-01 1.09783396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.857552017999996 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:17.85, Y:0.58, Z:1.10 [[ 9.83406503e-01 -1.50657773e-01 -1.01063770e-01 1.78455457e+01] [ 1.49645563e-01 9.88583636e-01 -1.75670165e-02 5.79443272e-01] [ 1.02556597e-01 2.15177341e-03 9.94724843e-01 1.10109019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:17.87, Y:0.58, Z:1.10 [[ 9.82682615e-01 -1.55036561e-01 -1.01481737e-01 1.78747847e+01] [ 1.54035239e-01 9.87907201e-01 -1.76779007e-02 5.75336567e-01] [ 1.02995260e-01 1.74000212e-03 9.94680325e-01 1.10465552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.917552018 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:17.90, Y:0.58, Z:1.11 [[ 9.82232086e-01 -1.57836807e-01 -1.01526701e-01 1.79015916e+01] [ 1.56845460e-01 9.87464093e-01 -1.77247631e-02 5.75621302e-01] [ 1.03051592e-01 1.48582890e-03 9.94674903e-01 1.10733857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:17.93, Y:0.58, Z:1.11 [[ 9.81821246e-01 -1.60353480e-01 -1.01556892e-01 1.79297900e+01] [ 1.59373304e-01 9.87058878e-01 -1.77460198e-02 5.75734042e-01] [ 1.03088268e-01 1.23796193e-03 9.94671441e-01 1.11071524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.977552017999997 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:17.96, Y:0.57, Z:1.11 [[ 9.81055575e-01 -1.65057241e-01 -1.01420241e-01 1.79583147e+01] [ 1.64100803e-01 9.86283680e-01 -1.77603153e-02 5.72481402e-01] [ 1.02960598e-01 7.80713321e-04 9.94685129e-01 1.11461144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552018 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:17.99, Y:0.57, Z:1.12 [[ 9.80601949e-01 -1.67225477e-01 -1.02251936e-01 1.79851710e+01] [ 1.66260871e-01 9.85918498e-01 -1.79454495e-02 5.73350391e-01] [ 1.03813011e-01 5.96846918e-04 9.94596653e-01 1.11776574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.037552017999996 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:18.01, Y:0.57, Z:1.12 [[ 9.80137364e-01 -1.69556428e-01 -1.02865763e-01 1.80131019e+01] [ 1.68590172e-01 9.85520408e-01 -1.80797999e-02 5.74440210e-01] [ 1.04441855e-01 3.78530738e-04 9.94530922e-01 1.12079866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:18.04, Y:0.57, Z:1.12 [[ 9.79453406e-01 -1.72843616e-01 -1.03904331e-01 1.80416522e+01] [ 1.71871932e-01 9.84949278e-01 -1.83018858e-02 5.71889871e-01] [ 1.05503860e-01 6.76063457e-05 9.94418891e-01 1.12409495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.097552018 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:18.07, Y:0.57, Z:1.13 [[ 9.79051117e-01 -1.74833967e-01 -1.04364720e-01 1.80692956e+01] [ 1.73860681e-01 9.84597924e-01 -1.84225757e-02 5.73430133e-01] [ 1.05978178e-01 -1.08277934e-04 9.94368450e-01 1.12753799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552018 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:18.10, Y:0.58, Z:1.13 [[ 9.78632745e-01 -1.77124498e-01 -1.04426349e-01 1.80962209e+01] [ 1.76158872e-01 9.84188402e-01 -1.84726997e-02 5.75101563e-01] [ 1.06047169e-01 -3.17639037e-04 9.94361050e-01 1.13087174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.157552017999997 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:18.12, Y:0.58, Z:1.13 [[ 9.78117859e-01 -1.79401601e-01 -1.05359000e-01 1.81243700e+01] [ 1.78429884e-01 9.83775767e-01 -1.86551846e-02 5.76296067e-01] [ 1.06996401e-01 -5.52224833e-04 9.94259255e-01 1.13412015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999998 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:18.15, Y:0.58, Z:1.14 [[ 9.76914857e-01 -1.86582522e-01 -1.04040012e-01 1.81529753e+01] [ 1.85671370e-01 9.82438456e-01 -1.84614020e-02 5.75823160e-01] [ 1.05657484e-01 -1.28203367e-03 9.94401756e-01 1.13822218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.217552018 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:18.18, Y:0.58, Z:1.14 [[ 9.76244896e-01 -1.90620809e-01 -1.03002959e-01 1.81809481e+01] [ 1.89746035e-01 9.81662336e-01 -1.83166571e-02 5.78073662e-01] [ 1.04605662e-01 -1.66286011e-03 9.94512388e-01 1.14151966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:18.21, Y:0.58, Z:1.15 [[ 9.75565000e-01 -1.94709041e-01 -1.01790566e-01 1.82092079e+01] [ 1.93872960e-01 9.80858927e-01 -1.81394718e-02 5.80394279e-01] [ 1.03374104e-01 -2.03820438e-03 9.94640458e-01 1.14514959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.277552017999998 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:18.24, Y:0.58, Z:1.15 [[ 9.74832143e-01 -1.98717527e-01 -1.01062544e-01 1.82359715e+01] [ 1.97910878e-01 9.80053850e-01 -1.80481572e-02 5.82684242e-01] [ 1.02633221e-01 -2.40745301e-03 9.94716355e-01 1.14846910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552018 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:18.26, Y:0.58, Z:1.15 [[ 9.73417680e-01 -2.06305502e-01 -9.94789447e-02 1.82641825e+01] [ 2.05561889e-01 9.78482586e-01 -1.77802909e-02 5.83084708e-01] [ 1.01006587e-01 -3.14143026e-03 9.94880797e-01 1.15209874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.337552017999997 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:18.29, Y:0.59, Z:1.15 [[ 9.72656265e-01 -2.09456218e-01 -1.00338845e-01 1.82918031e+01] [ 2.08712470e-01 9.77811900e-01 -1.79720088e-02 5.85759211e-01] [ 1.01876866e-01 -3.46138137e-03 9.94790995e-01 1.15490021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999998 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:18.32, Y:0.59, Z:1.16 [[ 9.72091122e-01 -2.13272384e-01 -9.77432360e-02 1.83196863e+01] [ 2.12582343e-01 9.76985675e-01 -1.75424582e-02 5.90378577e-01] [ 9.92350633e-02 -3.72561821e-03 9.95057045e-01 1.15781696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.397552018 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:18.35, Y:0.59, Z:1.16 [[ 9.71482989e-01 -2.15827996e-01 -9.81788095e-02 1.83466207e+01] [ 2.15141067e-01 9.76423335e-01 -1.76576269e-02 5.94823403e-01] [ 9.96750908e-02 -3.96820963e-03 9.95012125e-01 1.16107128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:18.37, Y:0.60, Z:1.16 [[ 9.71113452e-01 -2.17541649e-01 -9.80525068e-02 1.83735338e+01] [ 2.16861419e-01 9.76042420e-01 -1.76725356e-02 5.99223681e-01] [ 9.95479186e-02 -4.10176866e-03 9.95024315e-01 1.16319987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.457552017999998 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:18.40, Y:0.60, Z:1.17 [[ 9.71074793e-01 -2.17720876e-01 -9.80375742e-02 1.84010922e+01] [ 2.17040327e-01 9.76002441e-01 -1.76842027e-02 6.04754674e-01] [ 9.95351319e-02 -4.10542365e-03 9.95025579e-01 1.16571688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552018 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:18.43, Y:0.61, Z:1.17 [[ 9.71133730e-01 -2.17295599e-01 -9.83966492e-02 1.84280962e+01] [ 2.16604180e-01 9.76097482e-01 -1.77857871e-02 6.10302044e-01] [ 9.99094948e-02 -4.04074774e-03 9.94988324e-01 1.16864290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.517552017999996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:18.46, Y:0.62, Z:1.17 [[ 9.71282157e-01 -2.16443281e-01 -9.88092973e-02 1.84550670e+01] [ 2.15737848e-01 9.76287273e-01 -1.78980949e-02 6.16493905e-01] [ 1.00340182e-01 -3.93280491e-03 9.94945416e-01 1.17107160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999998 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:18.48, Y:0.62, Z:1.17 [[ 9.72012038e-01 -2.12670480e-01 -9.98191619e-02 1.84805381e+01] [ 2.11926723e-01 9.77117560e-01 -1.81201156e-02 6.24527460e-01] [ 1.01388670e-01 -3.54137740e-03 9.94840588e-01 1.17250045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.577552018 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:18.51, Y:0.63, Z:1.17 [[ 9.72394600e-01 -2.10495434e-01 -1.00699626e-01 1.85077299e+01] [ 2.09725225e-01 9.77589174e-01 -1.82958175e-02 6.31649599e-01] [ 1.02294050e-01 -3.32849752e-03 9.94748636e-01 1.17475939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:18.53, Y:0.64, Z:1.18 [[ 9.72862475e-01 -2.08331259e-01 -1.00681137e-01 1.85347118e+01] [ 2.07545898e-01 9.78053528e-01 -1.83302074e-02 6.38963981e-01] [ 1.02290297e-01 -3.06318611e-03 9.94749874e-01 1.17717857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.637552017999997 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:18.56, Y:0.65, Z:1.18 [[ 9.73771451e-01 -2.03868175e-01 -1.01029349e-01 1.85609181e+01] [ 2.03049494e-01 9.78994986e-01 -1.84314855e-02 6.49344341e-01] [ 1.02664819e-01 -2.56590372e-03 9.94712698e-01 1.17933351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552018 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:18.59, Y:0.66, Z:1.18 [[ 9.74150849e-01 -2.01962373e-01 -1.01199426e-01 1.85881666e+01] [ 2.01126765e-01 9.79390506e-01 -1.85003146e-02 6.56654590e-01] [ 1.02850124e-01 -2.33181590e-03 9.94694131e-01 1.18207992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.697552017999996 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:18.62, Y:0.66, Z:1.19 [[ 9.74522205e-01 -1.99970906e-01 -1.01578087e-01 1.86153728e+01] [ 1.99114302e-01 9.79799601e-01 -1.86074145e-02 6.63763735e-01] [ 1.03247110e-01 -2.09231115e-03 9.94653536e-01 1.18518237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:18.64, Y:0.67, Z:1.19 [[ 9.74873566e-01 -1.98233854e-01 -1.01611364e-01 1.86423733e+01] [ 1.97363338e-01 9.80152966e-01 -1.86514464e-02 6.70800199e-01] [ 1.03292028e-01 -1.87155596e-03 9.94649312e-01 1.18779854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.757552018 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:18.67, Y:0.68, Z:1.19 [[ 9.75629554e-01 -1.94125692e-01 -1.02284844e-01 1.86677206e+01] [ 1.93216999e-01 9.80975654e-01 -1.88137711e-02 6.79657569e-01] [ 1.03991178e-01 -1.40789945e-03 9.94577223e-01 1.19065290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:18.70, Y:0.69, Z:1.19 [[ 9.75990671e-01 -1.92078978e-01 -1.02702854e-01 1.86951690e+01] [ 1.91148793e-01 9.81378775e-01 -1.89166462e-02 6.86696083e-01] [ 1.04423891e-01 -1.16905630e-03 9.94532194e-01 1.19350999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.817552017999997 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:18.72, Y:0.69, Z:1.20 [[ 9.76380362e-01 -1.89998653e-01 -1.02868361e-01 1.87215386e+01] [ 1.89049911e-01 9.81783929e-01 -1.89854639e-02 6.93336392e-01] [ 1.04601716e-01 -9.10220322e-04 9.94513777e-01 1.19688479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552018 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:18.75, Y:0.70, Z:1.20 [[ 9.77366736e-01 -1.85450323e-01 -1.01796073e-01 1.87472549e+01] [ 1.84494014e-01 9.82653562e-01 -1.88131828e-02 7.01026266e-01] [ 1.03519184e-01 -3.93386967e-04 9.94627379e-01 1.20040675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.877552018 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:18.77, Y:0.71, Z:1.20 [[ 9.77738032e-01 -1.83666325e-01 -1.01464385e-01 1.87746806e+01] [ 1.82705069e-01 9.82988629e-01 -1.87673195e-02 7.07148086e-01] [ 1.03185261e-01 -1.88535374e-04 9.94662137e-01 1.20400046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:18.80, Y:0.71, Z:1.21 [[ 9.78041307e-01 -1.81687652e-01 -1.02101902e-01 1.88015419e+01] [ 1.80699678e-01 9.83356290e-01 -1.89217465e-02 7.12464333e-01] [ 1.03840396e-01 5.64687837e-05 9.94593972e-01 1.20730974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.937552017999998 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:18.83, Y:0.72, Z:1.21 [[ 9.78572614e-01 -1.79618944e-01 -1.00661188e-01 1.88285449e+01] [ 1.78643932e-01 9.83736214e-01 -1.86924097e-02 7.18658450e-01] [ 1.02381567e-01 3.09369701e-04 9.94745153e-01 1.21045994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552018 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:18.86, Y:0.72, Z:1.21 [[ 9.78790848e-01 -1.78490474e-01 -1.00546637e-01 1.88552673e+01] [ 1.77507725e-01 9.83941530e-01 -1.87102489e-02 7.23953499e-01] [ 1.02271613e-01 4.65615532e-04 9.94756403e-01 1.21288286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.997552017999997 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:18.88, Y:0.73, Z:1.22 [[ 9.78946126e-01 -1.76270619e-01 -1.02923040e-01 1.88822806e+01] [ 1.75226694e-01 9.84341472e-01 -1.91695421e-02 7.27657235e-01] [ 1.04690444e-01 7.31084925e-04 9.94504588e-01 1.21663142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999998 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:18.91, Y:0.73, Z:1.22 [[ 9.79095776e-01 -1.76614515e-01 -1.00889913e-01 1.89100312e+01] [ 1.75609497e-01 9.84279837e-01 -1.88283392e-02 7.32752446e-01] [ 1.02629265e-01 7.17520630e-04 9.94719417e-01 1.21898009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.057552018 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:18.94, Y:0.74, Z:1.22 [[ 9.79124556e-01 -1.76372145e-01 -1.01034504e-01 1.89365698e+01] [ 1.75358921e-01 9.84323247e-01 -1.88943090e-02 7.36936188e-01] [ 1.02783041e-01 7.82580290e-04 9.94703491e-01 1.22170298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:18.96, Y:0.74, Z:1.23 [[ 9.79127618e-01 -1.76375361e-01 -1.00999206e-01 1.89641837e+01] [ 1.75360205e-01 9.84322650e-01 -1.89134510e-02 7.40970320e-01] [ 1.02751673e-01 8.07440710e-04 9.94706711e-01 1.22510834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.117552017999998 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:18.99, Y:0.74, Z:1.23 [[ 9.78840311e-01 -1.77198620e-01 -1.02334234e-01 1.89924141e+01] [ 1.76156725e-01 9.84174810e-01 -1.92029070e-02 7.43887963e-01] [ 1.04117504e-01 7.69715953e-04 9.94564705e-01 1.22797167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552018 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:19.02, Y:0.75, Z:1.23 [[ 9.78584859e-01 -1.77972143e-01 -1.03429158e-01 1.90205058e+01] [ 1.76907872e-01 9.84035252e-01 -1.94480736e-02 7.47683150e-01] [ 1.05239153e-01 7.34158177e-04 9.94446671e-01 1.23087980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.177552017999997 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:19.05, Y:0.75, Z:1.23 [[ 9.78325814e-01 -1.78885659e-01 -1.04300159e-01 1.90473711e+01] [ 1.77804235e-01 9.83869634e-01 -1.96518928e-02 7.50943198e-01] [ 1.06133201e-01 6.80944098e-04 9.94351688e-01 1.23383974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999998 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:19.08, Y:0.75, Z:1.24 [[ 9.77899010e-01 -1.80586943e-01 -1.05365468e-01 1.90753682e+01] [ 1.79490111e-01 9.83558883e-01 -1.98802283e-02 7.51517797e-01] [ 1.07223251e-01 5.28796084e-04 9.94234829e-01 1.23714281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.237552018 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:19.10, Y:0.75, Z:1.24 [[ 9.77646814e-01 -1.81797465e-01 -1.05623804e-01 1.91032210e+01] [ 1.80697980e-01 9.83335900e-01 -1.99686895e-02 7.54390003e-01] [ 1.07493935e-01 4.36317621e-04 9.94205644e-01 1.24044048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:19.13, Y:0.76, Z:1.24 [[ 9.77367524e-01 -1.82952618e-01 -1.06212347e-01 1.91309107e+01] [ 1.81843253e-01 9.83121669e-01 -2.01200111e-02 7.57119717e-01] [ 1.08100668e-01 3.50646847e-04 9.94139891e-01 1.24358696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.297552017999998 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:19.16, Y:0.76, Z:1.25 [[ 9.77070775e-01 -1.84093963e-01 -1.06967817e-01 1.91579829e+01] [ 1.82971138e-01 9.82908613e-01 -2.03032089e-02 7.59773650e-01] [ 1.08877287e-01 2.65648827e-04 9.94055162e-01 1.24675695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552018 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:19.19, Y:0.76, Z:1.25 [[ 9.76425533e-01 -1.86944025e-01 -1.07912512e-01 1.91858901e+01] [ 1.85816513e-01 9.82370567e-01 -2.05010524e-02 7.59493861e-01] [ 1.09842625e-01 -3.41756592e-05 9.93948991e-01 1.24986175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.357552017999996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:19.21, Y:0.76, Z:1.25 [[ 9.76130272e-01 -1.88322320e-01 -1.08186856e-01 1.92131839e+01] [ 1.87193008e-01 9.82107266e-01 -2.05935927e-02 7.61802124e-01] [ 1.10129331e-01 -1.49793855e-04 9.93917254e-01 1.25368123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999997 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:19.24, Y:0.76, Z:1.26 [[ 9.75964461e-01 -1.89422421e-01 -1.07761386e-01 1.92411587e+01] [ 1.88304277e-01 9.81895662e-01 -2.05525555e-02 7.64367599e-01] [ 1.09703552e-01 -2.33366109e-04 9.93964323e-01 1.25719057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.417552018 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:19.27, Y:0.76, Z:1.26 [[ 9.75651435e-01 -1.91279331e-01 -1.07314931e-01 1.92697195e+01] [ 1.90177149e-01 9.81535561e-01 -2.05083915e-02 7.64165240e-01] [ 1.09256253e-01 -3.99806111e-04 9.94013537e-01 1.26112488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:19.30, Y:0.77, Z:1.26 [[ 9.75504251e-01 -1.92172645e-01 -1.07056673e-01 1.92969700e+01] [ 1.91076673e-01 9.81361026e-01 -2.04997731e-02 7.66924927e-01] [ 1.09000743e-01 -4.58417137e-04 9.94041563e-01 1.26434251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.477552017999997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:19.32, Y:0.77, Z:1.27 [[ 9.75364671e-01 -1.93079000e-01 -1.06697037e-01 1.93244035e+01] [ 1.91993790e-01 9.81183066e-01 -2.04493562e-02 7.69534081e-01] [ 1.08637667e-01 -5.39588905e-04 9.94081267e-01 1.26801785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552018 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:19.35, Y:0.77, Z:1.27 [[ 9.74961246e-01 -1.93939936e-01 -1.08801981e-01 1.93517835e+01] [ 1.92811949e-01 9.81013218e-01 -2.08954150e-02 7.71864012e-01] [ 1.10788637e-01 -6.06102067e-04 9.93843806e-01 1.27114782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.537552017999996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:19.38, Y:0.77, Z:1.27 [[ 9.74547965e-01 -1.97430522e-01 -1.06195349e-01 1.93792143e+01] [ 1.96372372e-01 9.80316432e-01 -2.04348846e-02 7.71918339e-01] [ 1.08139516e-01 -9.39057371e-04 9.94135284e-01 1.27386839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:19.41, Y:0.77, Z:1.28 [[ 9.74035537e-01 -1.99711875e-01 -1.06629923e-01 1.94066382e+01] [ 1.98656609e-01 9.79853957e-01 -2.05371406e-02 7.74563436e-01] [ 1.08583263e-01 -1.17883428e-03 9.94086659e-01 1.27721463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.597552018 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:19.43, Y:0.78, Z:1.28 [[ 9.73574686e-01 -2.02138682e-01 -1.06265162e-01 1.94335983e+01] [ 2.01100667e-01 9.79355900e-01 -2.05071188e-02 7.77550481e-01] [ 1.08216695e-01 -1.40478325e-03 9.94126337e-01 1.27995693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552018 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:19.46, Y:0.78, Z:1.28 [[ 9.73000864e-01 -2.04968634e-01 -1.06099849e-01 1.94615297e+01] [ 2.03947609e-01 9.78767084e-01 -2.05028823e-02 7.81025108e-01] [ 1.08049487e-01 -1.68948819e-03 9.94144081e-01 1.28305941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.657552017999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.49, Y:0.78, Z:1.29 [[ 9.71817257e-01 -2.10576254e-01 -1.05966319e-01 1.94896789e+01] [ 2.09586701e-01 9.77574798e-01 -2.05165811e-02 7.82281946e-01] [ 1.07910307e-01 -2.27076351e-03 9.94158040e-01 1.28610564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:19.52, Y:0.79, Z:1.29 [[ 9.71267757e-01 -2.12970746e-01 -1.06218672e-01 1.95171882e+01] [ 2.11986268e-01 9.77055371e-01 -2.06063969e-02 7.85478516e-01] [ 1.08170083e-01 -2.50257100e-03 9.94129252e-01 1.28917106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.717552018 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:19.54, Y:0.79, Z:1.29 [[ 9.71218718e-01 -2.13198065e-01 -1.06211052e-01 1.95449628e+01] [ 2.12210657e-01 9.77005832e-01 -2.06455965e-02 7.91074528e-01] [ 1.08170419e-01 -2.48772736e-03 9.94129253e-01 1.29218918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:0.79, Z:1.30 [[ 9.70750177e-01 -2.15155742e-01 -1.06546233e-01 1.95722866e+01] [ 2.14170985e-01 9.76576047e-01 -2.07367504e-02 7.94625966e-01] [ 1.08512130e-01 -2.68890768e-03 9.94091488e-01 1.29546237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.777552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.60, Y:0.80, Z:1.30 [[ 9.70350060e-01 -2.16679938e-01 -1.07100726e-01 1.95993236e+01] [ 2.15689668e-01 9.76238583e-01 -2.08853245e-02 7.96411837e-01] [ 1.09081292e-01 -2.83444424e-03 9.94028791e-01 1.29777915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:19.63, Y:0.80, Z:1.30 [[ 9.70314896e-01 -2.16597371e-01 -1.07585229e-01 1.96264442e+01] [ 2.15595533e-01 9.76256948e-01 -2.09985267e-02 8.00302860e-01] [ 1.09579053e-01 -2.81971157e-03 9.93974084e-01 1.30061069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.837552017999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.65, Y:0.80, Z:1.30 [[ 9.70509231e-01 -2.15653084e-01 -1.07729200e-01 1.96529763e+01] [ 2.14638342e-01 9.76466374e-01 -2.10666453e-02 8.04424356e-01] [ 1.09737029e-01 -2.67744326e-03 9.93957049e-01 1.30353986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:19.68, Y:0.81, Z:1.31 [[ 9.71221558e-01 -2.12125019e-01 -1.08312792e-01 1.96803598e+01] [ 2.11075265e-01 9.77239894e-01 -2.11995566e-02 8.08310919e-01] [ 1.10344538e-01 -2.27268492e-03 9.93890798e-01 1.30642541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.897552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:19.71, Y:0.81, Z:1.31 [[ 9.71697960e-01 -2.10029277e-01 -1.08123895e-01 1.97074030e+01] [ 2.08965756e-01 9.77693070e-01 -2.12031671e-02 8.13181231e-01] [ 1.10165268e-01 -1.99111718e-03 9.93911288e-01 1.30906318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.74, Y:0.82, Z:1.31 [[ 9.72106496e-01 -2.07814690e-01 -1.08729087e-01 1.97352718e+01] [ 2.06720796e-01 9.78166720e-01 -2.13630475e-02 8.18167848e-01] [ 1.10794730e-01 -1.70940619e-03 9.93841841e-01 1.31217812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.957552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.76, Y:0.82, Z:1.32 [[ 9.72708711e-01 -2.04880625e-01 -1.08911399e-01 1.97614361e+01] [ 2.03760132e-01 9.78786055e-01 -2.14398468e-02 8.22536356e-01] [ 1.10993568e-01 -1.33707530e-03 9.93820225e-01 1.31512522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552018 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:19.79, Y:0.83, Z:1.32 [[ 9.73774457e-01 -1.99667841e-01 -1.09069060e-01 1.97886860e+01] [ 1.98509306e-01 9.79863372e-01 -2.14901659e-02 8.26824686e-01] [ 1.11163672e-01 -7.24648691e-04 9.93801848e-01 1.31835754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.017552017999996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:19.82, Y:0.83, Z:1.32 [[ 9.74220099e-01 -1.96788705e-01 -1.10315024e-01 1.98160074e+01] [ 1.95580320e-01 9.80445856e-01 -2.17775618e-02 8.31449440e-01] [ 1.12443486e-01 -3.59309139e-04 9.93658057e-01 1.31994754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:19.84, Y:0.84, Z:1.33 [[ 9.74737352e-01 -1.95053268e-01 -1.08817821e-01 1.98435925e+01] [ 1.93862212e-01 9.80792643e-01 -2.15228592e-02 8.36351737e-01] [ 1.10925822e-01 -1.16528734e-04 9.93828682e-01 1.32551761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.077552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:19.87, Y:0.84, Z:1.33 [[ 9.75259636e-01 -1.92985388e-01 -1.07820601e-01 1.98708744e+01] [ 1.91799074e-01 9.81201618e-01 -2.13658640e-02 8.40897304e-01] [ 1.09917047e-01 1.57373503e-04 9.93940752e-01 1.32850424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.90, Y:0.84, Z:1.33 [[ 9.76069209e-01 -1.89222115e-01 -1.07162916e-01 1.98985335e+01] [ 1.88023254e-01 9.81934117e-01 -2.12754679e-02 8.44547378e-01] [ 1.09252712e-01 6.17208912e-04 9.94013815e-01 1.33219310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.137552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:0.85, Z:1.34 [[ 9.76387561e-01 -1.87792245e-01 -1.06777357e-01 1.99252644e+01] [ 1.86589082e-01 9.82208435e-01 -2.12392261e-02 8.49084627e-01] [ 1.08866182e-01 8.14227218e-04 9.94056081e-01 1.33524304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552018 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:19.95, Y:0.85, Z:1.34 [[ 9.76538779e-01 -1.86213870e-01 -1.08149932e-01 1.99532547e+01] [ 1.84967699e-01 9.82508702e-01 -2.15313713e-02 8.53560166e-01] [ 1.10267689e-01 1.02197498e-03 9.93901400e-01 1.33686623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.197552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.98, Y:0.86, Z:1.34 [[ 9.77128688e-01 -1.83782341e-01 -1.06974658e-01 1.99811239e+01] [ 1.82544201e-01 9.82966074e-01 -2.13380509e-02 8.56738438e-01] [ 1.09074016e-01 1.32241827e-03 9.94032751e-01 1.34115700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:0.86, Z:1.34 [[ 9.77226249e-01 -1.82732025e-01 -1.07878941e-01 2.00088592e+01] [ 1.81461812e-01 9.83161623e-01 -2.15599873e-02 8.60966027e-01] [ 1.10002135e-01 1.49307745e-03 9.93930229e-01 1.34420442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.257552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.04, Y:0.87, Z:1.35 [[ 9.77410227e-01 -1.81511914e-01 -1.08271298e-01 2.00369538e+01] [ 1.80220381e-01 9.83387315e-01 -2.16795334e-02 8.65005262e-01] [ 1.10407714e-01 1.67710314e-03 9.93884965e-01 1.34694825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:0.87, Z:1.35 [[ 9.77620613e-01 -1.80274785e-01 -1.08438639e-01 2.00631595e+01] [ 1.78967214e-01 9.83614531e-01 -2.17529561e-02 8.68673576e-01] [ 1.10583331e-01 1.85917718e-03 9.93865117e-01 1.34949825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.317552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:0.87, Z:1.35 [[ 9.78087259e-01 -1.77448422e-01 -1.08891562e-01 2.00911602e+01] [ 1.76110303e-01 9.84127628e-01 -2.18625878e-02 8.70696192e-01] [ 1.11042676e-01 2.20659270e-03 9.93813189e-01 1.35271460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:0.87, Z:1.36 [[ 9.78401525e-01 -1.76029998e-01 -1.08369256e-01 2.01174765e+01] [ 1.74691641e-01 9.84381888e-01 -2.17974532e-02 8.74073784e-01] [ 1.10513739e-01 2.39545822e-03 9.93871710e-01 1.35558724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.377552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:20.15, Y:0.88, Z:1.36 [[ 9.78666093e-01 -1.74319945e-01 -1.08743900e-01 2.01456532e+01] [ 1.72959667e-01 9.84685590e-01 -2.18915837e-02 8.77686225e-01] [ 1.10894691e-01 2.61624197e-03 9.93828719e-01 1.35685225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:0.88, Z:1.36 [[ 9.78980329e-01 -1.73539901e-01 -1.07151381e-01 2.01726837e+01] [ 1.72210226e-01 9.84823125e-01 -2.16113313e-02 8.80992602e-01] [ 1.09275586e-01 2.70450475e-03 9.94007813e-01 1.36184786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.437552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:0.88, Z:1.36 [[ 9.79251093e-01 -1.71615642e-01 -1.07774616e-01 2.02013595e+01] [ 1.70254187e-01 9.85159482e-01 -2.17785872e-02 8.81119207e-01] [ 1.09912731e-01 2.97762577e-03 9.93936781e-01 1.36499236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:0.88, Z:1.37 [[ 9.79314608e-01 -1.71331966e-01 -1.07648762e-01 2.02288540e+01] [ 1.69967427e-01 9.85208645e-01 -2.17944837e-02 8.83779961e-01] [ 1.09790583e-01 3.04687310e-03 9.93950071e-01 1.36737325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.497552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:0.89, Z:1.37 [[ 9.79354220e-01 -1.71030208e-01 -1.07768179e-01 2.02560184e+01] [ 1.69656343e-01 9.85260832e-01 -2.18590533e-02 8.85910562e-01] [ 1.09918324e-01 3.12420103e-03 9.93935713e-01 1.37029571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.88, Z:1.37 [[ 9.79254253e-01 -1.71749957e-01 -1.07531669e-01 2.02833987e+01] [ 1.70384503e-01 9.85135840e-01 -2.18288117e-02 8.83648491e-01] [ 1.09682399e-01 3.05422663e-03 9.93961993e-01 1.37302614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:0.89, Z:1.38 [[ 9.79172092e-01 -1.72431022e-01 -1.07189347e-01 2.03117984e+01] [ 1.71076348e-01 9.85017068e-01 -2.17774811e-02 8.85024282e-01] [ 1.09338450e-01 2.98633965e-03 9.94000093e-01 1.37644060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:0.89, Z:1.38 [[ 9.79106989e-01 -1.72864613e-01 -1.07085615e-01 2.03391513e+01] [ 1.71510792e-01 9.84941104e-01 -2.17960931e-02 8.86254953e-01] [ 1.09240797e-01 2.97436857e-03 9.94010866e-01 1.38006538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.617552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.37, Y:0.88, Z:1.38 [[ 9.79205193e-01 -1.72529122e-01 -1.06728125e-01 2.03683191e+01] [ 1.71180412e-01 9.84999790e-01 -2.17412280e-02 8.84748918e-01] [ 1.08878176e-01 3.01935878e-03 9.94050515e-01 1.38217262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:0.89, Z:1.39 [[ 9.79362227e-01 -1.71897355e-01 -1.06305820e-01 2.03953097e+01] [ 1.70551383e-01 9.85109939e-01 -2.16941142e-02 8.86588917e-01] [ 1.08452081e-01 3.11579131e-03 9.94096795e-01 1.38614984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.677552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.89, Z:1.39 [[ 9.79467272e-01 -1.71168231e-01 -1.06514312e-01 2.04237266e+01] [ 1.69810729e-01 9.85236553e-01 -2.17543236e-02 8.88629924e-01] [ 1.08665443e-01 3.22037500e-03 9.94073162e-01 1.38936547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:0.89, Z:1.39 [[ 9.79666055e-01 -1.70053714e-01 -1.06471378e-01 2.04509989e+01] [ 1.68686429e-01 9.85428992e-01 -2.17851196e-02 8.90023089e-01] [ 1.08624623e-01 3.38186561e-03 9.94077087e-01 1.39219060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.737552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:0.89, Z:1.40 [[ 9.80039213e-01 -1.68262609e-01 -1.05881232e-01 2.04802071e+01] [ 1.66898181e-01 9.85735712e-01 -2.16818541e-02 8.87115335e-01] [ 1.08019157e-01 3.57768226e-03 9.94142375e-01 1.39532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:0.89, Z:1.40 [[ 9.80108568e-01 -1.67784707e-01 -1.05997577e-01 2.05084499e+01] [ 1.66410212e-01 9.85816818e-01 -2.17449451e-02 8.88536007e-01] [ 1.08142663e-01 3.67332771e-03 9.94128599e-01 1.39822137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.797552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.89, Z:1.40 [[ 9.80177264e-01 -1.67376623e-01 -1.06007536e-01 2.05364004e+01] [ 1.65995273e-01 9.85885871e-01 -2.17857586e-02 8.89676834e-01] [ 1.08157759e-01 3.75715536e-03 9.94126643e-01 1.40107153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:0.89, Z:1.40 [[ 9.80085136e-01 -1.67574575e-01 -1.06545237e-01 2.05649982e+01] [ 1.66175978e-01 9.85852104e-01 -2.19356771e-02 8.90876215e-01] [ 1.08713708e-01 3.79357218e-03 9.94065862e-01 1.40397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.857552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.89, Z:1.41 [[ 9.79713828e-01 -1.69056878e-01 -1.07613137e-01 2.05941124e+01] [ 1.67634373e-01 9.85599327e-01 -2.21964773e-02 8.87152285e-01] [ 1.09815903e-01 3.70653508e-03 9.93945033e-01 1.40660297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:0.89, Z:1.41 [[ 9.79414121e-01 -1.70713916e-01 -1.07725294e-01 2.06228628e+01] [ 1.69293985e-01 9.85314191e-01 -2.22596237e-02 8.87315160e-01] [ 1.09943288e-01 3.56414544e-03 9.93931472e-01 1.40944102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:0.89, Z:1.41 [[ 9.79013693e-01 -1.73018479e-01 -1.07688416e-01 2.06514053e+01] [ 1.71609441e-01 9.84912916e-01 -2.22878371e-02 8.87252345e-01] [ 1.09919919e-01 3.33974885e-03 9.93934836e-01 1.41286886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:20.68, Y:0.89, Z:1.41 [[ 9.78328924e-01 -1.75890810e-01 -1.09247150e-01 2.06793641e+01] [ 1.74454313e-01 9.84404811e-01 -2.26464360e-02 8.87710351e-01] [ 1.11526720e-01 3.09702694e-03 9.93756610e-01 1.41385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.977552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.88, Z:1.42 [[ 9.77611393e-01 -1.81023458e-01 -1.07268224e-01 2.07082057e+01] [ 1.79667725e-01 9.83475648e-01 -2.22521449e-02 8.82381549e-01] [ 1.09523846e-01 2.48131254e-03 9.93981071e-01 1.42027400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:0.88, Z:1.42 [[ 9.77115801e-01 -1.83690981e-01 -1.07248938e-01 2.07356109e+01] [ 1.82347787e-01 9.82981539e-01 -2.22840348e-02 8.82645896e-01] [ 1.09517102e-01 2.21747611e-03 9.93982438e-01 1.42324857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.037552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:0.88, Z:1.43 [[ 9.76600937e-01 -1.86387540e-01 -1.07286046e-01 2.07643411e+01] [ 1.85056859e-01 9.82474386e-01 -2.23168081e-02 8.83456250e-01] [ 1.09565367e-01 1.94059699e-03 9.93977698e-01 1.42671001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:0.88, Z:1.43 [[ 9.76223972e-01 -1.88509764e-01 -1.07008527e-01 2.07912294e+01] [ 1.87194840e-01 9.82069787e-01 -2.22940439e-02 8.83996488e-01] [ 1.09292486e-01 1.73253605e-03 9.94008124e-01 1.42985218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:0.88, Z:1.43 [[ 9.75488033e-01 -1.92411317e-01 -1.06775380e-01 2.08204246e+01] [ 1.91123667e-01 9.81313494e-01 -2.22614251e-02 8.80701449e-01] [ 1.09063471e-01 1.30845169e-03 9.94033927e-01 1.43372372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:0.88, Z:1.44 [[ 9.75169474e-01 -1.94144082e-01 -1.06548450e-01 2.08485103e+01] [ 1.92868367e-01 9.80972354e-01 -2.22493373e-02 8.81942279e-01] [ 1.08840661e-01 1.14704890e-03 9.94058547e-01 1.43740975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.157552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:0.88, Z:1.44 [[ 9.74837877e-01 -1.95786417e-01 -1.06577637e-01 2.08755696e+01] [ 1.94515981e-01 9.80646054e-01 -2.22901410e-02 8.83509358e-01] [ 1.08879046e-01 9.98220048e-04 9.94054504e-01 1.44077973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:0.89, Z:1.44 [[ 9.74415652e-01 -1.97607379e-01 -1.07076897e-01 2.09040277e+01] [ 1.96333250e-01 9.80280902e-01 -2.24189150e-02 8.85786250e-01] [ 1.09395581e-01 8.22586430e-04 9.93997953e-01 1.44425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:0.89, Z:1.45 [[ 9.73753628e-01 -2.00490853e-01 -1.07737132e-01 2.09322064e+01] [ 1.99214551e-01 9.79695427e-01 -2.25927672e-02 8.85023128e-01] [ 1.10079219e-01 5.36984674e-04 9.93922672e-01 1.44777934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:0.89, Z:1.45 [[ 9.73386812e-01 -2.02410206e-01 -1.07462660e-01 2.09605875e+01] [ 2.01148194e-01 9.79300762e-01 -2.25703546e-02 8.87882365e-01] [ 1.09806735e-01 3.53765538e-04 9.93952894e-01 1.45096443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.277552017999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.99, Y:0.89, Z:1.45 [[ 9.72546454e-01 -2.05344067e-01 -1.09486111e-01 2.09883389e+01] [ 2.04048269e-01 9.78689844e-01 -2.30324426e-02 8.91320067e-01] [ 1.11882520e-01 5.96690708e-05 9.93721439e-01 1.45169448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:0.89, Z:1.46 [[ 9.71706063e-01 -2.10342095e-01 -1.07440818e-01 2.10168250e+01] [ 2.09120973e-01 9.77627731e-01 -2.26370940e-02 8.91328544e-01] [ 1.09798657e-01 -4.71526847e-04 9.93953738e-01 1.45745517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.337552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:0.89, Z:1.46 [[ 9.71037917e-01 -2.13555888e-01 -1.07141242e-01 2.10441149e+01] [ 2.12357172e-01 9.76930523e-01 -2.26093971e-02 8.94113692e-01] [ 1.09497920e-01 -7.97629291e-04 9.93986705e-01 1.46069581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:0.90, Z:1.46 [[ 9.70245317e-01 -2.17172776e-01 -1.07051440e-01 2.10721689e+01] [ 2.15996216e-01 9.76132456e-01 -2.26066941e-02 8.97497337e-01] [ 1.09405943e-01 -1.18866678e-03 9.93996442e-01 1.46429005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:0.90, Z:1.47 [[ 9.69423957e-01 -2.20765533e-01 -1.07143696e-01 2.11000818e+01] [ 2.19604869e-01 9.75325661e-01 -2.26617938e-02 9.01397911e-01] [ 1.09502939e-01 -1.56039143e-03 9.93985247e-01 1.46769969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:0.90, Z:1.47 [[ 9.68010366e-01 -2.26811979e-01 -1.07295189e-01 2.11272870e+01] [ 2.25681117e-01 9.73936050e-01 -2.27289073e-02 9.04326551e-01] [ 1.09653841e-01 -2.21268023e-03 9.93967373e-01 1.47081644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.457552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:0.91, Z:1.47 [[ 9.67289463e-01 -2.29689736e-01 -1.07674140e-01 2.11550767e+01] [ 2.28566804e-01 9.73260610e-01 -2.28254629e-02 9.09123225e-01] [ 1.10037774e-01 -2.53190425e-03 9.93924181e-01 1.47405657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:0.91, Z:1.48 [[ 9.66763298e-01 -2.31872617e-01 -1.07721006e-01 2.11817173e+01] [ 2.30758400e-01 9.72742277e-01 -2.28696812e-02 9.14125192e-01] [ 1.10087630e-01 -2.74795862e-03 9.93918086e-01 1.47708274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:0.92, Z:1.48 [[ 9.66199213e-01 -2.34110533e-01 -1.07941369e-01 2.12092249e+01] [ 2.33003875e-01 9.72205378e-01 -2.29324375e-02 9.19930914e-01] [ 1.10309905e-01 -2.99345417e-03 9.93892733e-01 1.48018216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:0.93, Z:1.48 [[ 9.65721161e-01 -2.36403865e-01 -1.07218714e-01 2.12362661e+01] [ 2.35322318e-01 9.71649614e-01 -2.28130155e-02 9.25860188e-01] [ 1.09572107e-01 -3.19994440e-03 9.93973699e-01 1.48417642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:0.93, Z:1.49 [[ 9.65647285e-01 -2.36937191e-01 -1.06705614e-01 2.12637910e+01] [ 2.35865470e-01 9.71519663e-01 -2.27381571e-02 9.32354791e-01] [ 1.09054117e-01 -3.21113007e-03 9.94030627e-01 1.48760406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:0.94, Z:1.49 [[ 9.65693504e-01 -2.36939554e-01 -1.06281253e-01 2.12908590e+01] [ 2.35872629e-01 9.71519238e-01 -2.26819797e-02 9.39384834e-01] [ 1.08628540e-01 -3.16499819e-03 9.94077373e-01 1.49109173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.637552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:0.95, Z:1.49 [[ 9.65623248e-01 -2.37228939e-01 -1.06274047e-01 2.13185982e+01] [ 2.36160053e-01 9.71448623e-01 -2.27156975e-02 9.45432458e-01] [ 1.08628597e-01 -3.16287886e-03 9.94077373e-01 1.49410882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:0.95, Z:1.50 [[ 9.66000586e-01 -2.35851843e-01 -1.05909280e-01 2.13444968e+01] [ 2.34778512e-01 9.71784499e-01 -2.26701989e-02 9.54472007e-01] [ 1.08267805e-01 -2.96579772e-03 9.94117340e-01 1.49608604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:0.96, Z:1.50 [[ 9.66051381e-01 -2.35466453e-01 -1.06302769e-01 2.13717496e+01] [ 2.34381060e-01 9.71878096e-01 -2.27702577e-02 9.61993152e-01] [ 1.08674965e-01 -2.91811675e-03 9.94073054e-01 1.49871976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:0.97, Z:1.50 [[ 9.66103453e-01 -2.35037379e-01 -1.06778039e-01 2.13986977e+01] [ 2.33935760e-01 9.71982159e-01 -2.29072700e-02 9.69507616e-01] [ 1.09170414e-01 -2.84840915e-03 9.94018967e-01 1.50170487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:0.98, Z:1.50 [[ 9.66192636e-01 -2.34529662e-01 -1.07087008e-01 2.14241098e+01] [ 2.33414641e-01 9.72105033e-01 -2.30089322e-02 9.77078501e-01] [ 1.09496096e-01 -2.76461459e-03 9.93983381e-01 1.50445072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:0.99, Z:1.51 [[ 9.66608530e-01 -2.32921190e-01 -1.06844130e-01 2.14494126e+01] [ 2.31798819e-01 9.72492263e-01 -2.29805733e-02 9.87099183e-01] [ 1.09257752e-01 -2.55312494e-03 9.94010174e-01 1.50684907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.817552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:1.00, Z:1.51 [[ 9.66749478e-01 -2.32331147e-01 -1.06853567e-01 2.14758171e+01] [ 2.31203244e-01 9.72633606e-01 -2.29984456e-02 9.95145604e-01] [ 1.09272625e-01 -2.47115598e-03 9.94008746e-01 1.51028310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:1.00, Z:1.51 [[ 9.67081347e-01 -2.31200293e-01 -1.06301893e-01 2.15012611e+01] [ 2.30073485e-01 9.72903462e-01 -2.29138879e-02 1.00321598e+00] [ 1.08719177e-01 -2.29765330e-03 9.94069847e-01 1.51291634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:1.01, Z:1.52 [[ 9.67286116e-01 -2.30397718e-01 -1.06181263e-01 2.15279368e+01] [ 2.29266951e-01 9.73094084e-01 -2.29034491e-02 1.01204253e+00] [ 1.08601262e-01 -2.18966625e-03 9.94082980e-01 1.51608430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:1.02, Z:1.52 [[ 9.68039265e-01 -2.27262563e-01 -1.06074077e-01 2.15531533e+01] [ 2.26111511e-01 9.73831855e-01 -2.29151412e-02 1.02219340e+00] [ 1.08506068e-01 -1.80181332e-03 9.94094154e-01 1.51863977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.937552017999998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:21.58, Y:1.03, Z:1.52 [[ 9.68121918e-01 -2.26452410e-01 -1.07047928e-01 2.15801452e+01] [ 2.25273347e-01 9.74020728e-01 -2.31417542e-02 1.03044393e+00] [ 1.09507407e-01 -1.71100550e-03 9.93984507e-01 1.51922181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.04, Z:1.52 [[ 9.68846894e-01 -2.23927285e-01 -1.05793507e-01 2.16053856e+01] [ 2.22756973e-01 9.74604885e-01 -2.29052305e-02 1.03731738e+00] [ 1.08235975e-01 -1.37457998e-03 9.94124280e-01 1.52474531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.997552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:1.05, Z:1.53 [[ 9.69833970e-01 -2.19338345e-01 -1.06361461e-01 2.16315161e+01] [ 2.18126110e-01 9.75648485e-01 -2.30441838e-02 1.04822296e+00] [ 1.08825871e-01 -8.51179451e-04 9.94060464e-01 1.52712316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:1.06, Z:1.53 [[ 9.70370332e-01 -2.16910659e-01 -1.06448039e-01 2.16583379e+01] [ 2.15678025e-01 9.76191308e-01 -2.30980557e-02 1.05675229e+00] [ 1.08923865e-01 -5.44834913e-04 9.94049946e-01 1.52951005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:1.06, Z:1.53 [[ 9.70879039e-01 -2.14438950e-01 -1.06816800e-01 2.16850058e+01] [ 2.13178840e-01 9.76737366e-01 -2.32142109e-02 1.06472614e+00] [ 1.09309991e-01 -2.32890832e-04 9.94007682e-01 1.53240287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:1.07, Z:1.54 [[ 9.71834351e-01 -2.10233073e-01 -1.06489667e-01 2.17103534e+01] [ 2.08951663e-01 9.77651257e-01 -2.31780642e-02 1.07346404e+00] [ 1.08982553e-01 2.74045937e-04 9.94043625e-01 1.53521915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.117552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:1.08, Z:1.54 [[ 9.72195830e-01 -2.08717870e-01 -1.06170237e-01 2.17366622e+01] [ 2.07433472e-01 9.77975788e-01 -2.31238689e-02 1.08030475e+00] [ 1.08658286e-01 4.57668088e-04 9.94079055e-01 1.53793290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:1.09, Z:1.54 [[ 9.72458139e-01 -2.07626401e-01 -1.05907725e-01 2.17638571e+01] [ 2.06340235e-01 9.78208018e-01 -2.30820698e-02 1.08672318e+00] [ 1.08392233e-01 5.93321708e-04 9.94108028e-01 1.54141385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.177552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:1.09, Z:1.54 [[ 9.72674886e-01 -2.06810611e-01 -1.05512736e-01 2.17904524e+01] [ 2.05525673e-01 9.78380734e-01 -2.30290458e-02 1.09307149e+00] [ 1.07994279e-01 7.14198487e-04 9.94151259e-01 1.54437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:1.10, Z:1.55 [[ 9.72921646e-01 -2.05872862e-01 -1.05070622e-01 2.18167953e+01] [ 2.04591573e-01 9.78578395e-01 -2.29480384e-02 1.10026584e+00] [ 1.07544219e-01 8.30079501e-04 9.94199956e-01 1.54764960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.237552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:1.11, Z:1.55 [[ 9.72947032e-01 -2.06102359e-01 -1.04383381e-01 2.18438094e+01] [ 2.04837506e-01 9.78530099e-01 -2.28131940e-02 1.10686324e+00] [ 1.06844133e-01 8.14397939e-04 9.94275449e-01 1.55031937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:1.11, Z:1.55 [[ 9.72839278e-01 -2.06748752e-01 -1.04109047e-01 2.18712541e+01] [ 2.05490543e-01 9.78393761e-01 -2.27878158e-02 1.11316805e+00] [ 1.06570995e-01 7.75457608e-04 9.94304793e-01 1.55320119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.297552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:1.12, Z:1.56 [[ 9.72683329e-01 -2.07664841e-01 -1.03742259e-01 2.18971260e+01] [ 2.06417032e-01 9.78199783e-01 -2.27419025e-02 1.11907122e+00] [ 1.06203349e-01 7.06500181e-04 9.94344181e-01 1.55586219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:1.12, Z:1.56 [[ 9.72153573e-01 -2.10327642e-01 -1.03342700e-01 2.19244505e+01] [ 2.09102868e-01 9.77630860e-01 -2.26691699e-02 1.12448991e+00] [ 1.05798966e-01 4.28659507e-04 9.94387447e-01 1.55839107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.357552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:1.13, Z:1.56 [[ 9.71723830e-01 -2.12295672e-01 -1.03360276e-01 2.19521940e+01] [ 2.11077909e-01 9.77205447e-01 -2.27074951e-02 1.13007205e+00] [ 1.05824928e-01 2.48343217e-04 9.94384746e-01 1.56134572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:1.14, Z:1.56 [[ 9.71295770e-01 -2.14108622e-01 -1.03643744e-01 2.19782691e+01] [ 2.12890751e-01 9.76809854e-01 -2.28043230e-02 1.13536149e+00] [ 1.06122833e-01 8.49479646e-05 9.94353024e-01 1.56388318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:1.14, Z:1.57 [[ 9.70206104e-01 -2.18778883e-01 -1.04095708e-01 2.20060933e+01] [ 2.17575487e-01 9.75774375e-01 -2.29189268e-02 1.14035420e+00] [ 1.06588102e-01 -4.12591763e-04 9.94303176e-01 1.56664561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:1.15, Z:1.57 [[ 9.69536228e-01 -2.21469925e-01 -1.04644995e-01 2.20338684e+01] [ 2.20265572e-01 9.75166967e-01 -2.30751963e-02 1.14586679e+00] [ 1.07156804e-01 -6.77450805e-04 9.94241902e-01 1.56915876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.477552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:1.15, Z:1.57 [[ 9.68845982e-01 -2.24295039e-01 -1.05019994e-01 2.20603635e+01] [ 2.23094753e-01 9.74520813e-01 -2.31930011e-02 1.15139695e+00] [ 1.07546245e-01 -9.58963751e-04 9.94199621e-01 1.57206432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:1.16, Z:1.58 [[ 9.68124783e-01 -2.27274100e-01 -1.05265793e-01 2.20878107e+01] [ 2.26083104e-01 9.73830002e-01 -2.32713921e-02 1.15725726e+00] [ 1.07799972e-01 -1.26920569e-03 9.94171794e-01 1.57508603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.537552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:1.16, Z:1.58 [[ 9.66788858e-01 -2.32889493e-01 -1.05270068e-01 2.21149255e+01] [ 2.31727913e-01 9.72501422e-01 -2.33057613e-02 1.16220404e+00] [ 1.07802957e-01 -1.86226273e-03 9.94170536e-01 1.57808847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:1.17, Z:1.58 [[ 9.66124722e-01 -2.35649223e-01 -1.05225783e-01 2.21426331e+01] [ 2.34501116e-01 9.71835833e-01 -2.33311004e-02 1.16782684e+00] [ 1.07760142e-01 -2.13481054e-03 9.94174630e-01 1.58138585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:1.17, Z:1.58 [[ 9.65419477e-01 -2.38538736e-01 -1.05187955e-01 2.21699462e+01] [ 2.37404463e-01 9.71129969e-01 -2.33603066e-02 1.17382787e+00] [ 1.07723513e-01 -2.41959489e-03 9.94177947e-01 1.58456919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:1.18, Z:1.59 [[ 9.64806360e-01 -2.41119997e-01 -1.04927762e-01 2.21956246e+01] [ 2.40002225e-01 9.70491660e-01 -2.33424614e-02 1.18011857e+00] [ 1.07459852e-01 -2.66194114e-03 9.94205861e-01 1.58731805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.657552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:1.19, Z:1.59 [[ 9.63921207e-01 -2.44741155e-01 -1.04678908e-01 2.22218954e+01] [ 2.43645758e-01 9.69583748e-01 -2.33259353e-02 1.18744511e+00] [ 1.07203784e-01 -3.02020813e-03 9.94232481e-01 1.58983427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:1.19, Z:1.59 [[ 9.63487749e-01 -2.46454497e-01 -1.04649597e-01 2.22487959e+01] [ 2.45367956e-01 9.69149103e-01 -2.33363097e-02 1.19446188e+00] [ 1.07172402e-01 -3.19340930e-03 9.94235323e-01 1.59300444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:1.20, Z:1.60 [[ 9.62925441e-01 -2.49156915e-01 -1.03418692e-01 2.22758273e+01] [ 2.48107417e-01 9.68457102e-01 -2.30987214e-02 1.20320702e+00] [ 1.05911773e-01 -3.41659803e-03 9.94369661e-01 1.59630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:1.21, Z:1.60 [[ 9.62775531e-01 -2.50024311e-01 -1.02718649e-01 2.23013559e+01] [ 2.48989681e-01 9.68233416e-01 -2.29823914e-02 1.21055323e+00] [ 1.05201785e-01 -3.44899943e-03 9.94444915e-01 1.59946856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.777552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:1.22, Z:1.60 [[ 9.62578844e-01 -2.51110590e-01 -1.01908982e-01 2.23283508e+01] [ 2.50096539e-01 9.67951993e-01 -2.28179879e-02 1.21823620e+00] [ 1.04372840e-01 -3.52297117e-03 9.94532000e-01 1.60287934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:1.23, Z:1.61 [[ 9.62398662e-01 -2.51920488e-01 -1.01611435e-01 2.23552273e+01] [ 2.50912752e-01 9.67741381e-01 -2.27905812e-02 1.22664887e+00] [ 1.04075005e-01 -3.56198000e-03 9.94563073e-01 1.60628436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.837552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.24, Z:1.61 [[ 9.62269995e-01 -2.52491617e-01 -1.01412232e-01 2.23813590e+01] [ 2.51486914e-01 9.67592464e-01 -2.27849749e-02 1.23537870e+00] [ 1.03878726e-01 -3.57855147e-03 9.94583533e-01 1.60923792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:1.25, Z:1.61 [[ 9.62267587e-01 -2.52787149e-01 -1.00696315e-01 2.24063058e+01] [ 2.51794199e-01 9.67515414e-01 -2.26628607e-02 1.24743512e+00] [ 1.03154117e-01 -3.54701174e-03 9.94659061e-01 1.61216197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:1.26, Z:1.62 [[ 9.62296136e-01 -2.52807122e-01 -1.00372836e-01 2.24330244e+01] [ 2.51818005e-01 9.67510320e-01 -2.26157453e-02 1.25655614e+00] [ 1.02829176e-01 -3.51264308e-03 9.94692828e-01 1.61512524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.27, Z:1.62 [[ 9.62393732e-01 -2.52480840e-01 -1.00258314e-01 2.24589114e+01] [ 2.51488111e-01 9.67595797e-01 -2.26297204e-02 1.26540363e+00] [ 1.02723094e-01 -3.43507298e-03 9.94704060e-01 1.61802094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.957552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:1.28, Z:1.62 [[ 9.62672591e-01 -2.51162724e-01 -1.00889881e-01 2.24840890e+01] [ 2.50148434e-01 9.67939257e-01 -2.27893901e-02 1.27815089e+00] [ 1.03379122e-01 -3.29872461e-03 9.94636555e-01 1.62069053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:1.29, Z:1.62 [[ 9.62828779e-01 -2.50473123e-01 -1.01113586e-01 2.25100822e+01] [ 2.49448822e-01 9.68118212e-01 -2.28563496e-02 1.28816674e+00] [ 1.03614805e-01 -3.21591365e-03 9.94612301e-01 1.62356274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:1.30, Z:1.63 [[ 9.63081546e-01 -2.49476905e-01 -1.01169210e-01 2.25364881e+01] [ 2.48441976e-01 9.68375873e-01 -2.29074939e-02 1.29823622e+00] [ 1.03684712e-01 -3.07289372e-03 9.94605468e-01 1.62643483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:1.31, Z:1.63 [[ 9.63356136e-01 -2.48344646e-01 -1.01340475e-01 2.25621609e+01] [ 2.47295769e-01 9.68667347e-01 -2.29863944e-02 1.30845974e+00] [ 1.03873757e-01 -2.91698675e-03 9.94586212e-01 1.62945040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:1.32, Z:1.63 [[ 9.63835636e-01 -2.45937173e-01 -1.02643915e-01 2.25866495e+01] [ 2.44845620e-01 9.69282081e-01 -2.32995870e-02 1.32280076e+00] [ 1.05221142e-01 -2.67494084e-03 9.94445250e-01 1.63182601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:1.33, Z:1.63 [[ 9.63929065e-01 -2.45228339e-01 -1.03459262e-01 2.26130546e+01] [ 2.44113430e-01 9.69461858e-01 -2.35019133e-02 1.33267079e+00] [ 1.06063143e-01 -2.60161794e-03 9.94355993e-01 1.63465138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.137552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:1.34, Z:1.64 [[ 9.64017633e-01 -2.44678049e-01 -1.03935829e-01 2.26392611e+01] [ 2.43545414e-01 9.69601119e-01 -2.36495576e-02 1.34229484e+00] [ 1.06562823e-01 -2.51450387e-03 9.94302792e-01 1.63719248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:1.35, Z:1.64 [[ 9.64143544e-01 -2.44111102e-01 -1.04100897e-01 2.26658566e+01] [ 2.42967235e-01 9.69744261e-01 -2.37274517e-02 1.35182460e+00] [ 1.06743382e-01 -2.41643776e-03 9.94283667e-01 1.64014693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:1.36, Z:1.64 [[ 9.64349264e-01 -2.43124093e-01 -1.04504411e-01 2.26901957e+01] [ 2.41961154e-01 9.69992522e-01 -2.38601519e-02 1.36468983e+00] [ 1.07169475e-01 -2.27648787e-03 9.94238161e-01 1.64323656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:1.37, Z:1.65 [[ 9.64501073e-01 -2.42600176e-01 -1.04320827e-01 2.27165178e+01] [ 2.41436370e-01 9.70123872e-01 -2.38359386e-02 1.37456740e+00] [ 1.06986727e-01 -2.19705330e-03 9.94258021e-01 1.64578191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.38, Z:1.65 [[ 9.64695926e-01 -2.41894775e-01 -1.04157036e-01 2.27418886e+01] [ 2.40726186e-01 9.70300267e-01 -2.38389469e-02 1.38425932e+00] [ 1.06830116e-01 -2.07599100e-03 9.94275121e-01 1.64894879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:1.39, Z:1.65 [[ 9.64882754e-01 -2.41122524e-01 -1.04217077e-01 2.27684799e+01] [ 2.39946176e-01 9.70492674e-01 -2.38705185e-02 1.39439801e+00] [ 1.06897629e-01 -1.97423749e-03 9.94268072e-01 1.65218980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.317552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:1.41, Z:1.66 [[ 9.65857850e-01 -2.37348397e-01 -1.03847736e-01 2.27931440e+01] [ 2.36154283e-01 9.71423417e-01 -2.38264441e-02 1.40702556e+00] [ 1.06535291e-01 -1.51112971e-03 9.94307773e-01 1.65511067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:1.42, Z:1.66 [[ 9.66413474e-01 -2.35196194e-01 -1.03574839e-01 2.28190064e+01] [ 2.33994161e-01 9.71947107e-01 -2.37813594e-02 1.41616632e+00] [ 1.06262550e-01 -1.25328146e-03 9.94337317e-01 1.65813812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:1.43, Z:1.66 [[ 9.67010949e-01 -2.32585879e-01 -1.03892413e-01 2.28447440e+01] [ 2.31359542e-01 9.72575397e-01 -2.38717433e-02 1.42501822e+00] [ 1.06595435e-01 -9.52263926e-04 9.94302020e-01 1.66162908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:1.44, Z:1.66 [[ 9.68323897e-01 -2.27754871e-01 -1.02355019e-01 2.28708093e+01] [ 2.26535982e-01 9.73718419e-01 -2.35348359e-02 1.43713513e+00] [ 1.05025141e-01 -3.97750720e-04 9.94469488e-01 1.66495023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.437552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:1.45, Z:1.67 [[ 9.68871022e-01 -2.25596307e-01 -1.01957091e-01 2.28972275e+01] [ 2.24370866e-01 9.74220863e-01 -2.34824216e-02 1.44631722e+00] [ 1.04626273e-01 -1.24763045e-04 9.94511602e-01 1.66817467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:1.46, Z:1.67 [[ 9.69291443e-01 -2.23947790e-01 -1.01594716e-01 2.29236031e+01] [ 2.22717953e-01 9.74601139e-01 -2.34378788e-02 1.45541882e+00] [ 1.04263187e-01 9.11681051e-05 9.94549737e-01 1.67137125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.497552017999997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:22.95, Y:1.46, Z:1.67 [[ 9.69434264e-01 -2.22659730e-01 -1.03052668e-01 2.29503254e+01] [ 2.21382697e-01 9.74896184e-01 -2.38145068e-02 1.46413260e+00] [ 1.05768184e-01 2.72521280e-04 9.94390777e-01 1.67171639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:22.98, Y:1.47, Z:1.67 [[ 9.69356978e-01 -2.23000061e-01 -1.03043787e-01 2.29778957e+01] [ 2.21720869e-01 9.74818392e-01 -2.38528698e-02 1.47075182e+00] [ 1.05768171e-01 2.74987712e-04 9.94390778e-01 1.67473379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:1.48, Z:1.68 [[ 9.69957904e-01 -2.20556198e-01 -1.02648081e-01 2.30031893e+01] [ 2.19269190e-01 9.75374098e-01 -2.37989673e-02 1.47857266e+00] [ 1.05369289e-01 5.76434850e-04 9.94432995e-01 1.67989828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:1.49, Z:1.68 [[ 9.69878972e-01 -2.20695583e-01 -1.03093357e-01 2.30305766e+01] [ 2.19396273e-01 9.75342567e-01 -2.39197278e-02 1.48572939e+00] [ 1.05830317e-01 5.80942796e-04 9.94384034e-01 1.68225065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.617552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:1.49, Z:1.68 [[ 9.69614830e-01 -2.21388387e-01 -1.04087769e-01 2.30573002e+01] [ 2.20063467e-01 9.75185562e-01 -2.41907184e-02 1.49261429e+00] [ 1.06860434e-01 5.49763993e-04 9.94273878e-01 1.68482235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:1.50, Z:1.69 [[ 9.68953228e-01 -2.24169834e-01 -1.04295390e-01 2.30846142e+01] [ 2.22851348e-01 9.74550053e-01 -2.42790284e-02 1.49947999e+00] [ 1.07083703e-01 2.82874727e-04 9.94249969e-01 1.68694070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.677552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:1.51, Z:1.69 [[ 9.68449136e-01 -2.26285048e-01 -1.04409517e-01 2.31118272e+01] [ 2.24971655e-01 9.74061122e-01 -2.43451293e-02 1.50581566e+00] [ 1.07210190e-01 8.78376768e-05 9.94236374e-01 1.68985417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:1.51, Z:1.69 [[ 9.67917210e-01 -2.28477855e-01 -1.04566455e-01 2.31376294e+01] [ 2.27168995e-01 9.73549103e-01 -2.44211267e-02 1.51145823e+00] [ 1.07380265e-01 -1.16627704e-04 9.94218017e-01 1.69260615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.737552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:1.52, Z:1.70 [[ 9.67378270e-01 -2.30871089e-01 -1.04296804e-01 2.31643042e+01] [ 2.29581011e-01 9.72984279e-01 -2.43752340e-02 1.51702972e+00] [ 1.07106688e-01 -3.64494003e-04 9.94247466e-01 1.69525568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:1.52, Z:1.70 [[ 9.66754284e-01 -2.33495692e-01 -1.04239706e-01 2.31913324e+01] [ 2.32220392e-01 9.72357627e-01 -2.43789770e-02 1.52239317e+00] [ 1.07050659e-01 -6.38104969e-04 9.94253363e-01 1.69875555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.797552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:1.53, Z:1.70 [[ 9.65504404e-01 -2.38624008e-01 -1.04210498e-01 2.32176993e+01] [ 2.37375079e-01 9.71111331e-01 -2.44101500e-02 1.52631225e+00] [ 1.07024843e-01 -1.16886783e-03 9.94255660e-01 1.70120111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:1.53, Z:1.70 [[ 9.64733924e-01 -2.41440821e-01 -1.04856020e-01 2.32448295e+01] [ 2.40191054e-01 9.70414426e-01 -2.45784408e-02 1.53188127e+00] [ 1.07688033e-01 -1.47382235e-03 9.94183643e-01 1.70401723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.857552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:1.54, Z:1.71 [[ 9.63949980e-01 -2.44458682e-01 -1.05073253e-01 2.32725657e+01] [ 2.43217451e-01 9.69658081e-01 -2.46673491e-02 1.53763026e+00] [ 1.07915277e-01 -1.77755814e-03 9.94158505e-01 1.70669396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:23.30, Y:1.54, Z:1.71 [[ 9.62887318e-01 -2.47666517e-01 -1.07281445e-01 2.33002051e+01] [ 2.46387848e-01 9.68842971e-01 -2.52255094e-02 1.54359171e+00] [ 1.10186388e-01 -2.14352135e-03 9.93908630e-01 1.70736358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:1.55, Z:1.71 [[ 9.61700106e-01 -2.52596242e-01 -1.06433289e-01 2.33277863e+01] [ 2.51363388e-01 9.67568153e-01 -2.50662394e-02 1.54730224e+00] [ 1.09313099e-01 -2.64722722e-03 9.94003842e-01 1.71253330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:1.55, Z:1.72 [[ 9.61051268e-01 -2.54966639e-01 -1.06641801e-01 2.33543021e+01] [ 2.53738912e-01 9.66945554e-01 -2.51566909e-02 1.55311207e+00] [ 1.09530932e-01 -2.88230477e-03 9.93979209e-01 1.71581368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.977552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:1.56, Z:1.72 [[ 9.60430006e-01 -2.57384081e-01 -1.06431379e-01 2.33816827e+01] [ 2.56173907e-01 9.66304102e-01 -2.51259158e-02 1.55933593e+00] [ 1.09312089e-01 -3.13325886e-03 9.94002540e-01 1.71928501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:1.57, Z:1.72 [[ 9.59317263e-01 -2.61530043e-01 -1.06359886e-01 2.34086356e+01] [ 2.59739999e-01 9.65193795e-01 -3.05952730e-02 1.56784624e+00] [ 1.10659486e-01 1.72465677e-03 9.93856883e-01 1.72280514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.037552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:1.57, Z:1.73 [[ 9.58917169e-01 -2.62734026e-01 -1.06998576e-01 2.34372497e+01] [ 2.62097200e-01 9.64829523e-01 -2.02249435e-02 1.57063537e+00] [ 1.08549166e-01 -8.64998157e-03 9.94053447e-01 1.72629385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:1.58, Z:1.73 [[ 9.58327959e-01 -2.65389424e-01 -1.05716496e-01 2.34638652e+01] [ 2.64234235e-01 9.64133285e-01 -2.50454964e-02 1.57962718e+00] [ 1.08571602e-01 -3.93211796e-03 9.94080855e-01 1.72899534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:1.59, Z:1.73 [[ 9.57597798e-01 -2.68436261e-01 -1.04634746e-01 2.34893811e+01] [ 2.67318275e-01 9.63288322e-01 -2.48304183e-02 1.58679499e+00] [ 1.07458813e-01 -4.19322584e-03 9.94200694e-01 1.73200730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:1.59, Z:1.73 [[ 9.57137388e-01 -2.70111102e-01 -1.04537140e-01 2.35157649e+01] [ 2.69003159e-01 9.62819292e-01 -2.48256169e-02 1.59442704e+00] [ 1.07356050e-01 -4.35929487e-03 9.94211082e-01 1.73480050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.157552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:1.60, Z:1.74 [[ 9.56648932e-01 -2.71775543e-01 -1.04694201e-01 2.35419760e+01] [ 2.70669725e-01 9.62350085e-01 -2.49040869e-02 1.60245599e+00] [ 1.07520795e-01 -4.51308260e-03 9.94192592e-01 1.73761381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:1.61, Z:1.74 [[ 9.56086804e-01 -2.73539189e-01 -1.05234667e-01 2.35687255e+01] [ 2.72429425e-01 9.61849335e-01 -2.50612139e-02 1.61081939e+00] [ 1.08075119e-01 -4.70832402e-03 9.94131581e-01 1.74048554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:1.62, Z:1.74 [[ 9.55671973e-01 -2.75073776e-01 -1.05002374e-01 2.35946945e+01] [ 2.73973605e-01 9.61410985e-01 -2.50475696e-02 1.61899870e+00] [ 1.07840366e-01 -4.83061876e-03 9.94156487e-01 1.74295217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:1.63, Z:1.75 [[ 9.54680778e-01 -2.78392983e-01 -1.05270888e-01 2.36196026e+01] [ 2.77304119e-01 9.60453225e-01 -2.51401540e-02 1.62911556e+00] [ 1.08106606e-01 -5.19122909e-03 9.94125753e-01 1.74572602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.277552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:1.64, Z:1.75 [[ 9.54105530e-01 -2.80426840e-01 -1.05087701e-01 2.36463131e+01] [ 2.79351065e-01 9.59860293e-01 -2.51237084e-02 1.63816086e+00] [ 1.07914873e-01 -5.38569207e-03 9.94145550e-01 1.74854518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:1.65, Z:1.75 [[ 9.53550774e-01 -2.82256900e-01 -1.05223402e-01 2.36728678e+01] [ 2.81185161e-01 9.59322732e-01 -2.51952664e-02 1.64782737e+00] [ 1.08054739e-01 -5.56229338e-03 9.94129385e-01 1.75161408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.337552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.70, Y:1.66, Z:1.76 [[ 9.52826613e-01 -2.84599580e-01 -1.05472861e-01 2.36986631e+01] [ 2.83532741e-01 9.58628912e-01 -2.52941275e-02 1.66130455e+00] [ 1.08308032e-01 -5.80409158e-03 9.94100439e-01 1.75501370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:1.67, Z:1.76 [[ 9.52459676e-01 -2.85971381e-01 -1.05075856e-01 2.37245865e+01] [ 2.84916539e-01 9.58220002e-01 -2.52387477e-02 1.67161387e+00] [ 1.07903346e-01 -5.89895974e-03 9.94143888e-01 1.75776901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:1.68, Z:1.76 [[ 9.52000587e-01 -2.87551808e-01 -1.04923019e-01 2.37510180e+01] [ 2.86505262e-01 9.57746097e-01 -2.52417827e-02 1.68206935e+00] [ 1.07747932e-01 -6.03080507e-03 9.94159953e-01 1.76049028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:1.70, Z:1.76 [[ 9.51093966e-01 -2.90105504e-01 -1.06108742e-01 2.37761806e+01] [ 2.89046463e-01 9.56973581e-01 -2.55677016e-02 1.69693502e+00] [ 1.08960594e-01 -6.35306983e-03 9.94025768e-01 1.76289963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.457552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:1.71, Z:1.77 [[ 9.50660273e-01 -2.91214861e-01 -1.06953029e-01 2.38011081e+01] [ 2.90141312e-01 9.56635640e-01 -2.58122300e-02 1.70795391e+00] [ 1.09831985e-01 -6.49283057e-03 9.93928960e-01 1.76528996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:1.72, Z:1.77 [[ 9.50275755e-01 -2.92144502e-01 -1.07831250e-01 2.38271495e+01] [ 2.91057028e-01 9.56351162e-01 -2.60434420e-02 1.71904328e+00] [ 1.10732990e-01 -6.63659171e-03 9.93828034e-01 1.76848971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:1.73, Z:1.77 [[ 9.49996208e-01 -2.92839252e-01 -1.08408383e-01 2.38531752e+01] [ 2.91739894e-01 9.56138117e-01 -2.62247123e-02 1.73055585e+00] [ 1.11333012e-01 -6.71367281e-03 9.93760478e-01 1.77120135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:1.75, Z:1.77 [[ 9.50079647e-01 -2.92433005e-01 -1.08773164e-01 2.38765365e+01] [ 2.91319046e-01 9.56262891e-01 -2.63533210e-02 1.74668524e+00] [ 1.11722321e-01 -6.64994045e-03 9.93717214e-01 1.77440654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.577552018 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:23.90, Y:1.76, Z:1.78 [[ 9.50224484e-01 -2.92223828e-01 -1.08067866e-01 2.39020237e+01] [ 2.91120851e-01 9.56327428e-01 -2.62011443e-02 1.75850012e+00] [ 1.11004863e-01 -6.56384020e-03 9.93798187e-01 1.77717859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:1.77, Z:1.78 [[ 9.50594662e-01 -2.91346568e-01 -1.07177263e-01 2.39282610e+01] [ 2.90251743e-01 9.56596369e-01 -2.60252142e-02 1.77018971e+00] [ 1.10107738e-01 -6.36895786e-03 9.93899252e-01 1.78024721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.637552017999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:23.95, Y:1.79, Z:1.78 [[ 9.51639465e-01 -2.88452014e-01 -1.05724946e-01 2.39520080e+01] [ 2.87364657e-01 9.57476092e-01 -2.57116117e-02 1.78654967e+00] [ 1.08645674e-01 -5.91342839e-03 9.94062950e-01 1.78301401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552018 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:23.98, Y:1.80, Z:1.79 [[ 9.52106903e-01 -2.86963894e-01 -1.05565947e-01 2.39777773e+01] [ 2.85868767e-01 9.57924335e-01 -2.56907817e-02 1.79844944e+00] [ 1.08496517e-01 -5.71763656e-03 9.94080386e-01 1.78587048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.697552017999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:24.00, Y:1.81, Z:1.79 [[ 9.52712726e-01 -2.85138507e-01 -1.05045198e-01 2.40023175e+01] [ 2.84038908e-01 9.58470859e-01 -2.56029544e-02 1.80993140e+00] [ 1.07983149e-01 -5.44466292e-03 9.94137815e-01 1.78810721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:24.03, Y:1.82, Z:1.79 [[ 9.53366287e-01 -2.82924180e-01 -1.05102954e-01 2.40281688e+01] [ 2.81808068e-01 9.59128291e-01 -2.56346114e-02 1.82143686e+00] [ 1.08059868e-01 -5.17968610e-03 9.94130895e-01 1.79090815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.757552018 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:24.05, Y:1.84, Z:1.79 [[ 9.54876633e-01 -2.77942269e-01 -1.04683864e-01 2.40533060e+01] [ 2.76800933e-01 9.60586964e-01 -2.55720172e-02 1.83769141e+00] [ 1.07665500e-01 -4.55846955e-03 9.94176725e-01 1.79316353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:24.08, Y:1.85, Z:1.80 [[ 9.55643129e-01 -2.75402982e-01 -1.04400227e-01 2.40796449e+01] [ 2.74248484e-01 9.61319597e-01 -2.55421367e-02 1.84898640e+00] [ 1.07396365e-01 -4.22243645e-03 9.94207318e-01 1.79589030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.817552017999997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:24.11, Y:1.86, Z:1.80 [[ 9.56419723e-01 -2.72851157e-01 -1.03988264e-01 2.41052568e+01] [ 2.71686547e-01 9.62048426e-01 -2.54803225e-02 1.85986525e+00] [ 1.06994081e-01 -3.88232930e-03 9.94252078e-01 1.79871453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552018 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:24.13, Y:1.88, Z:1.80 [[ 9.57966327e-01 -2.67574057e-01 -1.03463232e-01 2.41306395e+01] [ 2.66386375e-01 9.63531856e-01 -2.53901814e-02 1.87515083e+00] [ 1.06483874e-01 -3.23825655e-03 9.94309156e-01 1.80154690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877552017999996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:24.16, Y:1.89, Z:1.80 [[ 9.58773433e-01 -2.64775541e-01 -1.03186320e-01 2.41566282e+01] [ 2.63573946e-01 9.64305764e-01 -2.53607588e-02 1.88604046e+00] [ 1.06218072e-01 -2.88200388e-03 9.94338682e-01 1.80432794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999997 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:24.18, Y:1.90, Z:1.81 [[ 9.59529760e-01 -2.61990277e-01 -1.03265363e-01 2.41817815e+01] [ 2.60766558e-01 9.65067177e-01 -2.54194061e-02 1.89668742e+00] [ 1.06317650e-01 -2.53747679e-03 9.94328979e-01 1.80662640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.937552017999998 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:24.21, Y:1.91, Z:1.81 [[ 9.60309920e-01 -2.59042028e-01 -1.03450881e-01 2.42081745e+01] [ 2.57795002e-01 9.65863549e-01 -2.54821882e-02 1.90666068e+00] [ 1.06520393e-01 -2.19832200e-03 9.94308088e-01 1.80927593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552018 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:24.23, Y:1.92, Z:1.81 [[ 9.61500397e-01 -2.54165451e-01 -1.04484020e-01 2.42337826e+01] [ 2.52860307e-01 9.67159370e-01 -2.57763058e-02 1.91872616e+00] [ 1.07604145e-01 -1.63593319e-03 9.94192472e-01 1.81063472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.997552017999997 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:24.26, Y:1.93, Z:1.81 [[ 9.62006342e-01 -2.52156458e-01 -1.04694407e-01 2.42601462e+01] [ 2.50829839e-01 9.67685502e-01 -2.58681672e-02 1.92787898e+00] [ 1.07834085e-01 -1.37514030e-03 9.94167953e-01 1.81270707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999998 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:24.29, Y:1.94, Z:1.82 [[ 9.62520880e-01 -2.50027162e-01 -1.05071275e-01 2.42853300e+01] [ 2.48673849e-01 9.68238197e-01 -2.60021295e-02 1.93655526e+00] [ 1.08235260e-01 -1.10088575e-03 9.94124699e-01 1.81532372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.057552018 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:24.31, Y:1.94, Z:1.82 [[ 9.62972682e-01 -2.48093588e-01 -1.05513913e-01 2.43111937e+01] [ 2.46715282e-01 9.68735679e-01 -2.61295807e-02 1.94499877e+00] [ 1.08697674e-01 -8.69822417e-04 9.94074474e-01 1.81790505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999997 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:24.34, Y:1.95, Z:1.82 [[ 9.63761512e-01 -2.45087761e-01 -1.05336310e-01 2.43374268e+01] [ 2.43694210e-01 9.69500762e-01 -2.61037276e-02 1.95374900e+00] [ 1.08521337e-01 -5.12080971e-04 9.94093988e-01 1.82057839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.117552017999998 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:24.36, Y:1.96, Z:1.82 [[ 9.64120242e-01 -2.43959893e-01 -1.04669618e-01 2.43644827e+01] [ 2.42573038e-01 9.69785261e-01 -2.59782328e-02 1.96124264e+00] [ 1.07844699e-01 -3.43887089e-04 9.94167693e-01 1.82354565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552018 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:24.39, Y:1.97, Z:1.83 [[ 9.64792861e-01 -2.41576801e-01 -1.03997040e-01 2.43905044e+01] [ 2.40189732e-01 9.70381702e-01 -2.58504369e-02 1.96810461e+00] [ 1.07161691e-01 -3.87042419e-05 9.94241606e-01 1.82739218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.177552017999997 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:24.42, Y:1.97, Z:1.83 [[ 9.65115377e-01 -2.40759638e-01 -1.02893661e-01 2.44178654e+01] [ 2.39395509e-01 9.70584768e-01 -2.55929292e-02 1.97492239e+00] [ 1.06028764e-01 6.78492675e-05 9.94363061e-01 1.83015996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999998 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:24.44, Y:1.98, Z:1.83 [[ 9.65333613e-01 -2.40001403e-01 -1.02617452e-01 2.44449493e+01] [ 2.38636280e-01 9.70772523e-01 -2.55623619e-02 1.98092387e+00] [ 1.05753206e-01 1.87960024e-04 9.94392389e-01 1.83384222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.237552018 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:24.47, Y:1.99, Z:1.84 [[ 9.65508266e-01 -2.39667112e-01 -1.01751977e-01 2.44712553e+01] [ 2.38319169e-01 9.70855091e-01 -2.53843525e-02 1.98656105e+00] [ 1.04870219e-01 2.59355519e-04 9.94485882e-01 1.83668640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999996 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:24.50, Y:1.99, Z:1.84 [[ 9.65532277e-01 -2.39804998e-01 -1.01197751e-01 2.44985125e+01] [ 2.38470834e-01 9.70821042e-01 -2.52619275e-02 1.99228448e+00] [ 1.04302842e-01 2.58494369e-04 9.94545550e-01 1.84020050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.297552017999998 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:24.53, Y:2.00, Z:1.84 [[ 9.65484214e-01 -2.40626492e-01 -9.96951527e-02 2.45253237e+01] [ 2.39332354e-01 9.70617767e-01 -2.49233676e-02 1.99627611e+00] [ 1.02763109e-01 2.02842440e-04 9.94705837e-01 1.84319099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552018 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:24.55, Y:2.00, Z:1.85 [[ 9.65235949e-01 -2.41681478e-01 -9.95471014e-02 2.45527337e+01] [ 2.40395231e-01 9.70355632e-01 -2.49014217e-02 2.00160316e+00] [ 1.02614303e-01 1.05098995e-04 9.94721214e-01 1.84657825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.357552017999996 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:24.58, Y:2.01, Z:1.85 [[ 9.65041713e-01 -2.42806800e-01 -9.86881408e-02 2.45789064e+01] [ 2.41544881e-01 9.70074666e-01 -2.47227222e-02 2.00638698e+00] [ 1.01737710e-01 2.08429769e-05 9.94811257e-01 1.84890163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999997 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:24.61, Y:2.01, Z:1.85 [[ 9.64300287e-01 -2.45531199e-01 -9.91936868e-02 2.46063529e+01] [ 2.44269055e-01 9.69388656e-01 -2.48648793e-02 2.00902863e+00] [ 1.02262338e-01 -2.52737848e-04 9.94757433e-01 1.85172848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.417552018 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:24.63, Y:2.01, Z:1.85 [[ 9.63874694e-01 -2.46789290e-01 -1.00202901e-01 2.46335576e+01] [ 2.45506487e-01 9.69069092e-01 -2.51328391e-02 2.01322394e+00] [ 1.03306049e-01 -3.75554543e-04 9.94649546e-01 1.85433658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:24.66, Y:2.02, Z:1.86 [[ 9.63799374e-01 -2.47086613e-01 -1.00194671e-01 2.46609540e+01] [ 2.45802006e-01 9.68993326e-01 -2.51656031e-02 2.02036415e+00] [ 1.03306051e-01 -3.73458629e-04 9.94649546e-01 1.85735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.477552017999997 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:24.69, Y:2.02, Z:1.86 [[ 9.63376762e-01 -2.48518193e-01 -1.00717040e-01 2.46887793e+01] [ 2.47224479e-01 9.68627101e-01 -2.53297667e-02 2.02445486e+00] [ 1.03852162e-01 -4.97609094e-04 9.94592620e-01 1.86031837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552018 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:24.72, Y:2.03, Z:1.86 [[ 9.62650270e-01 -2.50980075e-01 -1.01555206e-01 2.47166622e+01] [ 2.49674560e-01 9.67991974e-01 -2.55763949e-02 2.02574108e+00] [ 1.04723790e-01 -7.34627927e-04 9.94501075e-01 1.86252625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.537552017999996 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:24.74, Y:2.03, Z:1.87 [[ 9.62318396e-01 -2.51978160e-01 -1.02226762e-01 2.47433270e+01] [ 2.50659247e-01 9.67732562e-01 -2.57610247e-02 2.03007274e+00] [ 1.05419382e-01 -8.33775170e-04 9.94427503e-01 1.86529053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999997 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:24.77, Y:2.03, Z:1.87 [[ 9.61900768e-01 -2.52820955e-01 -1.04059971e-01 2.47709744e+01] [ 2.51457386e-01 9.67512638e-01 -2.62388731e-02 2.03451446e+00] [ 1.07313074e-01 -9.27456006e-04 9.94224846e-01 1.86769384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.597552018 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:24.80, Y:2.04, Z:1.87 [[ 9.61617863e-01 -2.54395960e-01 -1.02828894e-01 2.47988177e+01] [ 2.53069862e-01 9.67099570e-01 -2.59627760e-02 2.03959759e+00] [ 1.06050605e-01 -1.05662487e-03 9.94360173e-01 1.87116011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:24.83, Y:2.04, Z:1.87 [[ 9.61268111e-01 -2.55531931e-01 -1.03281412e-01 2.48269178e+01] [ 2.54196905e-01 9.66799929e-01 -2.61119047e-02 2.04397758e+00] [ 1.06524887e-01 -1.15327388e-03 9.94309368e-01 1.87390536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.657552017999997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:24.85, Y:2.05, Z:1.88 [[ 9.60654830e-01 -2.57634831e-01 -1.03762182e-01 2.48546393e+01] [ 2.56295807e-01 9.66241402e-01 -2.62680995e-02 2.04523417e+00] [ 1.07026894e-01 -1.35923548e-03 9.94255197e-01 1.87710465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:24.88, Y:2.05, Z:1.88 [[ 9.60319458e-01 -2.59015871e-01 -1.03427837e-01 2.48808664e+01] [ 2.57691860e-01 9.65871911e-01 -2.61984322e-02 2.04931569e+00] [ 1.06683853e-01 -1.49364758e-03 9.94291871e-01 1.87983707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717552017999996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:24.91, Y:2.05, Z:1.88 [[ 9.59828291e-01 -2.60797400e-01 -1.03510232e-01 2.49079960e+01] [ 2.59479985e-01 9.65392096e-01 -2.62342932e-02 2.05389890e+00] [ 1.06769795e-01 -1.67841661e-03 9.94282351e-01 1.88327781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999997 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:24.94, Y:2.06, Z:1.89 [[ 9.58701096e-01 -2.64625863e-01 -1.04237049e-01 2.49361834e+01] [ 2.63307921e-01 9.64348914e-01 -2.64596004e-02 2.05635737e+00] [ 1.07522779e-01 -2.07959266e-03 9.94200446e-01 1.88541853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.777552017999998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:24.96, Y:2.06, Z:1.89 [[ 9.58120850e-01 -2.67380660e-01 -1.02528145e-01 2.49638030e+01] [ 2.66117210e-01 9.63588212e-01 -2.60650836e-02 2.06154434e+00] [ 1.05764211e-01 -2.31100378e-03 9.94388551e-01 1.88981487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552018 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:24.99, Y:2.07, Z:1.89 [[ 9.57323913e-01 -2.69644295e-01 -1.04033070e-01 2.49907855e+01] [ 2.68352299e-01 9.62956595e-01 -2.64884952e-02 2.06589352e+00] [ 1.07321802e-01 -2.55944349e-03 9.94221042e-01 1.89150760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.837552017999997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:25.02, Y:2.07, Z:1.90 [[ 9.55925897e-01 -2.75340802e-01 -1.01946662e-01 2.50180777e+01] [ 2.74130701e-01 9.61341626e-01 -2.59737581e-02 2.06930588e+00] [ 1.05157205e-01 -3.11772191e-03 9.94450724e-01 1.89592492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.05, Y:2.08, Z:1.90 [[ 9.55018900e-01 -2.78603368e-01 -1.01582795e-01 2.50456240e+01] [ 2.77416216e-01 9.60400135e-01 -2.59195719e-02 2.07527558e+00] [ 1.04781410e-01 -3.42703347e-03 9.94489372e-01 1.89941390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.897552018 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:25.07, Y:2.08, Z:1.90 [[ 9.54216810e-01 -2.80942559e-01 -1.02672086e-01 2.50733797e+01] [ 2.79739051e-01 9.59717507e-01 -2.62368092e-02 2.08096550e+00] [ 1.05907235e-01 -3.68578755e-03 9.94369183e-01 1.90097323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:25.10, Y:2.09, Z:1.91 [[ 9.53626868e-01 -2.83446333e-01 -1.01261899e-01 2.51002139e+01] [ 2.82285724e-01 9.58980285e-01 -2.59149218e-02 2.08725772e+00] [ 1.04453655e-01 -3.87162288e-03 9.94522219e-01 1.90521767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.957552017999998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:25.13, Y:2.09, Z:1.91 [[ 9.52843772e-01 -2.86092048e-01 -1.01193314e-01 2.51267873e+01] [ 2.84943756e-01 9.58193278e-01 -2.59364364e-02 2.09300886e+00] [ 1.04382961e-01 -4.12103106e-03 9.94528639e-01 1.90818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:2.10, Z:1.91 [[ 9.52700728e-01 -2.86590175e-01 -1.01130583e-01 2.51532060e+01] [ 2.85444357e-01 9.58044253e-01 -2.59369915e-02 2.09952895e+00] [ 1.04320861e-01 -4.15696356e-03 9.94535006e-01 1.91093239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.017552017999996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:25.18, Y:2.11, Z:1.91 [[ 9.52605231e-01 -2.87150953e-01 -1.00437063e-01 2.51805472e+01] [ 2.86022329e-01 9.57876247e-01 -2.57744495e-02 2.10676872e+00] [ 1.03607435e-01 -4.17436731e-03 9.94609508e-01 1.91345911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.21, Y:2.11, Z:1.92 [[ 9.52630337e-01 -2.87136727e-01 -1.00239415e-01 2.52069672e+01] [ 2.86008580e-01 9.57880711e-01 -2.57611397e-02 2.11435026e+00] [ 1.03414371e-01 -4.12848954e-03 9.94629792e-01 1.91652894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.077552018 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:25.23, Y:2.12, Z:1.92 [[ 9.52639435e-01 -2.87065879e-01 -1.00355808e-01 2.52341388e+01] [ 2.85930736e-01 9.57902115e-01 -2.58292701e-02 2.12226138e+00] [ 1.03545743e-01 -4.08882871e-03 9.94616288e-01 1.91913097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:25.26, Y:2.13, Z:1.92 [[ 9.52716982e-01 -2.86727939e-01 -1.00585491e-01 2.52607847e+01] [ 2.85581685e-01 9.58003598e-01 -2.59269630e-02 2.12980171e+00] [ 1.03795247e-01 -4.02431619e-03 9.94590545e-01 1.92191920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.137552017999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:25.29, Y:2.14, Z:1.92 [[ 9.52867422e-01 -2.86080607e-01 -1.01002784e-01 2.52878458e+01] [ 2.84917157e-01 9.58197482e-01 -2.60729478e-02 2.13746998e+00] [ 1.04239578e-01 -3.93336354e-03 9.94544438e-01 1.92419257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:25.31, Y:2.15, Z:1.93 [[ 9.53700885e-01 -2.82875919e-01 -1.02155945e-01 2.53146224e+01] [ 2.81663269e-01 9.59149805e-01 -2.64093635e-02 2.14631291e+00] [ 1.05453428e-01 -3.58694420e-03 9.94417774e-01 1.92651009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.197552017999996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:25.34, Y:2.16, Z:1.93 [[ 9.54197158e-01 -2.81042187e-01 -1.02582028e-01 2.53413234e+01] [ 2.79804673e-01 9.59689530e-01 -2.65584530e-02 2.15523305e+00] [ 1.05910944e-01 -3.36093045e-03 9.94369939e-01 1.92858085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:25.37, Y:2.16, Z:1.93 [[ 9.54824590e-01 -2.78650714e-01 -1.03265592e-01 2.53668938e+01] [ 2.77378320e-01 9.60387584e-01 -2.67760519e-02 2.16382721e+00] [ 1.06636158e-01 -3.07720368e-03 9.94293347e-01 1.93148409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.257552018 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:25.39, Y:2.17, Z:1.93 [[ 9.56142312e-01 -2.73873220e-01 -1.03852485e-01 2.53936871e+01] [ 2.72555166e-01 9.61762471e-01 -2.69561052e-02 2.17380945e+00] [ 1.07263978e-01 -2.53165849e-03 9.94227353e-01 1.93242753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:25.42, Y:2.18, Z:1.94 [[ 9.56646662e-01 -2.72748218e-01 -1.02154661e-01 2.54202042e+01] [ 2.71462492e-01 9.62082631e-01 -2.65542067e-02 2.18228692e+00] [ 1.05523837e-01 -2.32816559e-03 9.94414048e-01 1.93781798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.317552017999997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:25.45, Y:2.19, Z:1.94 [[ 9.56997970e-01 -2.71881178e-01 -1.01170700e-01 2.54470815e+01] [ 2.70611155e-01 9.62328377e-01 -2.63381330e-02 2.19028576e+00] [ 1.04520278e-01 -2.17238017e-03 9.94520383e-01 1.94108060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552018 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:25.47, Y:2.20, Z:1.94 [[ 9.57184810e-01 -2.71646758e-01 -1.00026392e-01 2.54738962e+01] [ 2.70400001e-01 9.62394771e-01 -2.60795752e-02 2.19865095e+00] [ 1.03349309e-01 -2.08416330e-03 9.94642939e-01 1.94415593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377552017999996 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:25.50, Y:2.21, Z:1.95 [[ 9.57290206e-01 -2.71650373e-01 -9.90027143e-02 2.54990143e+01] [ 2.70425010e-01 9.62393878e-01 -2.58522359e-02 2.20782062e+00] [ 1.02302376e-01 -2.02471782e-03 9.94751288e-01 1.94702932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:25.53, Y:2.22, Z:1.95 [[ 9.57182297e-01 -2.72100783e-01 -9.88089785e-02 2.55254686e+01] [ 2.70880966e-01 9.62266568e-01 -2.58177104e-02 2.21573447e+00] [ 1.02105596e-01 -2.05321614e-03 9.94771447e-01 1.94975227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.437552017999998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:25.55, Y:2.22, Z:1.95 [[ 9.56971294e-01 -2.72934225e-01 -9.85537983e-02 2.55522901e+01] [ 2.71721167e-01 9.62030406e-01 -2.57896348e-02 2.22369651e+00] [ 1.01850625e-01 -2.09921295e-03 9.94797489e-01 1.95226377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:25.58, Y:2.23, Z:1.95 [[ 9.56654599e-01 -2.73874347e-01 -9.90192908e-02 2.55783628e+01] [ 2.72650680e-01 9.61763031e-01 -2.59514641e-02 2.23140112e+00] [ 1.02340534e-01 -2.17108939e-03 9.94747054e-01 1.95466648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.497552017999997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:25.60, Y:2.24, Z:1.96 [[ 9.55887062e-01 -2.76254475e-01 -9.98167779e-02 2.56046194e+01] [ 2.75022180e-01 9.61081455e-01 -2.61770458e-02 2.23937104e+00] [ 1.03163580e-01 -2.42952852e-03 9.94661436e-01 1.95673047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:25.63, Y:2.25, Z:1.96 [[ 9.55325418e-01 -2.78038640e-01 -1.00239018e-01 2.56311760e+01] [ 2.76801640e-01 9.60566382e-01 -2.63263644e-02 2.24729379e+00] [ 1.03605978e-01 -2.59607953e-03 9.94615032e-01 1.95944666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.557552018 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:25.66, Y:2.26, Z:1.96 [[ 9.54845455e-01 -2.79629246e-01 -1.00387463e-01 2.56581231e+01] [ 2.78393329e-01 9.60104161e-01 -2.64036707e-02 2.25514626e+00] [ 1.03765660e-01 -2.73577521e-03 9.94598011e-01 1.96231794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:25.68, Y:2.26, Z:1.97 [[ 9.54045268e-01 -2.82533874e-01 -9.98610876e-02 2.56848022e+01] [ 2.81322861e-01 9.59252633e-01 -2.63027164e-02 2.26357200e+00] [ 1.03223420e-01 -2.99922482e-03 9.94653674e-01 1.96551033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.617552017999998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:25.71, Y:2.27, Z:1.97 [[ 9.53601381e-01 -2.84107901e-01 -9.96348644e-02 2.57116682e+01] [ 2.82907006e-01 9.58787218e-01 -2.62810865e-02 2.27143629e+00] [ 1.02995299e-01 -3.12572080e-03 9.94676932e-01 1.96909238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552018 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:25.74, Y:2.28, Z:1.97 [[ 9.53157289e-01 -2.85662410e-01 -9.94392756e-02 2.57379891e+01] [ 2.84470787e-01 9.58324798e-01 -2.62669541e-02 2.27955484e+00] [ 1.02798605e-01 -3.25103030e-03 9.94696877e-01 1.97222034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.677552017999997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:25.76, Y:2.29, Z:1.97 [[ 9.52696553e-01 -2.87165456e-01 -9.95252616e-02 2.57638371e+01] [ 2.85975768e-01 9.57875041e-01 -2.63299480e-02 2.28766575e+00] [ 1.02893816e-01 -3.37736237e-03 9.94686612e-01 1.97499644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.79, Y:2.30, Z:1.98 [[ 9.51653948e-01 -2.90507896e-01 -9.97994233e-02 2.57898882e+01] [ 2.89328196e-01 9.56865313e-01 -2.64190779e-02 2.29693038e+00] [ 1.03169557e-01 -3.73296727e-03 9.94656779e-01 1.97729346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.737552018 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:25.82, Y:2.31, Z:1.98 [[ 9.50929345e-01 -2.92662454e-01 -1.00409501e-01 2.58164753e+01] [ 2.91476251e-01 9.56207639e-01 -2.66185363e-02 2.30547936e+00] [ 1.03802578e-01 -3.95463765e-03 9.94590059e-01 1.98015285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:25.84, Y:2.31, Z:1.98 [[ 9.50223079e-01 -2.94952275e-01 -1.00395492e-01 2.58434734e+01] [ 2.93775219e-01 9.55502895e-01 -2.66521877e-02 2.31437962e+00] [ 1.03789307e-01 -4.16818394e-03 9.94590572e-01 1.98240908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.797552017999998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.87, Y:2.32, Z:1.99 [[ 9.49511341e-01 -2.97165468e-01 -1.00602674e-01 2.58688816e+01] [ 2.95991810e-01 9.54815943e-01 -2.67462731e-02 2.32267101e+00] [ 1.04005106e-01 -4.38167789e-03 9.94567111e-01 1.98513722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552018 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:25.89, Y:2.33, Z:1.99 [[ 9.47924376e-01 -3.02274587e-01 -1.00346657e-01 2.58946308e+01] [ 3.01133661e-01 9.53208231e-01 -2.66943259e-02 2.33254985e+00] [ 1.03720275e-01 -4.91355388e-03 9.94594370e-01 1.98728109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.857552017999996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:25.92, Y:2.34, Z:1.99 [[ 9.46978779e-01 -3.05069959e-01 -1.00814242e-01 2.59199037e+01] [ 3.03929958e-01 9.52315712e-01 -2.68582549e-02 2.34102721e+00] [ 1.04200634e-01 -5.20627098e-03 9.94542670e-01 1.98995907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:25.94, Y:2.35, Z:1.99 [[ 9.45110270e-01 -3.10676883e-01 -1.01224763e-01 2.59444293e+01] [ 3.09557690e-01 9.50497695e-01 -2.69845977e-02 2.35226310e+00] [ 1.04597395e-01 -5.83148352e-03 9.94497551e-01 1.99302171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.917552018 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:25.97, Y:2.36, Z:2.00 [[ 9.44116172e-01 -3.13869663e-01 -1.00650328e-01 2.59702679e+01] [ 3.12779476e-01 9.49446263e-01 -2.68475789e-02 2.36202621e+00] [ 1.03988719e-01 -6.13412344e-03 9.94559560e-01 1.99560024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999996 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:26.00, Y:2.37, Z:2.00 [[ 9.43241692e-01 -3.16569227e-01 -1.00394402e-01 2.59958207e+01] [ 3.15495714e-01 9.48547967e-01 -2.68180802e-02 2.37179142e+00] [ 1.03718685e-01 -6.37807225e-03 9.94586223e-01 1.99866517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.977552017999997 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:26.02, Y:2.38, Z:2.00 [[ 9.42355043e-01 -3.19363722e-01 -9.98688390e-02 2.60222009e+01] [ 3.18315354e-01 9.47608986e-01 -2.66935510e-02 2.38203782e+00] [ 1.03161561e-01 -6.63498237e-03 9.94642483e-01 2.00158310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552018 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:26.05, Y:2.39, Z:2.00 [[ 9.41577773e-01 -3.21810014e-01 -9.93459241e-02 2.60478141e+01] [ 3.20782337e-01 9.46779618e-01 -2.65903522e-02 2.39226549e+00] [ 1.02615738e-01 -6.83153311e-03 9.94697613e-01 2.00427598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.037552017999996 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:26.07, Y:2.41, Z:2.01 [[ 9.40119045e-01 -3.26138749e-01 -9.90439211e-02 2.60723513e+01] [ 3.25137285e-01 9.45294142e-01 -2.65467651e-02 2.40666631e+00] [ 1.02283567e-01 -7.24575221e-03 9.94728893e-01 2.00607926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999997 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:26.10, Y:2.42, Z:2.01 [[ 9.39483945e-01 -3.27808394e-01 -9.95568900e-02 2.60968429e+01] [ 3.26801860e-01 9.44715011e-01 -2.67225112e-02 2.41758095e+00] [ 1.02812752e-01 -7.43000657e-03 9.94672978e-01 2.00798071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.097552018 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:26.12, Y:2.43, Z:2.01 [[ 9.38751875e-01 -3.29943348e-01 -9.94097795e-02 2.61225354e+01] [ 3.28950056e-01 9.43969837e-01 -2.66984482e-02 2.42906479e+00] [ 1.02648809e-01 -7.63763416e-03 9.94688337e-01 2.00972962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:26.15, Y:2.45, Z:2.01 [[ 9.37618500e-01 -3.33036431e-01 -9.97911973e-02 2.61462921e+01] [ 3.32048970e-01 9.42880263e-01 -2.68382439e-02 2.44544144e+00] [ 1.03029263e-01 -7.97153031e-03 9.94646382e-01 2.01168372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.157552017999997 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:26.17, Y:2.46, Z:2.01 [[ 9.37138165e-01 -3.34442880e-01 -9.95992980e-02 2.61718232e+01] [ 3.33465505e-01 9.42381248e-01 -2.68018671e-02 2.45817587e+00] [ 1.02824204e-01 -8.09587762e-03 9.94666597e-01 2.01407148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999998 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:26.20, Y:2.47, Z:2.02 [[ 9.36695331e-01 -3.35718617e-01 -9.94729519e-02 2.61972243e+01] [ 3.34747196e-01 9.41926698e-01 -2.68031930e-02 2.47114013e+00] [ 1.02694560e-01 -8.19186595e-03 9.94679205e-01 2.01641939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217552017999996 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:26.22, Y:2.49, Z:2.02 [[ 9.36508193e-01 -3.36505077e-01 -9.85735144e-02 2.62199507e+01] [ 3.35551759e-01 9.41646226e-01 -2.65970381e-02 2.48979566e+00] [ 1.01771416e-01 -8.16817210e-03 9.94774276e-01 2.01844261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999997 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:26.25, Y:2.50, Z:2.02 [[ 9.36483490e-01 -3.36803301e-01 -9.77865540e-02 2.62451935e+01] [ 3.35865319e-01 9.41540008e-01 -2.63988965e-02 2.50361525e+00] [ 1.00961188e-01 -8.12098137e-03 9.94857220e-01 2.02091649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.277552017999998 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:26.27, Y:2.52, Z:2.02 [[ 9.36396862e-01 -3.37150399e-01 -9.74193289e-02 2.62703293e+01] [ 3.36217695e-01 9.41416009e-01 -2.63355131e-02 2.51833778e+00] [ 1.00591145e-01 -8.09361043e-03 9.94894927e-01 2.02330860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552018 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:26.29, Y:2.53, Z:2.03 [[ 9.36310160e-01 -3.37438392e-01 -9.72554094e-02 2.62948655e+01] [ 3.36506759e-01 9.41312963e-01 -2.63269215e-02 2.53273046e+00] [ 1.00431492e-01 -8.07693849e-03 9.94911191e-01 2.02614185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.337552017999997 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:26.32, Y:2.54, Z:2.03 [[ 9.36207875e-01 -3.37724552e-01 -9.72468054e-02 2.63221336e+01] [ 3.36791173e-01 9.41210352e-01 -2.63586641e-02 2.54026440e+00] [ 1.00431668e-01 -8.07467676e-03 9.94911192e-01 2.02916392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999998 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:26.35, Y:2.56, Z:2.03 [[ 9.36202930e-01 -3.37910513e-01 -9.66465716e-02 2.63455353e+01] [ 3.36986476e-01 9.41144118e-01 -2.62271726e-02 2.56171309e+00] [ 9.98207897e-02 -8.01463167e-03 9.94973153e-01 2.03054198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.397552018 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:26.38, Y:2.58, Z:2.03 [[ 9.37473818e-01 -3.36838726e-01 -8.76499428e-02 2.63761127e+01] [ 3.34206506e-01 9.41491226e-01 -4.35922287e-02 2.58022362e+00] [ 9.72052029e-02 1.15733920e-02 9.95197068e-01 2.03006992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999997 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:26.40, Y:2.58, Z:2.03 [[ 9.36415719e-01 -3.36035838e-01 -1.01022360e-01 2.64046298e+01] [ 3.36738741e-01 9.41539270e-01 -1.05272516e-02 2.58129949e+00] [ 9.86540533e-02 -2.41602585e-02 9.94828457e-01 2.03225589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.457552017999998 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:26.43, Y:2.60, Z:2.04 [[ 9.36104052e-01 -3.38258709e-01 -9.63859445e-02 2.64273243e+01] [ 3.37210612e-01 9.41028622e-01 -2.74615427e-02 2.60195584e+00] [ 9.99910385e-02 -6.79550190e-03 9.94965132e-01 2.03600022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552018 meters Centerline goodness : 0.986702 Centerline is valid? [True, True] Translation: X:26.45, Y:2.62, Z:2.04 [[ 9.35007046e-01 -3.39536937e-01 -1.02354738e-01 2.64533587e+01] [ 3.39353255e-01 9.40451864e-01 -1.97397913e-02 2.61829048e+00] [ 1.02962093e-01 -1.62775696e-02 9.94552084e-01 2.03904885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.517552017999996 meters Centerline goodness : 0.986543 Centerline is valid? [True, True] Translation: X:26.47, Y:2.64, Z:2.04 [[ 9.32981235e-01 -3.45280330e-01 -1.01624347e-01 2.64699106e+01] [ 3.44347336e-01 9.38449801e-01 -2.71456006e-02 2.63854248e+00] [ 1.04742190e-01 -9.66773725e-03 9.94452416e-01 2.04268760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999998 meters Centerline goodness : 0.985645 Centerline is valid? [True, True] Translation: X:26.50, Y:2.65, Z:2.05 [[ 9.33632958e-01 -3.43605747e-01 -1.01314314e-01 2.65015633e+01] [ 3.42791525e-01 9.39054651e-01 -2.58908011e-02 2.64886895e+00] [ 1.04035906e-01 -1.05571831e-02 9.94517509e-01 2.04614088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.577552018 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:26.53, Y:2.67, Z:2.05 [[ 9.33033511e-01 -3.44898695e-01 -1.02437093e-01 2.65250624e+01] [ 3.44207182e-01 9.38563052e-01 -2.49161350e-02 2.66846539e+00] [ 1.04737213e-01 -1.20119943e-02 9.94427387e-01 2.05033881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999996 meters Centerline goodness : 0.986559 Centerline is valid? [True, True] Translation: X:26.55, Y:2.68, Z:2.05 [[ 9.32620148e-01 -3.46000309e-01 -1.02486324e-01 2.65509123e+01] [ 3.45387559e-01 9.38147150e-01 -2.42354972e-02 2.68265799e+00] [ 1.04532742e-01 -1.27949882e-02 9.94439135e-01 2.05408243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.637552017999997 meters Centerline goodness : 0.986778 Centerline is valid? [True, True] Translation: X:26.58, Y:2.70, Z:2.06 [[ 9.32632645e-01 -3.46378972e-01 -1.01083912e-01 2.65761947e+01] [ 3.45506261e-01 9.38039918e-01 -2.65807307e-02 2.69824056e+00] [ 1.04027751e-01 -1.01350674e-02 9.94522754e-01 2.05783881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552018 meters Centerline goodness : 0.987370 Centerline is valid? [True, True] Translation: X:26.60, Y:2.72, Z:2.06 [[ 9.33129583e-01 -3.45027081e-01 -1.01121188e-01 2.65997056e+01] [ 3.44290019e-01 9.38524818e-01 -2.52101070e-02 2.71804149e+00] [ 1.03602914e-01 -1.12907193e-02 9.94554652e-01 2.06149718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.697552017999996 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:26.63, Y:2.73, Z:2.07 [[ 9.33056973e-01 -3.44937640e-01 -1.02091671e-01 2.66257443e+01] [ 3.44404277e-01 9.38530563e-01 -2.33682615e-02 2.73104467e+00] [ 1.03876746e-01 -1.33568888e-02 9.94500485e-01 2.06565989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999997 meters Centerline goodness : 0.989442 Centerline is valid? [True, True] Translation: X:26.64, Y:2.75, Z:2.07 [[ 9.31620122e-01 -3.49896430e-01 -9.82671717e-02 2.66412040e+01] [ 3.48274811e-01 9.36784292e-01 -3.37616067e-02 2.75360322e+00] [ 1.03868209e-01 -2.77098859e-03 9.94587209e-01 2.06809687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.757552018 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:26.68, Y:2.76, Z:2.07 [[ 9.33194931e-01 -3.44229468e-01 -1.03214793e-01 2.66759244e+01] [ 3.44265065e-01 9.38699252e-01 -1.80354928e-02 2.75615113e+00] [ 1.03095997e-01 -1.87026171e-02 9.94495564e-01 2.07100806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999996 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:26.69, Y:2.79, Z:2.08 [[ 9.32145661e-01 -3.48747351e-01 -9.73640195e-02 2.66883281e+01] [ 3.46889122e-01 9.37216740e-01 -3.59544052e-02 2.78712557e+00] [ 1.03790193e-01 -2.59776458e-04 9.94599180e-01 2.07509407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.817552017999997 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:26.72, Y:2.80, Z:2.08 [[ 9.34074963e-01 -3.44062228e-01 -9.55256304e-02 2.67240934e+01] [ 3.42307195e-01 9.38946807e-01 -3.47084766e-02 2.79543067e+00] [ 1.01635361e-01 -2.78791582e-04 9.94821680e-01 2.07682198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552018 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:26.74, Y:2.81, Z:2.08 [[ 9.31884258e-01 -3.47628528e-01 -1.03663577e-01 2.67406791e+01] [ 3.47682280e-01 9.37436967e-01 -1.81374126e-02 2.80633480e+00] [ 1.03483151e-01 -1.91400195e-02 9.94447031e-01 2.07681979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877552017999996 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:26.76, Y:2.82, Z:2.08 [[ 9.32200059e-01 -3.47065543e-01 -1.02706173e-01 2.67633498e+01] [ 3.45972325e-01 9.37801076e-01 -2.88494615e-02 2.82320114e+00] [ 1.06330614e-01 -8.64002384e-03 9.94293292e-01 2.08325633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999997 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:26.80, Y:2.84, Z:2.09 [[ 9.32901162e-01 -3.45960094e-01 -1.00035173e-01 2.67951875e+01] [ 3.44284039e-01 9.38245581e-01 -3.41135000e-02 2.84061200e+00] [ 1.05659469e-01 -2.61598961e-03 9.94398931e-01 2.08735647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.937552017999998 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:26.81, Y:2.85, Z:2.09 [[ 9.30847173e-01 -3.49299808e-01 -1.07299511e-01 2.68143253e+01] [ 3.49065764e-01 9.36849914e-01 -2.15715436e-02 2.85300075e+00] [ 1.08058474e-01 -1.73747755e-02 9.93992698e-01 2.08779518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:26.85, Y:2.87, Z:2.09 [[ 9.32244301e-01 -3.46917706e-01 -1.02804035e-01 2.68475169e+01] [ 3.45528032e-01 9.37876015e-01 -3.16063196e-02 2.86655744e+00] [ 1.07382231e-01 -6.05686467e-03 9.94199362e-01 2.09389038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.997552017999997 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:26.87, Y:2.88, Z:2.10 [[ 9.32549615e-01 -3.46125079e-01 -1.02706598e-01 2.68735162e+01] [ 3.44682400e-01 9.38172164e-01 -3.20473581e-02 2.87902290e+00] [ 1.07448866e-01 -5.51540530e-03 9.94195314e-01 2.09566071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999998 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:26.90, Y:2.90, Z:2.10 [[ 9.32377599e-01 -3.46192192e-01 -1.04033544e-01 2.68979251e+01] [ 3.45100747e-01 9.38120803e-01 -2.88934788e-02 2.89547177e+00] [ 1.07598729e-01 -8.96242137e-03 9.94154006e-01 2.09730628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.057552018 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:26.92, Y:2.91, Z:2.10 [[ 9.32357219e-01 -3.46317788e-01 -1.03797905e-01 2.69242596e+01] [ 3.45245850e-01 9.38073344e-01 -2.87002399e-02 2.90853560e+00] [ 1.07309452e-01 -9.07692011e-03 9.94184234e-01 2.10022227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999997 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:26.95, Y:2.92, Z:2.10 [[ 9.31908435e-01 -3.46242402e-01 -1.07994756e-01 2.69507017e+01] [ 3.46067349e-01 9.37975469e-01 -2.09621069e-02 2.91978075e+00] [ 1.08554403e-01 -1.78386949e-02 9.93930442e-01 2.10317578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.117552017999998 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:26.98, Y:2.94, Z:2.11 [[ 9.31667766e-01 -3.47478538e-01 -1.06084119e-01 2.69795600e+01] [ 3.46360727e-01 9.37641136e-01 -2.93827754e-02 2.93797613e+00] [ 1.09678717e-01 -9.36838777e-03 9.93922941e-01 2.10983972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552018 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:27.01, Y:2.95, Z:2.11 [[ 9.31649923e-01 -3.47014497e-01 -1.07746737e-01 2.70092625e+01] [ 3.46223011e-01 9.37775824e-01 -2.65730987e-02 2.95127035e+00] [ 1.10263535e-01 -1.25475743e-02 9.93823179e-01 2.11330644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.177552017999997 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:27.04, Y:2.97, Z:2.12 [[ 9.31848076e-01 -3.46155172e-01 -1.08792284e-01 2.70356295e+01] [ 3.45549365e-01 9.38068043e-01 -2.49796508e-02 2.96882449e+00] [ 1.10701400e-01 -1.43158651e-02 9.93750601e-01 2.11727041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999998 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:27.07, Y:2.99, Z:2.12 [[ 9.31464791e-01 -3.47877918e-01 -1.06556544e-01 2.70659255e+01] [ 3.46550228e-01 9.37507894e-01 -3.13350865e-02 2.98501778e+00] [ 1.10798386e-01 -7.73966492e-03 9.93812767e-01 2.12284297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.237552018 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:27.10, Y:3.00, Z:2.13 [[ 9.31357262e-01 -3.48132429e-01 -1.06665186e-01 2.70951328e+01] [ 3.47008102e-01 9.37397119e-01 -2.95299735e-02 2.99709151e+00] [ 1.10267980e-01 -9.51072853e-03 9.93856387e-01 2.12547283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999996 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:27.12, Y:3.01, Z:2.13 [[ 9.30674985e-01 -3.49949898e-01 -1.06673054e-01 2.71249444e+01] [ 3.48843073e-01 9.36717400e-01 -2.94791986e-02 3.01116567e+00] [ 1.10238748e-01 -9.77660331e-03 9.93857050e-01 2.12947343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.297552017999998 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:27.15, Y:3.03, Z:2.13 [[ 9.29941419e-01 -3.50765372e-01 -1.10329556e-01 2.71530656e+01] [ 3.50357814e-01 9.36315992e-01 -2.37015801e-02 3.02694213e+00] [ 1.11617021e-01 -1.66137411e-02 9.93612411e-01 2.13306452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552018 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:27.18, Y:3.04, Z:2.14 [[ 9.29928774e-01 -3.51584339e-01 -1.07800406e-01 2.71821066e+01] [ 3.50249231e-01 9.36119678e-01 -3.17084234e-02 3.04366420e+00] [ 1.12062266e-01 -8.27043387e-03 9.93666769e-01 2.13872418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.357552017999996 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:27.21, Y:3.06, Z:2.14 [[ 9.30261335e-01 -3.50328540e-01 -1.09012669e-01 2.72110483e+01] [ 3.49432547e-01 9.36547593e-01 -2.78478113e-02 3.05507176e+00] [ 1.11851436e-01 -1.21868326e-02 9.93650209e-01 2.14117044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999997 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:27.24, Y:3.07, Z:2.15 [[ 9.30424004e-01 -3.49698215e-01 -1.09646388e-01 2.72410147e+01] [ 3.48684431e-01 9.36793942e-01 -2.89184587e-02 3.06886667e+00] [ 1.12828806e-01 -1.13255604e-02 9.93549894e-01 2.14554715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.417552018 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:27.27, Y:3.09, Z:2.15 [[ 9.32298670e-01 -3.45772567e-01 -1.06115605e-01 2.72695360e+01] [ 3.43639057e-01 9.38318089e-01 -3.83583450e-02 3.09081586e+00] [ 1.12833455e-01 -7.04032205e-04 9.93613665e-01 2.15041840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999996 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:27.30, Y:3.10, Z:2.15 [[ 9.33195819e-01 -3.41843635e-01 -1.10853474e-01 2.72999814e+01] [ 3.41114458e-01 9.39660121e-01 -2.60726641e-02 3.09988995e+00] [ 1.13077363e-01 -1.34828215e-02 9.93494702e-01 2.14968378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.477552017999997 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:27.33, Y:3.11, Z:2.15 [[ 9.34345503e-01 -3.38868629e-01 -1.10302011e-01 2.73275169e+01] [ 3.37772767e-01 9.40779320e-01 -2.90487220e-02 3.11483709e+00] [ 1.13613551e-01 -1.01154727e-02 9.93473522e-01 2.15413556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552018 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:27.36, Y:3.14, Z:2.16 [[ 9.36738910e-01 -3.32708063e-01 -1.08745391e-01 2.73570753e+01] [ 3.30984319e-01 9.43021051e-01 -3.40687290e-02 3.13557192e+00] [ 1.13884133e-01 -4.07951498e-03 9.93485663e-01 2.15956690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.537552017999996 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:27.39, Y:3.15, Z:2.16 [[ 9.38055001e-01 -3.29113884e-01 -1.08336816e-01 2.73878751e+01] [ 3.27553678e-01 9.44276550e-01 -3.24096398e-02 3.14815697e+00] [ 1.12966378e-01 -5.08409796e-03 9.93585804e-01 2.16186867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999997 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:27.42, Y:3.16, Z:2.16 [[ 9.39195253e-01 -3.26122204e-01 -1.07501555e-01 2.74187203e+01] [ 3.24709056e-01 9.45309261e-01 -3.08938406e-02 3.16082693e+00] [ 1.11697383e-01 -5.89137992e-03 9.93724804e-01 2.16473906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.597552018 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:27.45, Y:3.17, Z:2.17 [[ 9.40269214e-01 -3.22861095e-01 -1.07956095e-01 2.74472252e+01] [ 3.22053080e-01 9.46382918e-01 -2.53216717e-02 3.17095913e+00] [ 1.10343187e-01 -1.09584046e-02 9.93833132e-01 2.16578857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999996 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:27.48, Y:3.19, Z:2.17 [[ 9.40717034e-01 -3.21795580e-01 -1.07233701e-01 2.74761202e+01] [ 3.20651101e-01 9.46776766e-01 -2.82245792e-02 3.18531614e+00] [ 1.10608921e-01 -7.83326172e-03 9.93833138e-01 2.17139757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.657552017999997 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:27.51, Y:3.20, Z:2.18 [[ 9.41027590e-01 -3.20682942e-01 -1.07840281e-01 2.75053090e+01] [ 3.19214640e-01 9.47172478e-01 -3.10855421e-02 3.20243354e+00] [ 1.12111949e-01 -5.17184356e-03 9.93682124e-01 2.17682258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999998 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:27.54, Y:3.21, Z:2.18 [[ 9.40699951e-01 -3.20599410e-01 -1.10903657e-01 2.75358206e+01] [ 3.19739323e-01 9.47150343e-01 -2.59421168e-02 3.21228702e+00] [ 1.13359464e-01 -1.10565121e-02 9.93492519e-01 2.17911303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717552017999996 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:27.57, Y:3.22, Z:2.18 [[ 9.40742590e-01 -3.20549908e-01 -1.10684844e-01 2.75651317e+01] [ 3.19539029e-01 9.47181519e-01 -2.72392773e-02 3.22391283e+00] [ 1.13570186e-01 -9.74297923e-03 9.93482203e-01 2.18277136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999997 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:27.60, Y:3.24, Z:2.19 [[ 9.40311753e-01 -3.21274683e-01 -1.12233616e-01 2.75953678e+01] [ 3.19810250e-01 9.46964080e-01 -3.13119008e-02 3.23617844e+00] [ 1.16340924e-01 -6.45051246e-03 9.93188391e-01 2.18679655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.777552017999998 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:27.62, Y:3.25, Z:2.19 [[ 9.40933020e-01 -3.19538758e-01 -1.11982290e-01 2.76248748e+01] [ 3.17568766e-01 9.47570733e-01 -3.54934500e-02 3.24928633e+00] [ 1.17452674e-01 -2.16511862e-03 9.93076121e-01 2.19007610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:27.66, Y:3.26, Z:2.19 [[ 9.40836960e-01 -3.18388424e-01 -1.15994077e-01 2.76559024e+01] [ 3.17261108e-01 9.47908268e-01 -2.85535450e-02 3.25749272e+00] [ 1.19042863e-01 -9.93617900e-03 9.92839397e-01 2.19123935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.837552017999997 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:27.68, Y:3.27, Z:2.19 [[ 9.40547879e-01 -3.17658519e-01 -1.20261188e-01 2.76844346e+01] [ 3.17321515e-01 9.48052070e-01 -2.24572734e-02 3.26627325e+00] [ 1.21147612e-01 -1.70393214e-02 9.92488246e-01 2.19490354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999998 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:27.71, Y:3.28, Z:2.20 [[ 9.41024388e-01 -3.17701041e-01 -1.16357856e-01 2.77130992e+01] [ 3.15724082e-01 9.48185217e-01 -3.55400935e-02 3.28231961e+00] [ 1.21619923e-01 -3.29288250e-03 9.92571283e-01 2.20429380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.897552018 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:27.74, Y:3.29, Z:2.21 [[ 9.41310525e-01 -3.14319102e-01 -1.23036574e-01 2.77431005e+01] [ 3.14071238e-01 9.49146462e-01 -2.19146334e-02 3.28897756e+00] [ 1.23667917e-01 -1.80137740e-02 9.92160144e-01 2.20557021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999997 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:27.77, Y:3.31, Z:2.22 [[ 9.42279939e-01 -3.14144668e-01 -1.15851820e-01 2.77709039e+01] [ 3.11663157e-01 9.49374556e-01 -3.94211709e-02 3.30580075e+00] [ 1.22370721e-01 1.03903456e-03 9.92483918e-01 2.21525417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.957552017999998 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:27.80, Y:3.31, Z:2.21 [[ 9.42009583e-01 -3.12035938e-01 -1.23497040e-01 2.78006949e+01] [ 3.11941422e-01 9.49877950e-01 -2.06016926e-02 3.30862486e+00] [ 1.23735583e-01 -1.91168505e-02 9.92131066e-01 2.21370647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552018 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:27.83, Y:3.33, Z:2.23 [[ 9.43361172e-01 -3.11827562e-01 -1.13284023e-01 2.78293596e+01] [ 3.08753510e-01 9.50115019e-01 -4.41896085e-02 3.32849510e+00] [ 1.21412390e-01 6.70992108e-03 9.92579472e-01 2.22606470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.017552017999996 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:27.86, Y:3.33, Z:2.22 [[ 9.43371414e-01 -3.10219343e-01 -1.17534394e-01 2.78625269e+01] [ 3.08770356e-01 9.50637534e-01 -3.08082023e-02 3.33302359e+00] [ 1.21289907e-01 -7.22755941e-03 9.92590812e-01 2.22480860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999998 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:27.89, Y:3.34, Z:2.23 [[ 9.42963843e-01 -3.09782450e-01 -1.21877090e-01 2.78912276e+01] [ 3.09469510e-01 9.50655496e-01 -2.19715624e-02 3.33924771e+00] [ 1.22669530e-01 -1.69988545e-02 9.92301983e-01 2.22757096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.077552018 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:27.92, Y:3.36, Z:2.24 [[ 9.43685156e-01 -3.10806889e-01 -1.13390495e-01 2.79199133e+01] [ 3.08286507e-01 9.50470081e-01 -3.95734137e-02 3.35507118e+00] [ 1.20073963e-01 2.38808336e-03 9.92762076e-01 2.23735505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999996 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:27.95, Y:3.36, Z:2.24 [[ 9.43361309e-01 -3.12030709e-01 -1.12722127e-01 2.79528484e+01] [ 3.09707215e-01 9.50071536e-01 -3.80199618e-02 3.36396721e+00] [ 1.18957480e-01 9.55704951e-04 9.92898889e-01 2.24118673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.137552017999997 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:27.99, Y:3.37, Z:2.24 [[ 9.42838219e-01 -3.12519100e-01 -1.15706113e-01 2.79852993e+01] [ 3.11292675e-01 9.49871776e-01 -2.89910387e-02 3.36978801e+00] [ 1.18966224e-01 -8.68460601e-03 9.92860320e-01 2.24186011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552018 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:28.02, Y:3.38, Z:2.25 [[ 9.42397055e-01 -3.14141212e-01 -1.14904696e-01 2.80155566e+01] [ 3.12382754e-01 9.49366317e-01 -3.34755487e-02 3.38009604e+00] [ 1.19602697e-01 -4.34698681e-03 9.92812318e-01 2.24747021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.197552017999996 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:28.05, Y:3.39, Z:2.25 [[ 9.41973018e-01 -3.14765683e-01 -1.16659323e-01 2.80477527e+01] [ 3.13521716e-01 9.49127399e-01 -2.93481659e-02 3.38682326e+00] [ 1.19962355e-01 -8.93005059e-03 9.92738277e-01 2.24943146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999997 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:28.08, Y:3.39, Z:2.25 [[ 9.40700491e-01 -3.17797275e-01 -1.18690683e-01 2.80787985e+01] [ 3.16435978e-01 9.48118546e-01 -3.06511864e-02 3.39403342e+00] [ 1.22273701e-01 -8.72441638e-03 9.92458073e-01 2.25339419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.257552018 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:28.11, Y:3.40, Z:2.26 [[ 9.40523119e-01 -3.18294394e-01 -1.18764225e-01 2.81096248e+01] [ 3.16786543e-01 9.47961104e-01 -3.18752341e-02 3.40389228e+00] [ 1.22729574e-01 -7.64351370e-03 9.92410716e-01 2.25802477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999996 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:28.14, Y:3.41, Z:2.26 [[ 9.40069341e-01 -3.19534583e-01 -1.19026405e-01 2.81397248e+01] [ 3.17966162e-01 9.47546248e-01 -3.24596485e-02 3.41185587e+00] [ 1.23155003e-01 -7.33204864e-03 9.92360361e-01 2.26105511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.317552017999997 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:28.17, Y:3.42, Z:2.27 [[ 9.38942971e-01 -3.22039812e-01 -1.21146429e-01 2.81712774e+01] [ 3.20495439e-01 9.46690168e-01 -3.25637691e-02 3.42063412e+00] [ 1.25174964e-01 -8.25135599e-03 9.92100370e-01 2.26591878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552018 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:28.20, Y:3.43, Z:2.27 [[ 9.38332931e-01 -3.23376878e-01 -1.22305788e-01 2.82028196e+01] [ 3.21815778e-01 9.46231854e-01 -3.28615793e-02 3.42992066e+00] [ 1.26356308e-01 -8.52483026e-03 9.91948290e-01 2.27079238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377552017999996 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:28.23, Y:3.44, Z:2.28 [[ 9.37151476e-01 -3.25393092e-01 -1.25962080e-01 2.82326370e+01] [ 3.24660424e-01 9.45448486e-01 -2.68843710e-02 3.43721792e+00] [ 1.27838646e-01 -1.57001743e-02 9.91670704e-01 2.27534686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999997 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:28.26, Y:3.45, Z:2.28 [[ 9.36982060e-01 -3.27434480e-01 -1.21865834e-01 2.82613590e+01] [ 3.25315716e-01 9.44862976e-01 -3.74652000e-02 3.45100864e+00] [ 1.27413913e-01 -4.54065070e-03 9.91839240e-01 2.28351419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.437552017999998 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:28.29, Y:3.46, Z:2.29 [[ 9.36701809e-01 -3.27527492e-01 -1.23755661e-01 2.82930117e+01] [ 3.26163099e-01 9.44781498e-01 -3.17104710e-02 3.45833369e+00] [ 1.27308110e-01 -1.06612745e-02 9.91805920e-01 2.28576701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999996 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:28.32, Y:3.47, Z:2.29 [[ 9.36338401e-01 -3.28713973e-01 -1.23359325e-01 2.83233847e+01] [ 3.27049894e-01 9.44391954e-01 -3.40911105e-02 3.46911171e+00] [ 1.27705778e-01 -8.42383826e-03 9.91776322e-01 2.29135817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.497552017999997 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:28.35, Y:3.47, Z:2.29 [[ 9.37368339e-01 -3.25982910e-01 -1.22783306e-01 2.83503829e+01] [ 3.24995259e-01 9.45284398e-01 -2.85567598e-02 3.47481186e+00] [ 1.25374159e-01 -1.31357898e-02 9.92022566e-01 2.29198902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999998 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:28.38, Y:3.49, Z:2.30 [[ 9.36095028e-01 -3.29681897e-01 -1.22621149e-01 2.83822379e+01] [ 3.27817731e-01 9.44067510e-01 -3.56661145e-02 3.49016503e+00] [ 1.27521115e-01 -6.81051423e-03 9.91812473e-01 2.30189662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557552017999996 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:28.41, Y:3.50, Z:2.31 [[ 9.36582203e-01 -3.29600663e-01 -1.19067965e-01 2.84117616e+01] [ 3.27032847e-01 9.44120318e-01 -4.10651039e-02 3.50228457e+00] [ 1.25949570e-01 -4.78290180e-04 9.92036530e-01 2.30650709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999997 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:28.44, Y:3.51, Z:2.31 [[ 9.36451640e-01 -3.29175517e-01 -1.21251004e-01 2.84435675e+01] [ 3.27452077e-01 9.44239441e-01 -3.44530844e-02 3.51050973e+00] [ 1.25831092e-01 -7.44024584e-03 9.92023779e-01 2.30780170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.617552017999998 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:28.47, Y:3.52, Z:2.31 [[ 9.36379235e-01 -3.28279804e-01 -1.24202650e-01 2.84726959e+01] [ 3.27300204e-01 9.44481406e-01 -2.88001665e-02 3.51934107e+00] [ 1.26761607e-01 -1.36836749e-02 9.91838824e-01 2.30993159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552018 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:28.50, Y:3.53, Z:2.32 [[ 9.36370051e-01 -3.28591605e-01 -1.23445069e-01 2.85025295e+01] [ 3.26883315e-01 9.44437273e-01 -3.44316186e-02 3.53172989e+00] [ 1.27900065e-01 -8.11139689e-03 9.91753890e-01 2.31597335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.677552017999997 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:28.53, Y:3.54, Z:2.32 [[ 9.36935379e-01 -3.27515628e-01 -1.22006596e-01 2.85332570e+01] [ 3.25484729e-01 9.44831233e-01 -3.67917557e-02 3.54246849e+00] [ 1.27325517e-01 -5.23978625e-03 9.91847144e-01 2.31975919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999998 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:28.56, Y:3.55, Z:2.32 [[ 9.37615678e-01 -3.25473795e-01 -1.22244222e-01 2.85633703e+01] [ 3.23875894e-01 9.45513894e-01 -3.32848422e-02 3.55146356e+00] [ 1.26416954e-01 -8.38356672e-03 9.91941767e-01 2.32094445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.737552018 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:28.59, Y:3.56, Z:2.33 [[ 9.38489923e-01 -3.22645793e-01 -1.23029903e-01 2.85933992e+01] [ 3.21114074e-01 9.46478117e-01 -3.26332029e-02 3.56378170e+00] [ 1.26974076e-01 -8.88070124e-03 9.91866280e-01 2.32521033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999996 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:28.63, Y:3.58, Z:2.33 [[ 9.38915336e-01 -3.22948368e-01 -1.18921588e-01 2.86254401e+01] [ 3.20048675e-01 9.46413143e-01 -4.32551496e-02 3.57807586e+00] [ 1.26518134e-01 2.55222673e-03 9.91961011e-01 2.33261586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.797552017999998 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:28.65, Y:3.58, Z:2.33 [[ 9.39019253e-01 -3.20283198e-01 -1.25145977e-01 2.86547926e+01] [ 3.19990876e-01 9.47141856e-01 -2.29813992e-02 3.57917769e+00] [ 1.25891549e-01 -1.84655946e-02 9.91872139e-01 2.32913572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552018 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:28.68, Y:3.59, Z:2.34 [[ 9.38730685e-01 -3.21523978e-01 -1.24125066e-01 2.86828434e+01] [ 3.20066863e-01 9.46852419e-01 -3.20577538e-02 3.59335101e+00] [ 1.27835456e-01 -9.63472328e-03 9.91748591e-01 2.33910122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.857552017999996 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:28.71, Y:3.61, Z:2.35 [[ 9.39162351e-01 -3.20465913e-01 -1.23594807e-01 2.87125494e+01] [ 3.18438160e-01 9.47245763e-01 -3.63676084e-02 3.60682258e+00] [ 1.28729236e-01 -5.20221435e-03 9.91666134e-01 2.34539877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999997 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:28.74, Y:3.62, Z:2.35 [[ 9.39626450e-01 -3.19042589e-01 -1.23749591e-01 2.87439958e+01] [ 3.17050039e-01 9.47724994e-01 -3.60084659e-02 3.61744276e+00] [ 1.28768814e-01 -5.40030557e-03 9.91659936e-01 2.34906642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.917552018 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:28.77, Y:3.63, Z:2.35 [[ 9.40814881e-01 -3.15787707e-01 -1.23066988e-01 2.87734805e+01] [ 3.14271000e-01 9.48791700e-01 -3.20632017e-02 3.62584014e+00] [ 1.26890102e-01 -8.51084817e-03 9.91880269e-01 2.35064799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999996 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:28.80, Y:3.64, Z:2.36 [[ 9.40494320e-01 -3.16169493e-01 -1.24528255e-01 2.88037562e+01] [ 3.14384463e-01 9.48677405e-01 -3.42577053e-02 3.63835347e+00] [ 1.28968383e-01 -6.93057141e-03 9.91624487e-01 2.35750203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.977552017999997 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:28.83, Y:3.65, Z:2.36 [[ 9.41063434e-01 -3.13702645e-01 -1.26452618e-01 2.88328897e+01] [ 3.12525617e-01 9.49449198e-01 -2.95628097e-02 3.64647731e+00] [ 1.29334269e-01 -1.16992033e-02 9.91532035e-01 2.36054307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552018 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:28.86, Y:3.66, Z:2.37 [[ 9.42797431e-01 -3.09735171e-01 -1.23276633e-01 2.88623931e+01] [ 3.07595753e-01 9.50816432e-01 -3.65097971e-02 3.66037407e+00] [ 1.28521816e-01 -3.49802575e-03 9.91700513e-01 2.36880976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.037552017999996 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:28.89, Y:3.67, Z:2.37 [[ 9.43565396e-01 -3.06303201e-01 -1.25947186e-01 2.88915998e+01] [ 3.05191977e-01 9.51864060e-01 -2.85073415e-02 3.66764052e+00] [ 1.28616490e-01 -1.15395297e-02 9.91627268e-01 2.37086235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999997 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:28.92, Y:3.68, Z:2.38 [[ 9.44546649e-01 -3.04803329e-01 -1.22174293e-01 2.89213103e+01] [ 3.02516710e-01 9.52413755e-01 -3.73052120e-02 3.68213114e+00] [ 1.27731230e-01 -1.72325210e-03 9.91807322e-01 2.37941279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.097552018 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:28.95, Y:3.69, Z:2.38 [[ 9.46741585e-01 -2.99001038e-01 -1.19493725e-01 2.89515491e+01] [ 2.96732111e-01 9.54252568e-01 -3.67707883e-02 3.69232863e+00] [ 1.25021698e-01 -6.45190911e-04 9.92153798e-01 2.38296048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999996 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:28.98, Y:3.70, Z:2.38 [[ 9.46914872e-01 -2.96772368e-01 -1.23605767e-01 2.89825294e+01] [ 2.95525635e-01 9.54902727e-01 -2.87294400e-02 3.69920354e+00] [ 1.26557588e-01 -9.32433893e-03 9.91915437e-01 2.38473409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.157552017999997 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:29.01, Y:3.71, Z:2.39 [[ 9.47738241e-01 -2.95152004e-01 -1.21150815e-01 2.90117538e+01] [ 2.93078413e-01 9.55447461e-01 -3.50027601e-02 3.71050987e+00] [ 1.26084373e-01 -2.33323442e-03 9.92016777e-01 2.39135553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999998 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:29.04, Y:3.72, Z:2.39 [[ 9.48710546e-01 -2.92163009e-01 -1.20785249e-01 2.90413630e+01] [ 2.90552388e-01 9.56352396e-01 -3.11352550e-02 3.71777612e+00] [ 1.24609832e-01 -5.55609767e-03 9.92190264e-01 2.39279452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217552017999996 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:29.07, Y:3.73, Z:2.40 [[ 9.49024752e-01 -2.90973403e-01 -1.21187868e-01 2.90726485e+01] [ 2.89256482e-01 9.56719293e-01 -3.19199207e-02 3.72727518e+00] [ 1.25230619e-01 -4.76158145e-03 9.92116233e-01 2.39918100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999997 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:29.10, Y:3.74, Z:2.41 [[ 9.49423900e-01 -2.90675631e-01 -1.18751573e-01 2.91031815e+01] [ 2.88477714e-01 9.56821578e-01 -3.56802008e-02 3.73772570e+00] [ 1.23995432e-01 -3.81546878e-04 9.92282715e-01 2.40510534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.277552017999998 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:29.13, Y:3.75, Z:2.41 [[ 9.49541149e-01 -2.90352865e-01 -1.18603626e-01 2.91349216e+01] [ 2.88440147e-01 9.56916316e-01 -3.33683312e-02 3.74575673e+00] [ 1.23182335e-01 -2.52544368e-03 9.92380841e-01 2.40866214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999996 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:29.17, Y:3.75, Z:2.41 [[ 9.49538225e-01 -2.90655122e-01 -1.17884519e-01 2.91660086e+01] [ 2.88962759e-01 9.56819209e-01 -3.15836139e-02 3.75363808e+00] [ 1.21974111e-01 -4.07438711e-03 9.92524919e-01 2.41230544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.337552017999997 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:29.20, Y:3.76, Z:2.41 [[ 9.48296528e-01 -2.91660832e-01 -1.25170502e-01 2.91952875e+01] [ 2.91901522e-01 9.56300359e-01 -1.68263192e-02 3.75677198e+00] [ 1.24608174e-01 -2.05811198e-02 9.91992551e-01 2.41440170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999998 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:29.22, Y:3.78, Z:2.43 [[ 9.47978630e-01 -2.99009878e-01 -1.09222758e-01 2.92231645e+01] [ 2.95318012e-01 9.54145474e-01 -4.89253151e-02 3.77565357e+00] [ 1.18843552e-01 1.41247055e-02 9.92812521e-01 2.42978176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.397552018 meters Centerline goodness : 0.991844 Centerline is valid? [True, True] Translation: X:29.26, Y:3.77, Z:2.43 [[ 9.47076917e-01 -2.99028245e-01 -1.16736551e-01 2.92574708e+01] [ 2.97973211e-01 9.54197938e-01 -2.68003877e-02 3.77492950e+00] [ 1.19403849e-01 -9.40233633e-03 9.92801247e-01 2.42501614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999997 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:29.28, Y:3.78, Z:2.43 [[ 9.43299525e-01 -3.06342157e-01 -1.27829924e-01 2.92759422e+01] [ 3.07641827e-01 9.51450290e-01 -9.94246706e-03 3.77895349e+00] [ 1.24669615e-01 -2.99471070e-02 9.91746267e-01 2.42778257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.457552017999998 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:29.31, Y:3.80, Z:2.45 [[ 0.9458661 -0.30806813 -0.10213393 29.31177096] [ 0.30261097 0.95085488 -0.06558662 3.80428599] [ 0.11731969 0.03112932 0.99260619 2.45008383] [ 0. 0. 0. 1. ]] SLAMing on 30.487552018 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:29.35, Y:3.80, Z:2.44 [[ 9.46457707e-01 -3.03283038e-01 -1.10621911e-01 2.93488349e+01] [ 3.01719488e-01 9.52892041e-01 -3.10178830e-02 3.79855318e+00] [ 1.14817937e-01 -4.01967208e-03 9.93378419e-01 2.43619121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.517552017999996 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:29.38, Y:3.81, Z:2.44 [[ 9.45370183e-01 -3.06378535e-01 -1.11388555e-01 2.93793606e+01] [ 3.04322466e-01 9.51909678e-01 -3.54372825e-02 3.80921048e+00] [ 1.16889067e-01 -3.96689557e-04 9.93144898e-01 2.44314926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999998 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:29.41, Y:3.81, Z:2.44 [[ 9.45223717e-01 -3.06281782e-01 -1.12887531e-01 2.94099518e+01] [ 3.05315202e-01 9.51891302e-01 -2.61835255e-02 3.81325128e+00] [ 1.15476196e-01 -9.71699014e-03 9.93262719e-01 2.44332499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.577552018 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:29.44, Y:3.82, Z:2.45 [[ 9.44094398e-01 -3.09078178e-01 -1.14701560e-01 2.94385843e+01] [ 3.08049641e-01 9.50986048e-01 -2.70362039e-02 3.82303757e+00] [ 1.17435884e-01 -9.80904564e-03 9.93032022e-01 2.44994073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999996 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:29.47, Y:3.83, Z:2.46 [[ 9.43586733e-01 -3.10552456e-01 -1.14896688e-01 2.94675540e+01] [ 3.09403590e-01 9.50513827e-01 -2.81581720e-02 3.83219199e+00] [ 1.17955480e-01 -8.97977028e-03 9.92978282e-01 2.45570113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.637552017999997 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:29.50, Y:3.84, Z:2.46 [[ 9.43706505e-01 -3.12255921e-01 -1.09152518e-01 2.94971899e+01] [ 3.09785469e-01 9.49992247e-01 -3.93407445e-02 3.84494578e+00] [ 1.15978426e-01 3.31225256e-03 9.93246210e-01 2.46339414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552018 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:29.53, Y:3.84, Z:2.46 [[ 9.44535244e-01 -3.09276440e-01 -1.10459298e-01 2.95303964e+01] [ 3.10066537e-01 9.50658111e-01 -1.03873933e-02 3.84098909e+00] [ 1.08221603e-01 -2.44384728e-02 9.93826366e-01 2.45508083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.697552017999996 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:29.56, Y:3.86, Z:2.47 [[ 9.42174725e-01 -3.16571869e-01 -1.09950167e-01 2.95569663e+01] [ 3.13717246e-01 9.48550491e-01 -4.28188739e-02 3.86337532e+00] [ 1.17848536e-01 5.84959709e-03 9.93014353e-01 2.47493267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999997 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:29.59, Y:3.87, Z:2.48 [[ 9.42233107e-01 -3.16287482e-01 -1.10267861e-01 2.95906271e+01] [ 3.13771759e-01 9.48658578e-01 -3.99272620e-02 3.87114593e+00] [ 1.17235045e-01 3.02184751e-03 9.93099599e-01 2.47624145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.757552018 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:29.62, Y:3.87, Z:2.47 [[ 9.41682101e-01 -3.15415722e-01 -1.17250772e-01 2.96214730e+01] [ 3.15020947e-01 9.48820939e-01 -2.23747354e-02 3.87228950e+00] [ 1.18307331e-01 -1.58665613e-02 9.92850254e-01 2.47285199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999996 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:29.65, Y:3.88, Z:2.48 [[ 9.41156701e-01 -3.17333117e-01 -1.16291691e-01 2.96503902e+01] [ 3.15975498e-01 9.48279436e-01 -3.04236036e-02 3.88469204e+00] [ 1.19931436e-01 -8.11194660e-03 9.92749035e-01 2.48129490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.817552017999997 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:29.68, Y:3.90, Z:2.49 [[ 9.41246126e-01 -3.18361037e-01 -1.12703065e-01 2.96804089e+01] [ 3.16204554e-01 9.47969195e-01 -3.70011625e-02 3.89550233e+00] [ 1.18618762e-01 -8.10021531e-04 9.92939542e-01 2.48633871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552018 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:29.71, Y:3.90, Z:2.49 [[ 9.40093080e-01 -3.19813508e-01 -1.18086071e-01 2.97124411e+01] [ 3.18451577e-01 9.47440524e-01 -3.07415951e-02 3.90234938e+00] [ 1.21711107e-01 -8.70473487e-03 9.92527397e-01 2.48947169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877552017999996 meters Centerline goodness : 0.991622 Centerline is valid? [True, True] Translation: X:29.74, Y:3.91, Z:2.49 [[ 9.39305118e-01 -3.21511793e-01 -1.19733299e-01 2.97422050e+01] [ 3.20463062e-01 9.46833871e-01 -2.84437257e-02 3.90903892e+00] [ 1.22512537e-01 -1.16527626e-02 9.92398555e-01 2.49170788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999997 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:29.77, Y:3.92, Z:2.50 [[ 9.38535446e-01 -3.24622695e-01 -1.17351279e-01 2.97719478e+01] [ 3.22187185e-01 9.45843432e-01 -3.96940764e-02 3.92199384e+00] [ 1.23881534e-01 -5.54780507e-04 9.92296860e-01 2.50027052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.937552017999998 meters Centerline goodness : 0.991715 Centerline is valid? [True, True] Translation: X:29.80, Y:3.91, Z:2.49 [[ 9.38230515e-01 -3.20921044e-01 -1.29356812e-01 2.98034369e+01] [ 3.24170464e-01 9.45988817e-01 4.32062137e-03 3.91313631e+00] [ 1.20983519e-01 -4.59873964e-02 9.91588699e-01 2.49015681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999996 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:29.82, Y:3.95, Z:2.52 [[ 9.35844393e-01 -3.31660634e-01 -1.19149050e-01 2.98243763e+01] [ 3.27480420e-01 9.43332120e-01 -5.36757470e-02 3.94528709e+00] [ 1.30199258e-01 1.12131658e-02 9.91424439e-01 2.51940298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.997552017999997 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:29.86, Y:3.94, Z:2.51 [[ 9.36670015e-01 -3.27169669e-01 -1.24937148e-01 2.98575435e+01] [ 3.27360647e-01 9.44696440e-01 -1.95868066e-02 3.93868800e+00] [ 1.24435888e-01 -2.25531312e-02 9.91971303e-01 2.50873822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999998 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:29.89, Y:3.96, Z:2.53 [[ 9.34816202e-01 -3.34191544e-01 -1.20144412e-01 2.98856289e+01] [ 3.30102429e-01 9.42452765e-01 -5.30581971e-02 3.96101106e+00] [ 1.30962035e-01 9.93969993e-03 9.91337555e-01 2.52697108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057552017999996 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:29.92, Y:3.96, Z:2.52 [[ 9.35392024e-01 -3.32216007e-01 -1.21137470e-01 2.99197698e+01] [ 3.29434208e-01 9.43203305e-01 -4.29025419e-02 3.96450652e+00] [ 1.28510173e-01 2.23869079e-04 9.91708165e-01 2.52461230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999997 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:29.95, Y:3.97, Z:2.53 [[ 9.34392029e-01 -3.33689851e-01 -1.24750226e-01 2.99532596e+01] [ 3.31706612e-01 9.42658099e-01 -3.69652728e-02 3.96860622e+00] [ 1.29931747e-01 -6.84041847e-03 9.91499344e-01 2.52662487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.117552017999998 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:29.98, Y:3.98, Z:2.53 [[ 9.34274167e-01 -3.34472312e-01 -1.23531589e-01 2.99843850e+01] [ 3.32221494e-01 9.42394377e-01 -3.90091897e-02 3.97667950e+00] [ 1.29462969e-01 -4.59457086e-03 9.91573613e-01 2.53047973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552018 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:30.02, Y:3.99, Z:2.53 [[ 9.34135166e-01 -3.34392270e-01 -1.24793030e-01 3.00156980e+01] [ 3.32527055e-01 9.42402017e-01 -3.61136700e-02 3.98536801e+00] [ 1.29681335e-01 -7.76200944e-03 9.91525341e-01 2.53409317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.177552017999997 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:30.05, Y:3.99, Z:2.54 [[ 9.33849828e-01 -3.35202043e-01 -1.24756118e-01 3.00466381e+01] [ 3.33213337e-01 9.42120885e-01 -3.71094282e-02 3.99285251e+00] [ 1.29974500e-01 -6.91576915e-03 9.91493218e-01 2.53867529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999998 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:30.08, Y:4.00, Z:2.54 [[ 9.33502839e-01 -3.35562895e-01 -1.26372436e-01 3.00793519e+01] [ 3.33794228e-01 9.41974947e-01 -3.55613968e-02 3.99751903e+00] [ 1.30972754e-01 -8.98572488e-03 9.91345245e-01 2.54230630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.237552018 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:30.11, Y:4.00, Z:2.55 [[ 9.33813615e-01 -3.34717648e-01 -1.26317965e-01 3.01095025e+01] [ 3.32957819e-01 9.42275765e-01 -3.54326714e-02 4.00444594e+00] [ 1.30886298e-01 -8.97104310e-03 9.91356796e-01 2.54628212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999996 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:30.14, Y:4.01, Z:2.55 [[ 9.33604787e-01 -3.35715421e-01 -1.25208859e-01 3.01404591e+01] [ 3.33086435e-01 9.41960170e-01 -4.20055331e-02 4.01458338e+00] [ 1.32043663e-01 -2.48880550e-03 9.91240776e-01 2.55287312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.297552017999998 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:30.17, Y:4.02, Z:2.56 [[ 9.33788293e-01 -3.34479154e-01 -1.27134261e-01 3.01736044e+01] [ 3.32274104e-01 9.42384032e-01 -3.88105073e-02 4.01995414e+00] [ 1.32790603e-01 -6.00262543e-03 9.91125938e-01 2.55534604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552018 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:30.21, Y:4.02, Z:2.56 [[ 9.34604190e-01 -3.32411733e-01 -1.26560056e-01 3.02065775e+01] [ 3.30080003e-01 9.43122297e-01 -3.95919798e-02 4.02348644e+00] [ 1.32522449e-01 -4.77211333e-03 9.91168516e-01 2.55822575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.357552017999996 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:30.24, Y:4.03, Z:2.56 [[ 9.35137886e-01 -3.31107688e-01 -1.26035048e-01 3.02385614e+01] [ 3.28605649e-01 9.43587209e-01 -4.07615794e-02 4.03048205e+00] [ 1.32421532e-01 -3.29813161e-03 9.91188005e-01 2.56207644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999997 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:30.27, Y:4.04, Z:2.57 [[ 9.35622338e-01 -3.29207877e-01 -1.27408844e-01 3.02718244e+01] [ 3.27041995e-01 9.44238684e-01 -3.81685999e-02 4.03625346e+00] [ 1.32869763e-01 -5.95664790e-03 9.91115606e-01 2.56539493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.417552018 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:30.30, Y:4.04, Z:2.57 [[ 9.36235957e-01 -3.26520716e-01 -1.29793893e-01 3.03024145e+01] [ 3.25020148e-01 9.45124673e-01 -3.31851895e-02 4.04016853e+00] [ 1.33507063e-01 -1.11164627e-02 9.90985514e-01 2.56789362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999996 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:30.33, Y:4.04, Z:2.57 [[ 9.37041347e-01 -3.23155795e-01 -1.32377664e-01 3.03338515e+01] [ 3.21321208e-01 9.46301199e-01 -3.55910406e-02 4.04278887e+00] [ 1.36770593e-01 -9.18547427e-03 9.90560161e-01 2.57363230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.477552017999997 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:30.36, Y:4.04, Z:2.58 [[ 9.35069823e-01 -3.22760514e-01 -1.46526708e-01 3.03565752e+01] [ 3.24066091e-01 9.45906810e-01 -1.55394618e-02 4.04285332e+00] [ 1.43616136e-01 -3.29538556e-02 9.89084652e-01 2.57582754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552018 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:30.39, Y:4.07, Z:2.60 [[ 0.93875165 -0.32407191 -0.11714406 30.38696581] [ 0.31633496 0.94526631 -0.08002368 4.070792 ] [ 0.13666576 0.0380656 0.98988559 2.59536764] [ 0. 0. 0. 1. ]] SLAMing on 31.537552017999996 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:30.43, Y:4.05, Z:2.58 [[ 9.39190535e-01 -3.15074411e-01 -1.36562276e-01 3.04259734e+01] [ 3.14040146e-01 9.48947421e-01 -2.96239703e-02 4.05447880e+00] [ 1.38924174e-01 -1.50634845e-02 9.90188449e-01 2.58169426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999997 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:30.45, Y:4.06, Z:2.59 [[ 9.39415355e-01 -3.14518745e-01 -1.36296554e-01 3.04543612e+01] [ 3.12498705e-01 9.49215247e-01 -3.65372886e-02 4.06263338e+00] [ 1.40866430e-01 -8.26880680e-03 9.89994079e-01 2.58946836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.597552018 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:30.49, Y:4.06, Z:2.60 [[ 9.39581803e-01 -3.12411863e-01 -1.39945928e-01 3.04864655e+01] [ 3.10383317e-01 9.49904219e-01 -3.66629488e-02 4.06355479e+00] [ 1.44389168e-01 -8.98904180e-03 9.89480149e-01 2.59546733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999996 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:30.51, Y:4.07, Z:2.60 [[ 9.40293285e-01 -3.11420581e-01 -1.37352685e-01 3.05139587e+01] [ 3.08448597e-01 9.50270151e-01 -4.29663104e-02 4.06925279e+00] [ 1.43902750e-01 -1.96531003e-03 9.89589883e-01 2.60119489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.657552017999997 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:30.54, Y:4.07, Z:2.61 [[ 9.40010553e-01 -3.11961584e-01 -1.38058434e-01 3.05414281e+01] [ 3.08500023e-01 9.50094208e-01 -4.63544052e-02 4.07300075e+00] [ 1.45629312e-01 9.82600089e-04 9.89338738e-01 2.60562270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999998 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:30.57, Y:4.07, Z:2.61 [[ 9.39289481e-01 -3.12738015e-01 -1.41174376e-01 3.05746503e+01] [ 3.10000000e-01 9.49827671e-01 -4.15619433e-02 4.06572665e+00] [ 1.47089328e-01 -4.72536040e-03 9.89111925e-01 2.60636785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717552017999996 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:30.60, Y:4.06, Z:2.61 [[ 9.35789689e-01 -3.16122336e-01 -1.56090767e-01 3.05964378e+01] [ 3.17493240e-01 9.48112791e-01 -1.67385285e-02 4.06030521e+00] [ 1.53283075e-01 -3.38940210e-02 9.87600878e-01 2.60742470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999997 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:30.63, Y:4.08, Z:2.62 [[ 9.37617493e-01 -3.21560539e-01 -1.32182666e-01 3.06267281e+01] [ 3.14412470e-01 9.46523829e-01 -7.23701581e-02 4.08240440e+00] [ 1.48385431e-01 2.62956475e-02 9.88579943e-01 2.62358359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.777552017999998 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:30.66, Y:4.07, Z:2.62 [[ 9.36163187e-01 -3.20015160e-01 -1.45563677e-01 3.06622398e+01] [ 3.17819816e-01 9.47359625e-01 -3.87337709e-02 4.07010690e+00] [ 1.50296544e-01 -1.00018907e-02 9.88590366e-01 2.61760418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999996 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:30.69, Y:4.06, Z:2.62 [[ 9.31530111e-01 -3.28116355e-01 -1.56816168e-01 3.06854195e+01] [ 3.28655560e-01 9.44164078e-01 -2.32318208e-02 4.06159972e+00] [ 1.55682933e-01 -2.98973650e-02 9.87354532e-01 2.62141474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.837552017999997 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:30.71, Y:4.07, Z:2.63 [[ 9.30466512e-01 -3.34849636e-01 -1.48686889e-01 3.07085870e+01] [ 3.31349742e-01 9.42262345e-01 -4.84667134e-02 4.07356139e+00] [ 1.56331118e-01 -4.17070845e-03 9.87695898e-01 2.63277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999998 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:30.74, Y:4.07, Z:2.64 [[ 9.29493419e-01 -3.37608511e-01 -1.48534433e-01 3.07370238e+01] [ 3.34147256e-01 9.41275334e-01 -4.84392014e-02 4.07477043e+00] [ 1.56165285e-01 -4.60845427e-03 9.87720186e-01 2.63621959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.897552018 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:30.76, Y:4.08, Z:2.64 [[ 9.28511838e-01 -3.40244858e-01 -1.48658007e-01 3.07648307e+01] [ 3.36803123e-01 9.40323546e-01 -4.85312832e-02 4.07578654e+00] [ 1.56299144e-01 -5.00661001e-03 9.87697075e-01 2.64011992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999997 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:30.80, Y:4.07, Z:2.64 [[ 9.29187841e-01 -3.42510544e-01 -1.38911782e-01 3.08040470e+01] [ 3.36890558e-01 9.39442056e-01 -6.28758719e-02 4.07398784e+00] [ 1.52035219e-01 1.16254279e-02 9.88306704e-01 2.64428931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.957552017999998 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:30.84, Y:4.07, Z:2.64 [[ 9.29771386e-01 -3.41752752e-01 -1.36858417e-01 3.08377242e+01] [ 3.37022470e-01 9.39764160e-01 -5.70892072e-02 4.07327865e+00] [ 1.48125029e-01 6.95554948e-03 9.88944182e-01 2.64185332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987552018 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:30.86, Y:4.06, Z:2.64 [[ 9.25642457e-01 -3.42870626e-01 -1.60080528e-01 3.08585243e+01] [ 3.45621742e-01 9.38306868e-01 -1.12175090e-02 4.05931652e+00] [ 1.54050814e-01 -4.49439084e-02 9.87040218e-01 2.64261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.017552017999996 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:30.88, Y:4.07, Z:2.65 [[ 9.24002409e-01 -3.52046582e-01 -1.49274083e-01 3.08823363e+01] [ 3.48700194e-01 9.35957338e-01 -4.89084420e-02 4.07138868e+00] [ 1.56932224e-01 -6.86038354e-03 9.87585547e-01 2.65466011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047552018 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:30.91, Y:4.07, Z:2.66 [[ 9.23014031e-01 -3.54066989e-01 -1.50604338e-01 3.09104283e+01] [ 3.50678524e-01 9.35192201e-01 -4.93975725e-02 4.07359157e+00] [ 1.58334052e-01 -7.21905464e-03 9.87359212e-01 2.65818329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.077552018 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:30.94, Y:4.08, Z:2.66 [[ 9.22035103e-01 -3.56114392e-01 -1.51768934e-01 3.09385580e+01] [ 3.52691772e-01 9.34411632e-01 -4.98338853e-02 4.07567020e+00] [ 1.59561221e-01 -7.57906293e-03 9.87158941e-01 2.66172755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.107552018 meters Centerline goodness : 0.988805 Centerline is valid? [True, True] Translation: X:30.97, Y:4.08, Z:2.67 [[ 9.21060553e-01 -3.58170756e-01 -1.52843602e-01 3.09668245e+01] [ 3.54718402e-01 9.33622327e-01 -5.02414660e-02 4.07792841e+00] [ 1.60693223e-01 -7.94100593e-03 9.86972456e-01 2.66560001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.137552017999994 meters Centerline goodness : 0.987374 Centerline is valid? [True, True] Translation: X:31.00, Y:4.07, Z:2.67 [[ 9.19491691e-01 -3.61672608e-01 -1.54038811e-01 3.09973923e+01] [ 3.58205346e-01 9.32265787e-01 -5.06895611e-02 4.07445929e+00] [ 1.61938139e-01 -8.56889530e-03 9.86763707e-01 2.66924950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167552017999995 meters Centerline goodness : 0.985924 Centerline is valid? [True, True] Translation: X:31.03, Y:4.09, Z:2.67 [[ 9.22499753e-01 -3.61610648e-01 -1.35025719e-01 3.10332270e+01] [ 3.53558359e-01 9.31956124e-01 -8.03384632e-02 4.08686700e+00] [ 1.54889289e-01 2.63727409e-02 9.87579762e-01 2.67116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197552017999996 meters Centerline goodness : 0.986575 Centerline is valid? [True, True] Translation: X:31.06, Y:4.06, Z:2.67 [[ 9.17986856e-01 -3.59699837e-01 -1.67081293e-01 3.10612521e+01] [ 3.62626368e-01 9.31833457e-01 -1.37304599e-02 4.06045259e+00] [ 1.60630783e-01 -4.79837009e-02 9.85847511e-01 2.67187398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227552018 meters Centerline goodness : 0.985808 Centerline is valid? [True, True] Translation: X:31.08, Y:4.08, Z:2.68 [[ 9.17277290e-01 -3.66788083e-01 -1.55141468e-01 3.10820133e+01] [ 3.63319689e-01 9.30256958e-01 -5.11937063e-02 4.08098622e+00] [ 1.63098671e-01 -9.40712570e-03 9.86564914e-01 2.68284985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.257552018 meters Centerline goodness : 0.986585 Centerline is valid? [True, True] Translation: X:31.11, Y:4.09, Z:2.69 [[ 9.16792389e-01 -3.67802008e-01 -1.55606550e-01 3.11089541e+01] [ 3.64318027e-01 9.29854930e-01 -5.14021833e-02 4.08535723e+00] [ 1.63597343e-01 -9.56514072e-03 9.86480825e-01 2.68687181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.287552018 meters Centerline goodness : 0.986954 Centerline is valid? [True, True] Translation: X:31.14, Y:4.09, Z:2.69 [[ 9.16077930e-01 -3.69193508e-01 -1.56516391e-01 3.11376846e+01] [ 3.65681973e-01 9.29300502e-01 -5.17423577e-02 4.08714858e+00] [ 1.64553703e-01 -9.83519075e-03 9.86319090e-01 2.69111886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.317552018 meters Centerline goodness : 0.986412 Centerline is valid? [True, True] Translation: X:31.16, Y:4.09, Z:2.70 [[ 9.15885413e-01 -3.68942010e-01 -1.58226750e-01 3.11636895e+01] [ 3.65340139e-01 9.29400233e-01 -5.23621072e-02 4.09236760e+00] [ 1.66374559e-01 -9.84889252e-03 9.86013441e-01 2.69630853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347552017999995 meters Centerline goodness : 0.986420 Centerline is valid? [True, True] Translation: X:31.19, Y:4.10, Z:2.70 [[ 9.15540933e-01 -3.69664147e-01 -1.58534595e-01 3.11901469e+01] [ 3.66054346e-01 9.29111900e-01 -5.24908805e-02 4.09913897e+00] [ 1.66700376e-01 -9.97472787e-03 9.85957144e-01 2.70012875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377552017999996 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:31.22, Y:4.11, Z:2.70 [[ 9.15356442e-01 -3.69920216e-01 -1.59001940e-01 3.12164811e+01] [ 3.66283417e-01 9.29009712e-01 -5.27011699e-02 4.10611566e+00] [ 1.67209575e-01 -9.99941858e-03 9.85870666e-01 2.70422334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407552018 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:31.24, Y:4.11, Z:2.71 [[ 9.15265638e-01 -3.69830063e-01 -1.59732704e-01 3.12424099e+01] [ 3.66148821e-01 9.29045836e-01 -5.29988215e-02 4.11152579e+00] [ 1.67999561e-01 -9.97794120e-03 9.85736571e-01 2.70878113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.437552018 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:31.27, Y:4.12, Z:2.71 [[ 9.15174773e-01 -3.70134695e-01 -1.59547620e-01 3.12689762e+01] [ 3.66461848e-01 9.28924321e-01 -5.29652623e-02 4.11931358e+00] [ 1.67811946e-01 -9.99564395e-03 9.85768349e-01 2.71358403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.467552018 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:31.29, Y:4.13, Z:2.72 [[ 9.15328963e-01 -3.69871279e-01 -1.59273751e-01 3.12943544e+01] [ 3.66197950e-01 9.29030487e-01 -5.29283996e-02 4.12685544e+00] [ 1.67546865e-01 -9.87882385e-03 9.85814616e-01 2.71832734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.497552018 meters Centerline goodness : 0.987779 Centerline is valid? [True, True] Translation: X:31.32, Y:4.14, Z:2.72 [[ 9.15150315e-01 -3.70635808e-01 -1.58521291e-01 3.13203158e+01] [ 3.67004025e-01 9.28725040e-01 -5.27052628e-02 4.13546093e+00] [ 1.66757150e-01 -9.94471416e-03 9.85947846e-01 2.72388123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527552017999994 meters Centerline goodness : 0.987430 Centerline is valid? [True, True] Translation: X:31.35, Y:4.14, Z:2.73 [[ 9.15140664e-01 -3.67400941e-01 -1.65934062e-01 3.13510758e+01] [ 3.66251692e-01 9.29714584e-01 -3.86068792e-02 4.13578237e+00] [ 1.68455521e-01 -2.54429059e-02 9.85380838e-01 2.73187402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.557552017999996 meters Centerline goodness : 0.987419 Centerline is valid? [True, True] Translation: X:31.37, Y:4.15, Z:2.74 [[ 9.14383490e-01 -3.71173754e-01 -1.61656669e-01 3.13738423e+01] [ 3.67782377e-01 9.28481763e-01 -5.15532582e-02 4.15043102e+00] [ 1.69230485e-01 -1.23150258e-02 9.85499560e-01 2.74011054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587552018 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:31.39, Y:4.17, Z:2.74 [[ 9.13051352e-01 -3.78975155e-01 -1.50715165e-01 3.13944595e+01] [ 3.73055414e-01 9.25394102e-01 -6.68985296e-02 4.16827022e+00] [ 1.64823805e-01 4.85668479e-03 9.86311070e-01 2.74192346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.617552018 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:31.42, Y:4.17, Z:2.74 [[ 9.12139176e-01 -3.79265981e-01 -1.55433071e-01 3.14229031e+01] [ 3.75876168e-01 9.25220338e-01 -5.18115004e-02 4.17053065e+00] [ 1.63460178e-01 -1.11642880e-02 9.86486761e-01 2.74396520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.647552018 meters Centerline goodness : 0.987800 Centerline is valid? [True, True] Translation: X:31.45, Y:4.18, Z:2.75 [[ 9.11210378e-01 -3.81305434e-01 -1.55890387e-01 3.14489430e+01] [ 3.77916034e-01 9.24377408e-01 -5.20180687e-02 4.17919394e+00] [ 1.63936324e-01 -1.15140725e-02 9.86403725e-01 2.74854220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.677552018 meters Centerline goodness : 0.987392 Centerline is valid? [True, True] Translation: X:31.48, Y:4.19, Z:2.75 [[ 9.10443216e-01 -3.83166782e-01 -1.55808754e-01 3.14750602e+01] [ 3.79798897e-01 9.23603897e-01 -5.20445931e-02 4.18841303e+00] [ 1.63847331e-01 -1.17923462e-02 9.86415223e-01 2.75285637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707552017999994 meters Centerline goodness : 0.986742 Centerline is valid? [True, True] Translation: X:31.51, Y:4.20, Z:2.76 [[ 9.10470490e-01 -3.82816752e-01 -1.56508214e-01 3.15058940e+01] [ 3.79278225e-01 9.23758500e-01 -5.30872940e-02 4.19677880e+00] [ 1.64898499e-01 -1.10257430e-02 9.86248913e-01 2.76007091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737552017999995 meters Centerline goodness : 0.986682 Centerline is valid? [True, True] Translation: X:31.53, Y:4.20, Z:2.77 [[ 9.08887194e-01 -3.83060463e-01 -1.64890113e-01 3.15312165e+01] [ 3.82380468e-01 9.23258473e-01 -3.71344762e-02 4.20210505e+00] [ 1.66460944e-01 -2.92997087e-02 9.85612643e-01 2.76601965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767552017999996 meters Centerline goodness : 0.986811 Centerline is valid? [True, True] Translation: X:31.55, Y:4.23, Z:2.77 [[ 9.08305328e-01 -3.89709941e-01 -1.52011819e-01 3.15487078e+01] [ 3.84171636e-01 9.20937028e-01 -6.54762949e-02 4.22766904e+00] [ 1.65510076e-01 1.07383833e-03 9.86207515e-01 2.77017384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.797552018 meters Centerline goodness : 0.985452 Centerline is valid? [True, True] Translation: X:31.58, Y:4.23, Z:2.77 [[ 9.09166107e-01 -3.85636689e-01 -1.57166583e-01 3.15827298e+01] [ 3.82239471e-01 9.22568592e-01 -5.25374131e-02 4.23025895e+00] [ 1.65257307e-01 -1.23100362e-02 9.86173659e-01 2.77471919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.827552018 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:31.60, Y:4.25, Z:2.78 [[ 9.07102769e-01 -3.89308750e-01 -1.60010200e-01 3.16024514e+01] [ 3.86144095e-01 9.20987287e-01 -5.17219033e-02 4.24669850e+00] [ 1.67503149e-01 -1.48699122e-02 9.85759393e-01 2.77721416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.857552018 meters Centerline goodness : 0.983955 Centerline is valid? [True, True] Translation: X:31.64, Y:4.26, Z:2.78 [[ 9.08836915e-01 -3.87588244e-01 -1.54242712e-01 3.16350256e+01] [ 3.82435844e-01 9.21830999e-01 -6.30113808e-02 4.25934417e+00] [ 1.66608184e-01 -1.72087295e-03 9.86021679e-01 2.78201039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters Centerline goodness : 0.986074 Centerline is valid? [True, True] Translation: X:31.66, Y:4.26, Z:2.79 [[ 0.90705021 -0.38554513 -0.16915931 31.66264621] [ 0.38577878 0.9220068 -0.03283596 4.25819034] [ 0.16862578 -0.03547421 0.98504159 2.78755383] [ 0. 0. 0. 1. ]] SLAMing on 32.917552017999995 meters Centerline goodness : 0.986014 Centerline is valid? [True, True] Translation: X:31.69, Y:4.29, Z:2.79 [[ 9.08491283e-01 -3.90143003e-01 -1.49773250e-01 3.16863717e+01] [ 3.83275714e-01 9.20706827e-01 -7.34756148e-02 4.28665127e+00] [ 1.66563251e-01 9.34750622e-03 9.85986464e-01 2.79411604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters Centerline goodness : 0.986489 Centerline is valid? [True, True] Translation: X:31.71, Y:4.29, Z:2.80 [[ 9.07302125e-01 -3.87654571e-01 -1.62870462e-01 3.17078015e+01] [ 3.86932219e-01 9.21347224e-01 -3.74533103e-02 4.28975823e+00] [ 1.64579195e-01 -2.90383614e-02 9.85936338e-01 2.79605019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977552018 meters Centerline goodness : 0.986295 Centerline is valid? [True, True] Translation: X:31.74, Y:4.31, Z:2.81 [[ 9.09578330e-01 -3.86032290e-01 -1.53773640e-01 3.17371909e+01] [ 3.81414384e-01 9.22474974e-01 -5.96907778e-02 4.30779279e+00] [ 1.64894903e-01 -4.35804041e-03 9.86301515e-01 2.80590807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.007552018 meters Centerline goodness : 0.986735 Centerline is valid? [True, True] Translation: X:31.76, Y:4.32, Z:2.81 [[ 9.08145109e-01 -3.86358067e-01 -1.61244863e-01 3.17569463e+01] [ 3.84521871e-01 9.22079517e-01 -4.37297853e-02 4.31535059e+00] [ 1.65575941e-01 -2.22891860e-02 9.85945130e-01 2.80755533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.037552018 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:31.78, Y:4.33, Z:2.81 [[ 9.08453620e-01 -3.86710775e-01 -1.58640463e-01 3.17798756e+01] [ 3.83088909e-01 9.22127450e-01 -5.40726762e-02 4.33049362e+00] [ 1.67197212e-01 -1.16508834e-02 9.85854629e-01 2.81450438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067552018 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:31.81, Y:4.34, Z:2.82 [[ 9.10728407e-01 -3.80832175e-01 -1.59814341e-01 3.18118325e+01] [ 3.77388607e-01 9.24560749e-01 -5.25857400e-02 4.34052117e+00] [ 1.67784408e-01 -1.24207844e-02 9.85745462e-01 2.82178556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.097552017999995 meters Centerline goodness : 0.986864 Centerline is valid? [True, True] Translation: X:31.84, Y:4.35, Z:2.83 [[ 9.10511037e-01 -3.81247231e-01 -1.60063111e-01 3.18384036e+01] [ 3.77951168e-01 9.24376666e-01 -5.17754193e-02 4.34950702e+00] [ 1.67697840e-01 -1.33539491e-02 9.85747993e-01 2.82599469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters Centerline goodness : 0.986328 Centerline is valid? [True, True] Translation: X:31.87, Y:4.36, Z:2.83 [[ 9.10966063e-01 -3.81060900e-01 -1.57903206e-01 3.18654349e+01] [ 3.77203839e-01 9.24500757e-01 -5.49146157e-02 4.36220784e+00] [ 1.66907446e-01 -9.53634406e-03 9.85926449e-01 2.83054114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.157552018 meters Centerline goodness : 0.986157 Centerline is valid? [True, True] Translation: X:31.89, Y:4.37, Z:2.83 [[ 9.10034493e-01 -3.80116258e-01 -1.65374881e-01 3.18892221e+01] [ 3.78792789e-01 9.24584941e-01 -4.07272516e-02 4.36697132e+00] [ 1.68384215e-01 -2.55796088e-02 9.85389486e-01 2.83449738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.187552018 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:31.91, Y:4.38, Z:2.84 [[ 9.09201305e-01 -3.83685302e-01 -1.61674293e-01 3.19117953e+01] [ 3.80247893e-01 9.23367641e-01 -5.29503588e-02 4.38336840e+00] [ 1.69601084e-01 -1.33337738e-02 9.85422591e-01 2.84257230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.217552018 meters Centerline goodness : 0.987456 Centerline is valid? [True, True] Translation: X:31.93, Y:4.40, Z:2.85 [[ 9.08008681e-01 -3.88836756e-01 -1.55968624e-01 3.19311877e+01] [ 3.83627633e-01 9.21304040e-01 -6.34720800e-02 4.40061849e+00] [ 1.68374801e-01 -2.20067434e-03 9.85720591e-01 2.84557897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247552018 meters Centerline goodness : 0.986132 Centerline is valid? [True, True] Translation: X:31.96, Y:4.40, Z:2.85 [[ 9.08949343e-01 -3.85889460e-01 -1.57798658e-01 3.19641970e+01] [ 3.82071034e-01 9.22488602e-01 -5.51044765e-02 4.40362285e+00] [ 1.66831700e-01 -1.02031187e-02 9.85932594e-01 2.84998029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.277552017999994 meters Centerline goodness : 0.985905 Centerline is valid? [True, True] Translation: X:31.99, Y:4.41, Z:2.86 [[ 9.06971453e-01 -3.86580041e-01 -1.67208422e-01 3.19899103e+01] [ 3.86035655e-01 9.21737837e-01 -3.70922175e-02 4.40649308e+00] [ 1.68461440e-01 -3.09068302e-02 9.85223584e-01 2.85571463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:32.01, Y:4.43, Z:2.86 [[ 9.07150070e-01 -3.92982429e-01 -1.50477777e-01 3.20138362e+01] [ 3.87033302e-01 9.19538760e-01 -6.82179733e-02 4.42990430e+00] [ 1.65178614e-01 3.64402819e-03 9.86256937e-01 2.86302314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337552018 meters Centerline goodness : 0.985564 Centerline is valid? [True, True] Translation: X:32.04, Y:4.44, Z:2.86 [[ 9.07290914e-01 -3.91817362e-01 -1.52651081e-01 3.20438978e+01] [ 3.87729236e-01 9.20012314e-01 -5.69506939e-02 4.43558537e+00] [ 1.62755145e-01 -7.51643966e-03 9.86637860e-01 2.86477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.367552018 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:32.07, Y:4.44, Z:2.87 [[ 9.06782427e-01 -3.91213289e-01 -1.57155313e-01 3.20695129e+01] [ 3.88748338e-01 9.20122328e-01 -4.74302846e-02 4.44196627e+00] [ 1.63157470e-01 -1.80849182e-02 9.86434273e-01 2.86873776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.397552018 meters Centerline goodness : 0.985638 Centerline is valid? [True, True] Translation: X:32.09, Y:4.46, Z:2.87 [[ 9.06998279e-01 -3.92917270e-01 -1.51559032e-01 3.20935640e+01] [ 3.88521464e-01 9.19557422e-01 -5.88661220e-02 4.45794120e+00] [ 1.62496749e-01 -5.49246569e-03 9.86693792e-01 2.87353798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427552018 meters Centerline goodness : 0.985316 Centerline is valid? [True, True] Translation: X:32.12, Y:4.47, Z:2.88 [[ 9.07159119e-01 -3.91273110e-01 -1.54815006e-01 3.21200253e+01] [ 3.88261464e-01 9.20163746e-01 -5.05145062e-02 4.46692505e+00] [ 1.62220124e-01 -1.42840060e-02 9.86651204e-01 2.87739318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.457552017999994 meters Centerline goodness : 0.985742 Centerline is valid? [True, True] Translation: X:32.15, Y:4.48, Z:2.88 [[ 9.06730610e-01 -3.91589371e-01 -1.56516345e-01 3.21452290e+01] [ 3.88982426e-01 9.19980617e-01 -4.82528437e-02 4.47721980e+00] [ 1.62887304e-01 -1.71297771e-02 9.86495969e-01 2.88254002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:32.17, Y:4.49, Z:2.89 [[ 9.07123582e-01 -3.91410753e-01 -1.54675237e-01 3.21695832e+01] [ 3.88300828e-01 9.20114149e-01 -5.11118303e-02 4.48841944e+00] [ 1.62324594e-01 -1.36957759e-02 9.86642363e-01 2.88748098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517552017999996 meters Centerline goodness : 0.986517 Centerline is valid? [True, True] Translation: X:32.20, Y:4.50, Z:2.89 [[ 9.07143288e-01 -3.90916217e-01 -1.55806182e-01 3.21956653e+01] [ 3.88258231e-01 9.20277257e-01 -4.84284705e-02 4.49793187e+00] [ 1.62316361e-01 -1.65614708e-02 9.86599775e-01 2.89246442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547552018 meters Centerline goodness : 0.985619 Centerline is valid? [True, True] Translation: X:32.22, Y:4.51, Z:2.90 [[ 9.06098609e-01 -3.92266930e-01 -1.58467555e-01 3.22164273e+01] [ 3.90323559e-01 9.19600083e-01 -4.45331977e-02 4.50927071e+00] [ 1.63195678e-01 -2.15021516e-02 9.86359381e-01 2.89779087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.577552018 meters Centerline goodness : 0.986587 Centerline is valid? [True, True] Translation: X:32.25, Y:4.52, Z:2.91 [[ 9.06819069e-01 -3.90561815e-01 -1.58558015e-01 3.22457206e+01] [ 3.87989856e-01 9.20403907e-01 -4.81717734e-02 4.51809434e+00] [ 1.64751471e-01 -1.78358185e-02 9.86173837e-01 2.90575354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607552018 meters Centerline goodness : 0.986993 Centerline is valid? [True, True] Translation: X:32.27, Y:4.53, Z:2.91 [[ 9.06772444e-01 -3.91596124e-01 -1.56256870e-01 3.22692079e+01] [ 3.87806952e-01 9.20078183e-01 -5.53344793e-02 4.53021630e+00] [ 1.65437305e-01 -1.04217196e-02 9.86165243e-01 2.91144785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.637552017999994 meters Centerline goodness : 0.986817 Centerline is valid? [True, True] Translation: X:32.29, Y:4.54, Z:2.92 [[ 9.05744759e-01 -3.94585902e-01 -1.54688064e-01 3.22896070e+01] [ 3.90446325e-01 9.18822206e-01 -5.75970488e-02 4.54285207e+00] [ 1.64857812e-01 -8.22916117e-03 9.86283014e-01 2.91509362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters Centerline goodness : 0.986278 Centerline is valid? [True, True] Translation: X:32.32, Y:4.55, Z:2.92 [[ 9.07869096e-01 -3.89978358e-01 -1.53917461e-01 3.23163701e+01] [ 3.87137529e-01 9.20704265e-01 -4.92766639e-02 4.54598027e+00] [ 1.60929295e-01 -1.48504652e-02 9.86854207e-01 2.91773238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697552017999996 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:32.35, Y:4.56, Z:2.93 [[ 9.06329955e-01 -3.94381774e-01 -1.51753182e-01 3.23456841e+01] [ 3.89285582e-01 9.18944972e-01 -6.32208406e-02 4.56102478e+00] [ 1.64385971e-01 -1.77638408e-03 9.86394494e-01 2.92520004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727552018 meters Centerline goodness : 0.986097 Centerline is valid? [True, True] Translation: X:32.37, Y:4.56, Z:2.93 [[ 9.06339266e-01 -3.93090512e-01 -1.55012852e-01 3.23729147e+01] [ 3.89872597e-01 9.19402743e-01 -5.19418339e-02 4.56491207e+00] [ 1.62937084e-01 -1.33583396e-02 9.86546026e-01 2.92678791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.757552018 meters Centerline goodness : 0.986369 Centerline is valid? [True, True] Translation: X:32.40, Y:4.57, Z:2.93 [[ 9.05965157e-01 -3.92659053e-01 -1.58259289e-01 3.23985947e+01] [ 3.90384665e-01 9.19474821e-01 -4.65388676e-02 4.57243850e+00] [ 1.63789339e-01 -1.96194070e-02 9.86300224e-01 2.93248575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787552018 meters Centerline goodness : 0.986471 Centerline is valid? [True, True] Translation: X:32.42, Y:4.59, Z:2.94 [[ 9.06936090e-01 -3.93733331e-01 -1.49803178e-01 3.24231280e+01] [ 3.88478017e-01 9.19224707e-01 -6.41152743e-02 4.58918637e+00] [ 1.62947103e-01 -4.67855382e-05 9.86634805e-01 2.93760328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.817552018 meters Centerline goodness : 0.986283 Centerline is valid? [True, True] Translation: X:32.45, Y:4.60, Z:2.94 [[ 9.07227792e-01 -3.92030071e-01 -1.52480020e-01 3.24522970e+01] [ 3.88008402e-01 9.19918883e-01 -5.65573028e-02 4.59558091e+00] [ 1.62441413e-01 -7.85317184e-03 9.86686939e-01 2.93959240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:32.48, Y:4.60, Z:2.94 [[ 9.07540219e-01 -3.90404559e-01 -1.54774130e-01 3.24792186e+01] [ 3.87340981e-01 9.20538592e-01 -5.07510145e-02 4.60242153e+00] [ 1.62288987e-01 -1.38917765e-02 9.86645480e-01 2.94302619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877552017999996 meters Centerline goodness : 0.986425 Centerline is valid? [True, True] Translation: X:32.51, Y:4.61, Z:2.95 [[ 9.08484046e-01 -3.88350088e-01 -1.54405139e-01 3.25054309e+01] [ 3.85459334e-01 9.21396889e-01 -4.94860972e-02 4.61111906e+00] [ 1.61486345e-01 -1.45595723e-02 9.86767541e-01 2.94779770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907552018 meters Centerline goodness : 0.986542 Centerline is valid? [True, True] Translation: X:32.53, Y:4.62, Z:2.95 [[ 9.06728039e-01 -3.89800721e-01 -1.60933719e-01 3.25252273e+01] [ 3.88570690e-01 9.20534120e-01 -4.03701840e-02 4.61930011e+00] [ 1.63881307e-01 -2.59293487e-02 9.86139233e-01 2.95365075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.937552018 meters Centerline goodness : 0.986589 Centerline is valid? [True, True] Translation: X:32.56, Y:4.64, Z:2.96 [[ 9.09116699e-01 -3.89399228e-01 -1.47902229e-01 3.25550331e+01] [ 3.83779834e-01 9.21063395e-01 -6.59944049e-02 4.63639301e+00] [ 1.61925499e-01 3.23472285e-03 9.86797684e-01 2.96087457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967552018 meters Centerline goodness : 0.985843 Centerline is valid? [True, True] Translation: X:32.58, Y:4.64, Z:2.96 [[ 9.08757016e-01 -3.85908485e-01 -1.58856310e-01 3.25837179e+01] [ 3.84379948e-01 9.22241627e-01 -4.15022472e-02 4.63647574e+00] [ 1.62519971e-01 -2.33457220e-02 9.86429033e-01 2.96306239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.997552018 meters Centerline goodness : 0.985712 Centerline is valid? [True, True] Translation: X:32.60, Y:4.65, Z:2.97 [[ 9.11536907e-01 -3.83245235e-01 -1.49075675e-01 3.26040377e+01] [ 3.79215768e-01 9.23628810e-01 -5.57245298e-02 4.65172248e+00] [ 1.59046749e-01 -5.73688117e-03 9.87254385e-01 2.96936344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters Centerline goodness : 0.986049 Centerline is valid? [True, True] Translation: X:32.63, Y:4.66, Z:2.98 [[ 9.10504477e-01 -3.84759252e-01 -1.51465888e-01 3.26338760e+01] [ 3.81001668e-01 9.22979751e-01 -5.42780608e-02 4.66278476e+00] [ 1.60683934e-01 -8.28833854e-03 9.86971113e-01 2.97533535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057552017999996 meters Centerline goodness : 0.986781 Centerline is valid? [True, True] Translation: X:32.66, Y:4.67, Z:2.98 [[ 9.10500220e-01 -3.82723506e-01 -1.56563305e-01 3.26584806e+01] [ 3.80672503e-01 9.23658105e-01 -4.40925213e-02 4.66822409e+00] [ 1.61486210e-01 -1.94530949e-02 9.86683222e-01 2.97970118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters Centerline goodness : 0.986810 Centerline is valid? [True, True] Translation: X:32.68, Y:4.68, Z:2.98 [[ 9.11071414e-01 -3.83808478e-01 -1.50465710e-01 3.26831128e+01] [ 3.79619068e-01 9.23397141e-01 -5.68074312e-02 4.68270091e+00] [ 1.60742780e-01 -5.36402594e-03 9.86981756e-01 2.98486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.117552018 meters Centerline goodness : 0.986796 Centerline is valid? [True, True] Translation: X:32.71, Y:4.69, Z:2.99 [[ 9.11380204e-01 -3.81081213e-01 -1.55445270e-01 3.27087575e+01] [ 3.78065420e-01 9.24443487e-01 -4.97069182e-02 4.68802853e+00] [ 1.62642740e-01 -1.34665802e-02 9.86593123e-01 2.98922080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.147552018 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:32.73, Y:4.70, Z:2.99 [[ 9.11270132e-01 -3.81828769e-01 -1.54251538e-01 3.27348016e+01] [ 3.78204172e-01 9.24182185e-01 -5.33750290e-02 4.69941176e+00] [ 1.62936645e-01 -9.69950546e-03 9.86588855e-01 2.99448567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.177552018 meters Centerline goodness : 0.987009 Centerline is valid? [True, True] Translation: X:32.76, Y:4.71, Z:3.00 [[ 9.11398222e-01 -3.81530358e-01 -1.54233159e-01 3.27609574e+01] [ 3.78053308e-01 9.24296648e-01 -5.24538144e-02 4.70888308e+00] [ 1.62569914e-01 -1.05020428e-02 9.86641135e-01 2.99825247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters Centerline goodness : 0.986234 Centerline is valid? [True, True] Translation: X:32.78, Y:4.72, Z:3.00 [[ 9.10936190e-01 -3.82207138e-01 -1.55283485e-01 3.27848864e+01] [ 3.79163120e-01 9.23980020e-01 -4.99625008e-02 4.71747805e+00] [ 1.62574862e-01 -1.33651203e-02 9.86605690e-01 3.00308207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237552017999995 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:32.81, Y:4.73, Z:3.01 [[ 9.10456500e-01 -3.83718031e-01 -1.54367852e-01 3.28112428e+01] [ 3.80475598e-01 9.23371110e-01 -5.12260987e-02 4.72690812e+00] [ 1.62195193e-01 -1.20940664e-02 9.86684576e-01 3.00901967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters Centerline goodness : 0.986445 Centerline is valid? [True, True] Translation: X:32.84, Y:4.74, Z:3.01 [[ 9.10095235e-01 -3.85472356e-01 -1.52110898e-01 3.28361237e+01] [ 3.81721696e-01 9.22679134e-01 -5.43301180e-02 4.73728153e+00] [ 1.61292310e-01 -8.61844847e-03 9.86869045e-01 3.01304134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.297552018 meters Centerline goodness : 0.986870 Centerline is valid? [True, True] Translation: X:32.86, Y:4.75, Z:3.02 [[ 9.09803408e-01 -3.86078818e-01 -1.52318432e-01 3.28639836e+01] [ 3.82528076e-01 9.22412753e-01 -5.31693901e-02 4.74549692e+00] [ 1.61028040e-01 -9.89238457e-03 9.86900254e-01 3.01665199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.327552018 meters Centerline goodness : 0.986162 Centerline is valid? [True, True] Translation: X:32.89, Y:4.75, Z:3.02 [[ 9.08675776e-01 -3.87226277e-01 -1.56090180e-01 3.28900442e+01] [ 3.84361400e-01 9.21860752e-01 -4.93869223e-02 4.75218760e+00] [ 1.63017325e-01 -1.51183402e-02 9.86507368e-01 3.02138268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.357552018 meters Centerline goodness : 0.986926 Centerline is valid? [True, True] Translation: X:32.92, Y:4.76, Z:3.03 [[ 9.06534270e-01 -3.91665622e-01 -1.57460020e-01 3.29150626e+01] [ 3.88461792e-01 9.19999853e-01 -5.19394549e-02 4.76141884e+00] [ 1.65206094e-01 -1.40823055e-02 9.86158524e-01 3.02651490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters Centerline goodness : 0.987558 Centerline is valid? [True, True] Translation: X:32.93, Y:4.78, Z:3.03 [[ 9.04590948e-01 -3.98733777e-01 -1.50753417e-01 3.29340974e+01] [ 3.93484164e-01 9.17066204e-01 -6.44964335e-02 4.77839569e+00] [ 1.63967770e-01 -9.76192411e-04 9.86465213e-01 3.02882190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417552017999995 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:32.97, Y:4.78, Z:3.03 [[ 9.03999777e-01 -3.97177450e-01 -1.58222867e-01 3.29668378e+01] [ 3.94631479e-01 9.17554743e-01 -4.85725247e-02 4.77835112e+00] [ 1.64470053e-01 -1.85301725e-02 9.86208008e-01 3.03278878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters Centerline goodness : 0.985194 Centerline is valid? [True, True] Translation: X:32.99, Y:4.79, Z:3.04 [[ 9.02013356e-01 -4.02747068e-01 -1.55456442e-01 3.29928607e+01] [ 3.99591077e-01 9.15191567e-01 -5.24534816e-02 4.78791353e+00] [ 1.63397910e-01 -1.48052660e-02 9.86449151e-01 3.03881012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477552018 meters Centerline goodness : 0.985854 Centerline is valid? [True, True] Translation: X:33.02, Y:4.80, Z:3.04 [[ 9.01300042e-01 -4.04842447e-01 -1.54145472e-01 3.30180961e+01] [ 4.01706779e-01 9.14268310e-01 -5.23939039e-02 4.79782157e+00] [ 1.62141597e-01 -1.46986534e-02 9.86658022e-01 3.04428640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.507552018 meters Centerline goodness : 0.986464 Centerline is valid? [True, True] Translation: X:33.04, Y:4.81, Z:3.05 [[ 9.01076736e-01 -4.06042906e-01 -1.52282221e-01 3.30443342e+01] [ 4.02879372e-01 9.13746088e-01 -5.25004636e-02 4.80772210e+00] [ 1.60464724e-01 -1.40444192e-02 9.86941653e-01 3.04935714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.537552018 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:33.07, Y:4.82, Z:3.05 [[ 9.01122354e-01 -4.06355556e-01 -1.51174289e-01 3.30694300e+01] [ 4.03018808e-01 9.13626558e-01 -5.35009717e-02 4.81824822e+00] [ 1.59857262e-01 -1.27151602e-02 9.87058246e-01 3.05418095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567552018 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:33.09, Y:4.83, Z:3.06 [[ 9.02193343e-01 -4.04166901e-01 -1.50652873e-01 3.30940686e+01] [ 4.00804541e-01 9.14604195e-01 -5.34311375e-02 4.82911643e+00] [ 1.59382847e-01 -1.21771391e-02 9.87141745e-01 3.05824400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.597552017999995 meters Centerline goodness : 0.986868 Centerline is valid? [True, True] Translation: X:33.11, Y:4.84, Z:3.06 [[ 9.02748343e-01 -4.04568940e-01 -1.46182767e-01 3.31149491e+01] [ 3.99615160e-01 9.14506395e-01 -6.31330202e-02 4.84431450e+00] [ 1.59226735e-01 -1.42362053e-03 9.87241014e-01 3.06168545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters Centerline goodness : 0.985976 Centerline is valid? [True, True] Translation: X:33.15, Y:4.85, Z:3.06 [[ 9.03868494e-01 -3.98766863e-01 -1.54941067e-01 3.31473624e+01] [ 3.96913898e-01 9.16796656e-01 -4.40822995e-02 4.84609905e+00] [ 1.59628012e-01 -2.16536612e-02 9.86939723e-01 3.06469940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.657552018 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:33.17, Y:4.86, Z:3.07 [[ 9.04749857e-01 -3.98467468e-01 -1.50503731e-01 3.31714935e+01] [ 3.95001171e-01 9.17116827e-01 -5.35798513e-02 4.86098851e+00] [ 1.59379332e-01 -1.09727871e-02 9.87156435e-01 3.07043311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.687552018 meters Centerline goodness : 0.986604 Centerline is valid? [True, True] Translation: X:33.20, Y:4.87, Z:3.07 [[ 9.06568666e-01 -3.94657207e-01 -1.49595930e-01 3.31950010e+01] [ 3.91030150e-01 9.18780731e-01 -5.41977039e-02 4.87291959e+00] [ 1.58835372e-01 -9.36257855e-03 9.87260688e-01 3.07442096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.717552018 meters Centerline goodness : 0.986400 Centerline is valid? [True, True] Translation: X:33.22, Y:4.89, Z:3.08 [[ 9.07737959e-01 -3.94593129e-01 -1.42506349e-01 3.32215414e+01] [ 3.89177026e-01 9.18848171e-01 -6.52631709e-02 4.88830531e+00] [ 1.56694097e-01 3.78166036e-03 9.87639944e-01 3.07795156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747552018 meters Centerline goodness : 0.985436 Centerline is valid? [True, True] Translation: X:33.25, Y:4.89, Z:3.08 [[ 9.07228253e-01 -3.91693878e-01 -1.53338852e-01 3.32494446e+01] [ 3.89716783e-01 9.19882058e-01 -4.40207730e-02 4.89050920e+00] [ 1.58296326e-01 -1.98218351e-02 9.87192670e-01 3.08022437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.777552017999994 meters Centerline goodness : 0.985921 Centerline is valid? [True, True] Translation: X:33.28, Y:4.91, Z:3.09 [[ 9.07706598e-01 -3.94387590e-01 -1.43273030e-01 3.32752436e+01] [ 3.89351140e-01 9.18943333e-01 -6.28397959e-02 4.90889274e+00] [ 1.56443031e-01 1.25657986e-03 9.87686184e-01 3.08568229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters Centerline goodness : 0.986267 Centerline is valid? [True, True] Translation: X:33.30, Y:4.91, Z:3.09 [[ 9.06991101e-01 -3.92071601e-01 -1.53775820e-01 3.33039447e+01] [ 3.90522885e-01 9.19660222e-01 -4.14361253e-02 4.91033550e+00] [ 1.57667433e-01 -2.24707801e-02 9.87236570e-01 3.08811875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.837552018 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:33.33, Y:4.92, Z:3.09 [[ 9.05856859e-01 -3.96062685e-01 -1.50192213e-01 3.33276022e+01] [ 3.92729737e-01 9.18152663e-01 -5.25265795e-02 4.92380948e+00] [ 1.58703198e-01 -1.14033858e-02 9.87260481e-01 3.09446333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.867552018 meters Centerline goodness : 0.986033 Centerline is valid? [True, True] Translation: X:33.35, Y:4.93, Z:3.10 [[ 9.04626765e-01 -3.98797824e-01 -1.50368588e-01 3.33544662e+01] [ 3.95527756e-01 9.16959168e-01 -5.23801322e-02 4.93373373e+00] [ 1.58770938e-01 -1.20904807e-02 9.87241414e-01 3.09900614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.897552018 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:33.38, Y:4.95, Z:3.10 [[ 9.04072933e-01 -4.01686126e-01 -1.45946521e-01 3.33797314e+01] [ 3.97142558e-01 9.15771064e-01 -6.03419192e-02 4.94678309e+00] [ 1.57892113e-01 -3.40807891e-03 9.87450488e-01 3.10303071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.927552018 meters Centerline goodness : 0.986420 Centerline is valid? [True, True] Translation: X:33.41, Y:4.95, Z:3.11 [[ 9.01692352e-01 -4.04715818e-01 -1.52170987e-01 3.34072788e+01] [ 4.02498990e-01 9.14238466e-01 -4.65036597e-02 4.95216913e+00] [ 1.57941337e-01 -1.93166743e-02 9.87259540e-01 3.10595629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.957552017999994 meters Centerline goodness : 0.986420 Centerline is valid? [True, True] Translation: X:33.43, Y:4.96, Z:3.11 [[ 9.01422812e-01 -4.06273621e-01 -1.49594983e-01 3.34321843e+01] [ 4.02963674e-01 9.13668353e-01 -5.32016657e-02 4.96486768e+00] [ 1.58294635e-01 -1.23241490e-02 9.87315007e-01 3.11173587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters Centerline goodness : 0.986001 Centerline is valid? [True, True] Translation: X:33.46, Y:4.97, Z:3.12 [[ 9.00750798e-01 -4.08043513e-01 -1.48823693e-01 3.34576029e+01] [ 4.04696577e-01 9.12883373e-01 -5.35222190e-02 4.97469996e+00] [ 1.57698069e-01 -1.20182576e-02 9.87414240e-01 3.11637736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.017552017999996 meters Centerline goodness : 0.985467 Centerline is valid? [True, True] Translation: X:33.48, Y:4.99, Z:3.12 [[ 9.00608476e-01 -4.11154104e-01 -1.40913716e-01 3.34835344e+01] [ 4.06066442e-01 9.11565450e-01 -6.44862443e-02 4.99043456e+00] [ 1.54965859e-01 8.56527062e-04 9.87919455e-01 3.12002376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.047552018 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:33.51, Y:5.00, Z:3.12 [[ 9.00477938e-01 -4.10429210e-01 -1.43830966e-01 3.35107154e+01] [ 4.07479566e-01 9.11801457e-01 -5.07789994e-02 4.99592442e+00] [ 1.51986469e-01 -1.28828107e-02 9.88298612e-01 3.12077152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.077552018 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:33.54, Y:5.00, Z:3.13 [[ 8.99184142e-01 -4.11071162e-01 -1.49961256e-01 3.35362018e+01] [ 4.09771136e-01 9.11269891e-01 -4.09243382e-02 5.00365515e+00] [ 1.53477992e-01 -2.46512782e-02 9.87844532e-01 3.12637401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.107552018 meters Centerline goodness : 0.986346 Centerline is valid? [True, True] Translation: X:33.56, Y:5.02, Z:3.13 [[ 9.00187700e-01 -4.13515708e-01 -1.36626734e-01 3.35574036e+01] [ 4.08675834e-01 9.10496483e-01 -6.30889618e-02 5.02459017e+00] [ 1.50486437e-01 9.55862942e-04 9.88611612e-01 3.13211837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.137552017999994 meters Centerline goodness : 0.988050 Centerline is valid? [True, True] Translation: X:33.58, Y:5.03, Z:3.13 [[ 8.98385037e-01 -4.12809608e-01 -1.49975170e-01 3.35786293e+01] [ 4.11861033e-01 9.10419902e-01 -3.88083801e-02 5.02956691e+00] [ 1.52560852e-01 -2.69040607e-02 9.87927810e-01 3.13451577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters Centerline goodness : 0.986739 Centerline is valid? [True, True] Translation: X:33.61, Y:5.05, Z:3.14 [[ 9.00439390e-01 -4.12150192e-01 -1.39072372e-01 3.36087544e+01] [ 4.07731462e-01 9.11112595e-01 -6.02403018e-02 5.04758151e+00] [ 1.51538641e-01 -2.46144097e-03 9.88448269e-01 3.14289312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.197552017999996 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:33.63, Y:5.06, Z:3.14 [[ 8.99781031e-01 -4.10948812e-01 -1.46680506e-01 3.36278099e+01] [ 4.09193151e-01 9.11416555e-01 -4.33685179e-02 5.05719978e+00] [ 1.51509282e-01 -2.09984885e-02 9.88232767e-01 3.14452858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.227552018 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:33.65, Y:5.07, Z:3.15 [[ 9.00183225e-01 -4.11527566e-01 -1.42531483e-01 3.36501124e+01] [ 4.08162096e-01 9.11342013e-01 -5.34737184e-02 5.07181814e+00] [ 1.51900838e-01 -1.00398045e-02 9.88344746e-01 3.15071301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.257552018 meters Centerline goodness : 0.988217 Centerline is valid? [True, True] Translation: X:33.68, Y:5.08, Z:3.15 [[ 9.00539839e-01 -4.10730915e-01 -1.42576693e-01 3.36753360e+01] [ 4.07349984e-01 9.11702991e-01 -5.35130558e-02 5.08221014e+00] [ 1.51967064e-01 -9.88797483e-03 9.88336096e-01 3.15498538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.287552018 meters Centerline goodness : 0.987695 Centerline is valid? [True, True] Translation: X:33.71, Y:5.10, Z:3.16 [[ 9.03316774e-01 -4.07545000e-01 -1.33887561e-01 3.37087211e+01] [ 4.02100146e-01 9.13162558e-01 -6.67054344e-02 5.09570997e+00] [ 1.49446574e-01 6.41992984e-03 9.88748960e-01 3.15763380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31755201799999 meters Centerline goodness : 0.987737 Centerline is valid? [True, True] Translation: X:33.74, Y:5.09, Z:3.16 [[ 9.02691778e-01 -4.03523996e-01 -1.49385201e-01 3.37367599e+01] [ 4.02705398e-01 9.14579205e-01 -3.70572415e-02 5.09360122e+00] [ 1.51578085e-01 -2.67069598e-02 9.88084421e-01 3.15730318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:33.76, Y:5.12, Z:3.16 [[ 9.02555713e-01 -4.08130167e-01 -1.37196765e-01 3.37600979e+01] [ 4.03115873e-01 9.12920860e-01 -6.38208072e-02 5.11530513e+00] [ 1.51296985e-01 2.29564057e-03 9.88485686e-01 3.16363744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.377552017999996 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:33.79, Y:5.12, Z:3.17 [[ 9.02081669e-01 -4.06860211e-01 -1.43921613e-01 3.37879605e+01] [ 4.03652891e-01 9.13423768e-01 -5.21666858e-02 5.12084732e+00] [ 1.52685971e-01 -1.10357641e-02 9.88213138e-01 3.16518711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.407552018 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:33.81, Y:5.13, Z:3.17 [[ 8.98012019e-01 -4.11287014e-01 -1.56260701e-01 3.38062435e+01] [ 4.10832318e-01 9.10971074e-01 -3.67220503e-02 5.13021227e+00] [ 1.57452281e-01 -3.12201036e-02 9.87032970e-01 3.16911652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.437552018 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:33.83, Y:5.15, Z:3.18 [[ 8.97435119e-01 -4.15045115e-01 -1.49491674e-01 3.38275830e+01] [ 4.11309994e-01 9.09737781e-01 -5.65796627e-02 5.14863227e+00] [ 1.59481336e-01 -1.07108432e-02 9.87142837e-01 3.17794152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.467552018 meters Centerline goodness : 0.986909 Centerline is valid? [True, True] Translation: X:33.86, Y:5.16, Z:3.18 [[ 8.99697143e-01 -4.14104960e-01 -1.38065682e-01 3.38613861e+01] [ 4.07588717e-01 9.10172030e-01 -7.38804009e-02 5.16337747e+00] [ 1.56257762e-01 1.01959716e-02 9.87663685e-01 3.18228877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.497552018 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:33.89, Y:5.16, Z:3.18 [[ 8.99302964e-01 -4.11545322e-01 -1.47934536e-01 3.38907572e+01] [ 4.08789788e-01 9.11257447e-01 -5.00077378e-02 5.16482060e+00] [ 1.55386899e-01 -1.55020209e-02 9.87732048e-01 3.18188395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters Centerline goodness : 0.988929 Centerline is valid? [True, True] Translation: X:33.91, Y:5.17, Z:3.19 [[ 8.97144485e-01 -4.12950102e-01 -1.56856578e-01 3.39077790e+01] [ 4.12616063e-01 9.10183898e-01 -3.62388898e-02 5.17469210e+00] [ 1.57733185e-01 -3.22100236e-02 9.86956309e-01 3.18804840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.557552017999996 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:33.94, Y:5.20, Z:3.20 [[ 9.00196650e-01 -4.13908615e-01 -1.35372265e-01 3.39364967e+01] [ 4.07309071e-01 9.10239229e-01 -7.45913316e-02 5.19877716e+00] [ 1.54095141e-01 1.20085154e-02 9.87983038e-01 3.19744358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.587552018 meters Centerline goodness : 0.988941 Centerline is valid? [True, True] Translation: X:33.96, Y:5.20, Z:3.20 [[ 8.98411466e-01 -4.10300866e-01 -1.56556816e-01 3.39588376e+01] [ 4.10546559e-01 9.11267942e-01 -3.22840633e-02 5.19617301e+00] [ 1.55911387e-01 -3.52694894e-02 9.87141177e-01 3.19625277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.617552018 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:33.98, Y:5.22, Z:3.21 [[ 8.99269031e-01 -4.12046409e-01 -1.46741159e-01 3.39787390e+01] [ 4.08337865e-01 9.11112539e-01 -5.59832922e-02 5.21971627e+00] [ 1.56765424e-01 -9.57593062e-03 9.87589441e-01 3.20732962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.647552018 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:34.00, Y:5.23, Z:3.21 [[ 8.99559787e-01 -4.11487272e-01 -1.46527862e-01 3.40032046e+01] [ 4.07773709e-01 9.11366877e-01 -5.59554954e-02 5.23103433e+00] [ 1.56565614e-01 -9.41489628e-03 9.87622685e-01 3.21155544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.677552018 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:34.03, Y:5.24, Z:3.22 [[ 8.99905025e-01 -4.10654079e-01 -1.46745267e-01 3.40283296e+01] [ 4.06914658e-01 9.11744178e-01 -5.60625944e-02 5.24115493e+00] [ 1.56816476e-01 -9.26178971e-03 9.87584332e-01 3.21610946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters Centerline goodness : 0.989569 Centerline is valid? [True, True] Translation: X:34.05, Y:5.25, Z:3.22 [[ 8.99570799e-01 -4.11904712e-01 -1.45282089e-01 3.40529389e+01] [ 4.08247595e-01 9.11179117e-01 -5.55564464e-02 5.25284456e+00] [ 1.55261968e-01 -9.33410663e-03 9.87829234e-01 3.22006491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.737552017999995 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:34.08, Y:5.26, Z:3.22 [[ 8.99230455e-01 -4.12678245e-01 -1.45193856e-01 3.40774528e+01] [ 4.09027253e-01 9.10828228e-01 -5.55755749e-02 5.26309492e+00] [ 1.55181493e-01 -9.41299443e-03 9.87841131e-01 3.22425761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters Centerline goodness : 0.988836 Centerline is valid? [True, True] Translation: X:34.11, Y:5.28, Z:3.23 [[ 9.01968926e-01 -4.11074026e-01 -1.32174892e-01 3.41109966e+01] [ 4.04314117e-01 9.11480992e-01 -7.57132486e-02 5.27782646e+00] [ 1.51598652e-01 1.48508227e-02 9.88330563e-01 3.22907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797552018 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:34.14, Y:5.28, Z:3.23 [[ 9.00600100e-01 -4.10590300e-01 -1.42601068e-01 3.41427893e+01] [ 4.07604639e-01 9.11737477e-01 -5.09237821e-02 5.28124169e+00] [ 1.50923549e-01 -1.22628934e-02 9.88469374e-01 3.22813492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.827552018 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:34.16, Y:5.29, Z:3.23 [[ 8.96781723e-01 -4.13826681e-01 -1.56620622e-01 3.41595904e+01] [ 4.14103180e-01 9.09652275e-01 -3.24236897e-02 5.28915846e+00] [ 1.55888093e-01 -3.57801253e-02 9.87126479e-01 3.23270323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.857552018 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:34.19, Y:5.31, Z:3.24 [[ 8.98915752e-01 -4.16219694e-01 -1.36790489e-01 3.41886234e+01] [ 4.09914676e-01 9.09216049e-01 -7.27745482e-02 5.31321909e+00] [ 1.54662308e-01 9.34575866e-03 9.87923189e-01 3.24381868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:34.22, Y:5.32, Z:3.24 [[ 8.99077799e-01 -4.14285406e-01 -1.41515773e-01 3.42197604e+01] [ 4.10057126e-01 9.10134492e-01 -5.92314149e-02 5.31886192e+00] [ 1.53337096e-01 -4.77590085e-03 9.88162398e-01 3.24238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.917552017999995 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:34.25, Y:5.32, Z:3.24 [[ 8.98559295e-01 -4.12878020e-01 -1.48737805e-01 3.42476112e+01] [ 4.10705870e-01 9.10581630e-01 -4.64949959e-02 5.32453685e+00] [ 1.54634675e-01 -1.93089790e-02 9.87783013e-01 3.24419024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:34.26, Y:5.33, Z:3.25 [[ 8.96802906e-01 -4.12218107e-01 -1.60688455e-01 3.42638109e+01] [ 4.11962659e-01 9.10469952e-01 -3.64860694e-02 5.33364094e+00] [ 1.61342228e-01 -3.34768301e-02 9.86330567e-01 3.24877403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.977552018 meters Centerline goodness : 0.990260 Centerline is valid? [True, True] Translation: X:34.29, Y:5.35, Z:3.26 [[ 8.99597643e-01 -4.11332877e-01 -1.46728816e-01 3.42920630e+01] [ 4.06196700e-01 9.11484276e-01 -6.48124612e-02 5.35367442e+00] [ 1.60400505e-01 -1.29562355e-03 9.87051164e-01 3.25871368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.007552018 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:34.32, Y:5.37, Z:3.26 [[ 9.01426409e-01 -4.09944600e-01 -1.39197177e-01 3.43215278e+01] [ 4.03427826e-01 9.12054492e-01 -7.35023336e-02 5.36930119e+00] [ 1.57087295e-01 1.01009304e-02 9.87533064e-01 3.26112398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.037552018 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:34.34, Y:5.37, Z:3.26 [[ 9.00140714e-01 -4.03206184e-01 -1.64837706e-01 3.43408674e+01] [ 4.04332551e-01 9.14177670e-01 -2.81846806e-02 5.36744889e+00] [ 1.62055187e-01 -4.12790717e-02 9.85917925e-01 3.26027133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:34.36, Y:5.39, Z:3.27 [[ 9.01124279e-01 -4.05813670e-01 -1.52611594e-01 3.43591453e+01] [ 4.01461299e-01 9.13925593e-01 -5.97397310e-02 5.39145066e+00] [ 1.63718841e-01 -7.43472685e-03 9.86479025e-01 3.27402760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.097552017999995 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:34.38, Y:5.40, Z:3.28 [[ 9.02285198e-01 -4.03229603e-01 -1.52601801e-01 3.43835419e+01] [ 3.98831955e-01 9.15072722e-01 -5.97911723e-02 5.40220227e+00] [ 1.63751316e-01 -6.91378499e-03 9.86477423e-01 3.27824148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:34.41, Y:5.41, Z:3.28 [[ 9.03392768e-01 -4.00855533e-01 -1.52303478e-01 3.44091078e+01] [ 3.96435306e-01 9.16118682e-01 -5.97127127e-02 5.41222158e+00] [ 1.63464233e-01 -6.43444307e-03 9.86528278e-01 3.28286346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157552018 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:34.44, Y:5.42, Z:3.29 [[ 9.06195938e-01 -3.94976780e-01 -1.51004187e-01 3.44350537e+01] [ 3.90541808e-01 9.18675967e-01 -5.92584573e-02 5.42166798e+00] [ 1.62129632e-01 -5.27367488e-03 9.86755375e-01 3.28796048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.187552018 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:34.46, Y:5.43, Z:3.29 [[ 9.07589930e-01 -3.92458665e-01 -1.49186849e-01 3.44593382e+01] [ 3.88087649e-01 9.19757570e-01 -5.86002435e-02 5.43121516e+00] [ 1.60213907e-01 -4.71258272e-03 9.87071069e-01 3.29232873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.217552018 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:34.49, Y:5.44, Z:3.30 [[ 9.09088519e-01 -3.89287403e-01 -1.48369075e-01 3.44855238e+01] [ 3.84918541e-01 9.21107186e-01 -5.83032479e-02 5.44024091e+00] [ 1.59360541e-01 -4.10719447e-03 9.87211907e-01 3.29695040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.247552018 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:34.51, Y:5.45, Z:3.30 [[ 9.10751544e-01 -3.85326771e-01 -1.48508939e-01 3.45122280e+01] [ 3.80888495e-01 9.22774050e-01 -5.84123817e-02 5.44886243e+00] [ 1.59548049e-01 -3.36617938e-03 9.87184425e-01 3.30146764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.277552017999994 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:34.55, Y:5.46, Z:3.31 [[ 9.16080306e-01 -3.74399540e-01 -1.43603127e-01 3.45475327e+01] [ 3.69372103e-01 9.27262485e-01 -6.12252622e-02 5.45560810e+00] [ 1.56080502e-01 3.04426803e-03 9.87739646e-01 3.30507046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:34.57, Y:5.46, Z:3.31 [[ 9.15522136e-01 -3.72761888e-01 -1.51221009e-01 3.45662837e+01] [ 3.69391233e-01 9.27880558e-01 -5.08703020e-02 5.46299159e+00] [ 1.59277544e-01 -9.28682734e-03 9.87190163e-01 3.30744161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.337552018 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:34.60, Y:5.47, Z:3.31 [[ 9.19287055e-01 -3.67046300e-01 -1.42085622e-01 3.46003726e+01] [ 3.61554732e-01 9.30175212e-01 -6.36572830e-02 5.47461647e+00] [ 1.55529694e-01 7.14758725e-03 9.87805359e-01 3.31281842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.367552018 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:34.62, Y:5.48, Z:3.31 [[ 9.18125817e-01 -3.66318117e-01 -1.51182081e-01 3.46192615e+01] [ 3.63343657e-01 9.30424828e-01 -4.78646635e-02 5.47977394e+00] [ 1.58197255e-01 -1.09852669e-02 9.87346420e-01 3.31428846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.397552018 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:34.64, Y:5.49, Z:3.32 [[ 9.19452624e-01 -3.64719059e-01 -1.46924743e-01 3.46433288e+01] [ 3.60059234e-01 9.31117459e-01 -5.81173459e-02 5.49114255e+00] [ 1.58000697e-01 5.34535980e-04 9.87438856e-01 3.32174487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.427552018 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:34.67, Y:5.50, Z:3.33 [[ 9.21312967e-01 -3.60445004e-01 -1.45814319e-01 3.46715634e+01] [ 3.55798928e-01 9.32779589e-01 -5.77006196e-02 5.49513522e+00] [ 1.56810520e-01 1.27975080e-03 9.87627877e-01 3.32522157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.457552017999994 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:34.70, Y:5.50, Z:3.33 [[ 9.21900162e-01 -3.58928562e-01 -1.45843680e-01 3.46985435e+01] [ 3.54253159e-01 9.33363682e-01 -5.77662307e-02 5.50118439e+00] [ 1.56859144e-01 1.58911333e-03 9.87619706e-01 3.32952520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:34.72, Y:5.51, Z:3.33 [[ 9.22429347e-01 -3.57676345e-01 -1.45573800e-01 3.47248909e+01] [ 3.52994309e-01 9.33843783e-01 -5.77131378e-02 5.50667164e+00] [ 1.56585812e-01 1.84956910e-03 9.87662626e-01 3.33337813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.517552017999996 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:34.75, Y:5.51, Z:3.34 [[ 9.22896636e-01 -3.56639291e-01 -1.45155831e-01 3.47543761e+01] [ 3.51967944e-01 9.34239932e-01 -5.75700977e-02 5.50688211e+00] [ 1.56142132e-01 2.04105017e-03 9.87732488e-01 3.33712993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.547552018 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:34.78, Y:5.51, Z:3.34 [[ 9.22884786e-01 -3.56765522e-01 -1.44920788e-01 3.47811612e+01] [ 3.52102305e-01 9.34191675e-01 -5.75315653e-02 5.51098934e+00] [ 1.55909073e-01 2.06806284e-03 9.87769246e-01 3.34102174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.577552018 meters Centerline goodness : 0.987363 Centerline is valid? [True, True] Translation: X:34.81, Y:5.52, Z:3.35 [[ 9.22686740e-01 -3.57412515e-01 -1.44587251e-01 3.48094376e+01] [ 3.52775170e-01 9.33944533e-01 -5.74220238e-02 5.51537077e+00] [ 1.55559823e-01 1.97574777e-03 9.87824498e-01 3.34506071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.607552018 meters Centerline goodness : 0.986905 Centerline is valid? [True, True] Translation: X:34.84, Y:5.52, Z:3.35 [[ 9.22319282e-01 -3.58673946e-01 -1.43805919e-01 3.48378072e+01] [ 3.54093864e-01 9.33461166e-01 -5.71645569e-02 5.52000211e+00] [ 1.54740678e-01 1.80317966e-03 9.87953476e-01 3.34868629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.637552017999994 meters Centerline goodness : 0.986329 Centerline is valid? [True, True] Translation: X:34.87, Y:5.52, Z:3.35 [[ 9.21299287e-01 -3.60904703e-01 -1.44759863e-01 3.48674731e+01] [ 3.56281406e-01 9.32601504e-01 -5.76020378e-02 5.51694031e+00] [ 1.55792113e-01 1.49346867e-03 9.87788736e-01 3.35180769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:34.89, Y:5.52, Z:3.36 [[ 9.20583911e-01 -3.62520937e-01 -1.45271587e-01 3.48948240e+01] [ 3.57880402e-01 9.31974790e-01 -5.78325991e-02 5.52015418e+00] [ 1.56354985e-01 1.24990631e-03 9.87700135e-01 3.35516469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697552017999996 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:34.92, Y:5.52, Z:3.36 [[ 9.19668788e-01 -3.64599259e-01 -1.45865349e-01 3.49230630e+01] [ 3.59942297e-01 9.31164070e-01 -5.80949053e-02 5.52370375e+00] [ 1.57005931e-01 9.24962458e-04 9.87597227e-01 3.35888971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727552018 meters Centerline goodness : 0.986468 Centerline is valid? [True, True] Translation: X:34.95, Y:5.53, Z:3.36 [[ 9.18678904e-01 -3.66875809e-01 -1.46394029e-01 3.49506138e+01] [ 3.62203797e-01 9.30269738e-01 -5.83662842e-02 5.52718450e+00] [ 1.57599113e-01 5.95400868e-04 9.87502995e-01 3.36261264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.757552018 meters Centerline goodness : 0.986898 Centerline is valid? [True, True] Translation: X:34.98, Y:5.52, Z:3.37 [[ 9.17207141e-01 -3.70388303e-01 -1.46777267e-01 3.49809935e+01] [ 3.65732053e-01 9.28877013e-01 -5.85453727e-02 5.52323082e+00] [ 1.58022550e-01 1.70827063e-05 9.87435503e-01 3.36714418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.787552018 meters Centerline goodness : 0.986136 Centerline is valid? [True, True] Translation: X:35.01, Y:5.53, Z:3.37 [[ 9.16527968e-01 -3.72342473e-01 -1.46073840e-01 3.50093755e+01] [ 3.67751789e-01 9.28095359e-01 -5.82891543e-02 5.52661749e+00] [ 1.57273981e-01 -2.95275879e-04 9.87554964e-01 3.37188851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81755201799999 meters Centerline goodness : 0.986105 Centerline is valid? [True, True] Translation: X:35.04, Y:5.53, Z:3.38 [[ 9.16387259e-01 -3.72722015e-01 -1.45988669e-01 3.50379421e+01] [ 3.68132407e-01 9.27942997e-01 -5.83123121e-02 5.52846611e+00] [ 1.57203446e-01 -3.06500383e-04 9.87566192e-01 3.37784709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:35.07, Y:5.53, Z:3.38 [[ 9.15381025e-01 -3.76136610e-01 -1.43522927e-01 3.50683611e+01] [ 3.71734270e-01 9.26563853e-01 -5.73851819e-02 5.52699508e+00] [ 1.54567824e-01 -8.23083873e-04 9.87981837e-01 3.38349889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877552017999996 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:35.09, Y:5.54, Z:3.39 [[ 9.15258902e-01 -3.76441377e-01 -1.43502727e-01 3.50943459e+01] [ 3.72034848e-01 9.26440078e-01 -5.74356525e-02 5.53764671e+00] [ 1.54567833e-01 -8.19522750e-04 9.87981839e-01 3.38800335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.907552018 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:35.12, Y:5.54, Z:3.39 [[ 9.14889292e-01 -3.77655581e-01 -1.42666905e-01 3.51216593e+01] [ 3.73306808e-01 9.25945638e-01 -5.71550733e-02 5.54237275e+00] [ 1.53686731e-01 -9.67962426e-04 9.88119149e-01 3.39277556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.937552018 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:35.15, Y:5.55, Z:3.40 [[ 9.14346183e-01 -3.79058443e-01 -1.42428065e-01 3.51489782e+01] [ 3.74732321e-01 9.25372022e-01 -5.71166248e-02 5.54744532e+00] [ 1.53449485e-01 -1.14803146e-03 9.88155827e-01 3.39793597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.967552018 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:35.18, Y:5.55, Z:3.40 [[ 9.13717744e-01 -3.80678891e-01 -1.42138901e-01 3.51761264e+01] [ 3.76380393e-01 9.24706296e-01 -5.70619524e-02 5.55186299e+00] [ 1.53159017e-01 -1.35977699e-03 9.88200621e-01 3.40225565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.997552018 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:35.21, Y:5.55, Z:3.41 [[ 9.11968922e-01 -3.84657567e-01 -1.42657778e-01 3.52062448e+01] [ 3.80369373e-01 9.23057186e-01 -5.73111740e-02 5.54999007e+00] [ 1.53726464e-01 -1.99663984e-03 9.88111425e-01 3.40648464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:35.23, Y:5.55, Z:3.41 [[ 9.10555840e-01 -3.87605517e-01 -1.43701166e-01 3.52327324e+01] [ 3.83281058e-01 9.21822069e-01 -5.77901604e-02 5.55444534e+00] [ 1.54866692e-01 -2.45676706e-03 9.87932322e-01 3.41146626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057552017999996 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:35.26, Y:5.56, Z:3.42 [[ 9.09124334e-01 -3.90857025e-01 -1.43957393e-01 3.52600416e+01] [ 3.86551220e-01 9.20446584e-01 -5.79330633e-02 5.55979518e+00] [ 1.55148635e-01 -2.97854817e-03 9.87886648e-01 3.41590126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.087552018 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:35.29, Y:5.56, Z:3.42 [[ 9.05718381e-01 -3.98056237e-01 -1.45689553e-01 3.52886735e+01] [ 3.93728075e-01 9.17351380e-01 -5.86911231e-02 5.56092801e+00] [ 1.57010881e-01 -4.20443843e-03 9.87587923e-01 3.42116198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.117552018 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:35.32, Y:5.57, Z:3.43 [[ 9.04023769e-01 -4.01766718e-01 -1.46029206e-01 3.53160141e+01] [ 3.97456271e-01 9.15729461e-01 -5.88902990e-02 5.56747535e+00] [ 1.57383409e-01 -4.80199375e-03 9.87525900e-01 3.42597612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.147552018 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:35.34, Y:5.57, Z:3.43 [[ 9.02434202e-01 -4.05655119e-01 -1.45108356e-01 3.53427016e+01] [ 4.01439327e-01 9.14010336e-01 -5.85796212e-02 5.57412666e+00] [ 1.56393660e-01 -5.38794689e-03 9.87680107e-01 3.43080203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.177552018 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:35.37, Y:5.58, Z:3.44 [[ 9.00766880e-01 -4.09529059e-01 -1.44585538e-01 3.53693331e+01] [ 4.05383654e-01 9.12277462e-01 -5.84288138e-02 5.58119067e+00] [ 1.55830425e-01 -5.98187344e-03 9.87765709e-01 3.43618758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:35.40, Y:5.59, Z:3.44 [[ 8.98059263e-01 -4.16168842e-01 -1.42453694e-01 3.53966162e+01] [ 4.12218626e-01 9.09260645e-01 -5.76271085e-02 5.58554516e+00] [ 1.53510145e-01 -6.96950737e-03 9.88122493e-01 3.44189723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237552017999995 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:35.42, Y:5.59, Z:3.45 [[ 8.96651253e-01 -4.19138746e-01 -1.42615714e-01 3.54226720e+01] [ 4.15207171e-01 9.07891792e-01 -5.77537824e-02 5.59384664e+00] [ 1.53686484e-01 -7.43006580e-03 9.88091726e-01 3.44689094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267552017999996 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:35.45, Y:5.60, Z:3.45 [[ 8.95373023e-01 -4.21800405e-01 -1.42799048e-01 3.54481791e+01] [ 4.17882409e-01 9.06654819e-01 -5.78906807e-02 5.60297100e+00] [ 1.53887758e-01 -7.83945650e-03 9.88057236e-01 3.45088812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297552018 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:35.47, Y:5.61, Z:3.46 [[ 8.93344572e-01 -4.25574666e-01 -1.44297190e-01 3.54731453e+01] [ 4.21618056e-01 9.04882873e-01 -5.85252221e-02 5.61218146e+00] [ 1.55478908e-01 -8.55511128e-03 9.87802166e-01 3.45505798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.327552018 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:35.50, Y:5.62, Z:3.46 [[ 8.92393592e-01 -4.27361475e-01 -1.44899437e-01 3.54982885e+01] [ 4.23390801e-01 9.04037228e-01 -5.87955736e-02 5.62278983e+00] [ 1.56121449e-01 -8.88029572e-03 9.87697947e-01 3.45865986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.357552018 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:35.52, Y:5.63, Z:3.46 [[ 8.91719332e-01 -4.28829165e-01 -1.44714133e-01 3.55231975e+01] [ 4.24878422e-01 9.03340061e-01 -5.87797586e-02 5.63370099e+00] [ 1.55932549e-01 -9.07086534e-03 9.87726055e-01 3.46337080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:35.55, Y:5.65, Z:3.47 [[ 8.91143644e-01 -4.30198584e-01 -1.44194954e-01 3.55487449e+01] [ 4.26284533e-01 9.02687181e-01 -5.86289213e-02 5.64538239e+00] [ 1.55385015e-01 -9.22128793e-03 9.87810946e-01 3.46755452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.417552017999995 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:35.57, Y:5.66, Z:3.47 [[ 8.90551911e-01 -4.31538686e-01 -1.43845944e-01 3.55730990e+01] [ 4.27651600e-01 9.02045691e-01 -5.85463994e-02 5.65808747e+00] [ 1.55020650e-01 -9.37734007e-03 9.87866724e-01 3.47288161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:35.60, Y:5.67, Z:3.48 [[ 8.90424770e-01 -4.31461048e-01 -1.44862324e-01 3.55984598e+01] [ 4.27507987e-01 9.02082841e-01 -5.90209166e-02 5.66961089e+00] [ 1.56143043e-01 -9.37611432e-03 9.87689951e-01 3.47724476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477552018 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:35.62, Y:5.68, Z:3.48 [[ 8.90583284e-01 -4.32003101e-01 -1.42248846e-01 3.56225261e+01] [ 4.28189480e-01 9.01824771e-01 -5.80159690e-02 5.68217246e+00] [ 1.53346612e-01 -9.24140740e-03 9.88129249e-01 3.48145726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.507552018 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:35.65, Y:5.69, Z:3.49 [[ 8.90650590e-01 -4.32198353e-01 -1.41230701e-01 3.56471119e+01] [ 4.28438021e-01 9.01731791e-01 -5.76249916e-02 5.69473724e+00] [ 1.52257639e-01 -9.18486937e-03 9.88298158e-01 3.48566582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.537552018 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:35.67, Y:5.71, Z:3.49 [[ 8.90591722e-01 -4.32285533e-01 -1.41335071e-01 3.56700128e+01] [ 4.28511357e-01 9.01690340e-01 -5.77282154e-02 5.71051509e+00] [ 1.52395541e-01 -9.15141226e-03 9.88277214e-01 3.48940165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:35.69, Y:5.72, Z:3.49 [[ 8.90115048e-01 -4.32975197e-01 -1.42224048e-01 3.56943210e+01] [ 4.29158041e-01 9.01357792e-01 -5.81163128e-02 5.72410589e+00] [ 1.53357676e-01 -9.30638940e-03 9.88126922e-01 3.49315288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.597552017999995 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:35.72, Y:5.74, Z:3.50 [[ 8.89665000e-01 -4.33658172e-01 -1.42957257e-01 3.57175914e+01] [ 4.29800534e-01 9.01028243e-01 -5.84774003e-02 5.73710515e+00] [ 1.54167728e-01 -9.41780897e-03 9.87999806e-01 3.49652673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:35.74, Y:5.75, Z:3.50 [[ 8.88822386e-01 -4.35038676e-01 -1.44000403e-01 3.57407683e+01] [ 4.31138159e-01 9.00359455e-01 -5.89299569e-02 5.75329191e+00] [ 1.55288935e-01 -9.70580376e-03 9.87821413e-01 3.49935437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657552018 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:35.76, Y:5.77, Z:3.50 [[ 8.88393888e-01 -4.35714045e-01 -1.44601422e-01 3.57643461e+01] [ 4.31779738e-01 9.00031698e-01 -5.92385068e-02 5.76746654e+00] [ 1.55956913e-01 -9.80883674e-03 9.87715155e-01 3.50299095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.687552018 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:35.79, Y:5.78, Z:3.51 [[ 8.88287073e-01 -4.35926045e-01 -1.44618672e-01 3.57876153e+01] [ 4.31989351e-01 8.99928883e-01 -5.92723054e-02 5.78178461e+00] [ 1.55984861e-01 -9.82290353e-03 9.87710602e-01 3.50715777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.717552018 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:35.81, Y:5.80, Z:3.51 [[ 8.88181439e-01 -4.36259515e-01 -1.44261454e-01 3.58107058e+01] [ 4.32342646e-01 8.99767161e-01 -5.91514305e-02 5.79626321e+00] [ 1.55607093e-01 -9.83317598e-03 9.87770085e-01 3.51152791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.747552018 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:35.83, Y:5.82, Z:3.52 [[ 8.87991153e-01 -4.37044798e-01 -1.43050887e-01 3.58326533e+01] [ 4.33199955e-01 8.99385659e-01 -5.86790893e-02 5.81601149e+00] [ 1.54303307e-01 -9.86312582e-03 9.87974295e-01 3.51605983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.777552017999994 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:35.86, Y:5.83, Z:3.52 [[ 8.87764852e-01 -4.37813102e-01 -1.42102971e-01 3.58560638e+01] [ 4.34020213e-01 8.99011748e-01 -5.83466482e-02 5.83043643e+00] [ 1.53297168e-01 -9.87745829e-03 9.88130768e-01 3.52025999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:35.88, Y:5.84, Z:3.52 [[ 8.87635383e-01 -4.38401990e-01 -1.41092603e-01 3.58803276e+01] [ 4.34661591e-01 8.98724977e-01 -5.79889447e-02 5.84432369e+00] [ 1.52225915e-01 -9.85449605e-03 9.88296595e-01 3.52414518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.837552018 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:35.90, Y:5.86, Z:3.53 [[ 8.87339309e-01 -4.39086645e-01 -1.40825671e-01 3.59048582e+01] [ 4.35360207e-01 8.98390167e-01 -5.79361624e-02 5.85803025e+00] [ 1.51955394e-01 -9.90085909e-03 9.88337762e-01 3.52800832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.867552018 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:35.93, Y:5.87, Z:3.53 [[ 8.86752940e-01 -4.40210777e-01 -1.41009559e-01 3.59266382e+01] [ 4.36479702e-01 8.97838171e-01 -5.80696803e-02 5.87485283e+00] [ 1.52166664e-01 -1.00543504e-02 9.88303707e-01 3.53079160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.897552018 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:35.95, Y:5.89, Z:3.53 [[ 8.86275333e-01 -4.41142575e-01 -1.41100186e-01 3.59507623e+01] [ 4.37414757e-01 8.97379068e-01 -5.81303552e-02 5.88992040e+00] [ 1.52264128e-01 -1.01998036e-02 9.88287205e-01 3.53489108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.927552018 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:35.97, Y:5.90, Z:3.54 [[ 8.86104488e-01 -4.41481244e-01 -1.41113952e-01 3.59748399e+01] [ 4.37748157e-01 8.97212418e-01 -5.81930274e-02 5.90491755e+00] [ 1.52300320e-01 -1.02072695e-02 9.88281551e-01 3.53908785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.957552017999994 meters Centerline goodness : 0.988436 Centerline is valid? [True, True] Translation: X:36.01, Y:5.93, Z:3.54 [[ 8.89420309e-01 -4.39908905e-01 -1.24143743e-01 3.60060669e+01] [ 4.32769090e-01 8.97854828e-01 -8.10408716e-02 5.92996423e+00] [ 1.47113660e-01 1.83538226e-02 9.88949295e-01 3.54290503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:36.04, Y:5.93, Z:3.54 [[ 8.89428537e-01 -4.35317896e-01 -1.39338466e-01 3.60375435e+01] [ 4.33251505e-01 9.00075178e-01 -4.64522137e-02 5.92989367e+00] [ 1.45636574e-01 -1.90526757e-02 9.89154681e-01 3.54374661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.017552017999996 meters Centerline goodness : 0.987038 Centerline is valid? [True, True] Translation: X:36.06, Y:5.95, Z:3.55 [[ 8.90017605e-01 -4.35666172e-01 -1.34401078e-01 3.60607554e+01] [ 4.32076793e-01 9.00073609e-01 -5.63661502e-02 5.94729956e+00] [ 1.45527688e-01 -7.90472075e-03 9.89322600e-01 3.54846736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.047552018 meters Centerline goodness : 0.986475 Centerline is valid? [True, True] Translation: X:36.09, Y:5.96, Z:3.55 [[ 8.89759016e-01 -4.35876804e-01 -1.35426384e-01 3.60863253e+01] [ 4.32506281e-01 8.99954360e-01 -5.49587693e-02 5.96203639e+00] [ 1.45832818e-01 -9.67270131e-03 9.89261961e-01 3.55180679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.077552018 meters Centerline goodness : 0.985737 Centerline is valid? [True, True] Translation: X:36.11, Y:5.97, Z:3.56 [[ 8.89730221e-01 -4.33559265e-01 -1.42851309e-01 3.61079617e+01] [ 4.32185246e-01 9.00799135e-01 -4.21524812e-02 5.97443044e+00] [ 1.46955935e-01 -2.42338917e-02 9.88846132e-01 3.55531354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.107552018 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:36.13, Y:6.00, Z:3.56 [[ 8.89369674e-01 -4.36889061e-01 -1.34720199e-01 3.61292554e+01] [ 4.32707876e-01 8.99504058e-01 -6.04677025e-02 5.99761788e+00] [ 1.47599044e-01 -4.51635048e-03 9.89036968e-01 3.56106413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.137552017999994 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:36.16, Y:6.01, Z:3.57 [[ 8.89780437e-01 -4.33770322e-01 -1.41894615e-01 3.61557478e+01] [ 4.31690579e-01 9.00809142e-01 -4.67561052e-02 6.00579538e+00] [ 1.48101378e-01 -1.96519011e-02 9.88776914e-01 3.56627537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters Centerline goodness : 0.984812 Centerline is valid? [True, True] Translation: X:36.18, Y:6.02, Z:3.57 [[ 8.90392145e-01 -4.33464328e-01 -1.38962241e-01 3.61795430e+01] [ 4.30221998e-01 9.01096628e-01 -5.41654824e-02 6.02333391e+00] [ 1.48697211e-01 -1.15560929e-02 9.88815249e-01 3.57140309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197552017999996 meters Centerline goodness : 0.984624 Centerline is valid? [True, True] Translation: X:36.20, Y:6.04, Z:3.58 [[ 8.92035892e-01 -4.28787873e-01 -1.42873814e-01 3.62027489e+01] [ 4.26056037e-01 9.03270850e-01 -5.07742414e-02 6.04068065e+00] [ 1.50825130e-01 -1.55798052e-02 9.88437681e-01 3.57679337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227552018 meters Centerline goodness : 0.985279 Centerline is valid? [True, True] Translation: X:36.23, Y:6.06, Z:3.58 [[ 8.92696299e-01 -4.27743830e-01 -1.41875064e-01 3.62267475e+01] [ 4.24205483e-01 9.03841158e-01 -5.58647430e-02 6.05769727e+00] [ 1.52128322e-01 -1.03139309e-02 9.88306934e-01 3.58270191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.257552018 meters Centerline goodness : 0.984669 Centerline is valid? [True, True] Translation: X:36.25, Y:6.07, Z:3.59 [[ 8.94202267e-01 -4.23652110e-01 -1.44641612e-01 3.62485634e+01] [ 4.20289439e-01 9.05745910e-01 -5.45997579e-02 6.07469050e+00] [ 1.54139851e-01 -1.19681147e-02 9.87976554e-01 3.58682675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.287552018 meters Centerline goodness : 0.985942 Centerline is valid? [True, True] Translation: X:36.26, Y:6.09, Z:3.59 [[ 8.92215694e-01 -4.25733251e-01 -1.50673009e-01 3.62636367e+01] [ 4.23329171e-01 9.04632492e-01 -4.93200543e-02 6.08970899e+00] [ 1.57300886e-01 -1.97801535e-02 9.87352610e-01 3.59079703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31755201799999 meters Centerline goodness : 0.984734 Centerline is valid? [True, True] Translation: X:36.29, Y:6.11, Z:3.60 [[ 8.94672844e-01 -4.24196617e-01 -1.40063316e-01 3.62935683e+01] [ 4.18354111e-01 9.05559939e-01 -7.02924988e-02 6.11011794e+00] [ 1.56653568e-01 4.29272565e-03 9.87644284e-01 3.59880255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters Centerline goodness : 0.985773 Centerline is valid? [True, True] Translation: X:36.31, Y:6.12, Z:3.60 [[ 8.92858653e-01 -4.23658991e-01 -1.52697366e-01 3.63122480e+01] [ 4.21325565e-01 9.05586989e-01 -4.89588941e-02 6.11605959e+00] [ 1.59022624e-01 -2.06219318e-02 9.87059543e-01 3.59965165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.377552017999996 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:36.33, Y:6.13, Z:3.61 [[ 8.93874627e-01 -4.23472314e-01 -1.47171162e-01 3.63340800e+01] [ 4.18936941e-01 9.05888288e-01 -6.21148036e-02 6.13432186e+00] [ 1.59624531e-01 -6.13258941e-03 9.87158751e-01 3.60634375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.407552018 meters Centerline goodness : 0.984821 Centerline is valid? [True, True] Translation: X:36.37, Y:6.15, Z:3.61 [[ 8.97422552e-01 -4.19017898e-01 -1.38046239e-01 3.63672645e+01] [ 4.12339904e-01 9.07915849e-01 -7.52636330e-02 6.14840655e+00] [ 1.56871178e-01 1.06213085e-02 9.87561958e-01 3.61143163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.437552018 meters Centerline goodness : 0.985030 Centerline is valid? [True, True] Translation: X:36.40, Y:6.16, Z:3.61 [[ 8.98122189e-01 -4.16425801e-01 -1.41301402e-01 3.63981333e+01] [ 4.11873724e-01 9.09164806e-01 -6.14767544e-02 6.15640518e+00] [ 1.54066769e-01 -2.98469767e-03 9.88055931e-01 3.61112006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.467552018 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:36.42, Y:6.16, Z:3.62 [[ 8.97691450e-01 -4.14996786e-01 -1.48080143e-01 3.64236522e+01] [ 4.12257705e-01 9.09682640e-01 -5.02103470e-02 6.16472986e+00] [ 1.55543068e-01 -1.59737808e-02 9.87699951e-01 3.61639237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.497552018 meters Centerline goodness : 0.986800 Centerline is valid? [True, True] Translation: X:36.44, Y:6.18, Z:3.62 [[ 8.95900025e-01 -4.17047547e-01 -1.53083273e-01 3.64377054e+01] [ 4.15149988e-01 9.08603713e-01 -4.57141055e-02 6.17808846e+00] [ 1.58156986e-01 -2.25972506e-02 9.87155374e-01 3.62348127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:36.46, Y:6.20, Z:3.63 [[ 8.96420753e-01 -4.18581869e-01 -1.45667608e-01 3.64599669e+01] [ 4.14007123e-01 9.08166300e-01 -6.19037452e-02 6.19561683e+00] [ 1.58202198e-01 -4.81562532e-03 9.87394994e-01 3.63170662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557552017999996 meters Centerline goodness : 0.986364 Centerline is valid? [True, True] Translation: X:36.49, Y:6.21, Z:3.64 [[ 8.99723751e-01 -4.15412639e-01 -1.33901123e-01 3.64925021e+01] [ 4.08394630e-01 9.09508485e-01 -7.75122017e-02 6.21091034e+00] [ 1.53983756e-01 1.50550693e-02 9.87958677e-01 3.63585876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.587552018 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:36.52, Y:6.21, Z:3.64 [[ 9.00258291e-01 -4.11029770e-01 -1.43490551e-01 3.65229723e+01] [ 4.07290067e-01 9.11585863e-01 -5.59107750e-02 6.21321047e+00] [ 1.53784951e-01 -8.10813763e-03 9.88071074e-01 3.63586887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.617552018 meters Centerline goodness : 0.986689 Centerline is valid? [True, True] Translation: X:36.54, Y:6.22, Z:3.64 [[ 8.98215091e-01 -4.10998483e-01 -1.55852164e-01 3.65395767e+01] [ 4.09538120e-01 9.11284615e-01 -4.28821437e-02 6.22124989e+00] [ 1.59650176e-01 -2.53100137e-02 9.86849140e-01 3.64105884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.647552018 meters Centerline goodness : 0.986701 Centerline is valid? [True, True] Translation: X:36.56, Y:6.24, Z:3.65 [[ 8.98459352e-01 -4.13556886e-01 -1.47449972e-01 3.65598459e+01] [ 4.08757052e-01 9.10470657e-01 -6.29353305e-02 6.24007405e+00] [ 1.60276212e-01 -3.72637977e-03 9.87065170e-01 3.65015080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.677552018 meters Centerline goodness : 0.986555 Centerline is valid? [True, True] Translation: X:36.59, Y:6.25, Z:3.66 [[ 8.98797986e-01 -4.12745667e-01 -1.47659050e-01 3.65851461e+01] [ 4.07917313e-01 9.10839343e-01 -6.30488444e-02 6.24978093e+00] [ 1.60516809e-01 -3.56450847e-03 9.87026670e-01 3.65535781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters Centerline goodness : 0.985676 Centerline is valid? [True, True] Translation: X:36.62, Y:6.27, Z:3.66 [[ 9.02658248e-01 -4.12091484e-01 -1.24051184e-01 3.66193646e+01] [ 4.02849945e-01 9.10498992e-01 -9.32925885e-02 6.27141155e+00] [ 1.51393559e-01 3.42373120e-02 9.87880457e-01 3.65720959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737552017999995 meters Centerline goodness : 0.986492 Centerline is valid? [True, True] Translation: X:36.65, Y:6.26, Z:3.65 [[ 9.03100095e-01 -4.06045505e-01 -1.39775768e-01 3.66533570e+01] [ 4.02379230e-01 9.13828261e-01 -5.48531168e-02 6.26266744e+00] [ 1.50003909e-01 -6.70501100e-03 9.88662668e-01 3.65192193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.767552017999996 meters Centerline goodness : 0.986492 Centerline is valid? [True, True] Translation: X:36.68, Y:6.27, Z:3.66 [[ 9.02677604e-01 -4.06824798e-01 -1.40238110e-01 3.66797856e+01] [ 4.03084238e-01 9.13483089e-01 -5.54233043e-02 6.27456268e+00] [ 1.50652716e-01 -6.49839609e-03 9.88565390e-01 3.65720000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.797552018 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:36.70, Y:6.27, Z:3.66 [[ 8.98718942e-01 -4.06540621e-01 -1.64404945e-01 3.66984945e+01] [ 4.08475722e-01 9.12468626e-01 -2.34220026e-02 6.27166791e+00] [ 1.59536350e-01 -4.61056314e-02 9.86114813e-01 3.66475430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.827552018 meters Centerline goodness : 0.986384 Centerline is valid? [True, True] Translation: X:36.72, Y:6.31, Z:3.68 [[ 9.01408035e-01 -4.13125393e-01 -1.29579956e-01 3.67215777e+01] [ 4.04710915e-01 9.10305990e-01 -8.69027067e-02 6.30635520e+00] [ 1.53859125e-01 2.58923755e-02 9.87753489e-01 3.67532462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.857552018 meters Centerline goodness : 0.986368 Centerline is valid? [True, True] Translation: X:36.75, Y:6.30, Z:3.67 [[ 9.01296738e-01 -4.08863828e-01 -1.43159213e-01 3.67542027e+01] [ 4.04980397e-01 9.12569134e-01 -5.66432198e-02 6.30357870e+00] [ 1.53802043e-01 -6.92432578e-03 9.88077419e-01 3.67349548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters Centerline goodness : 0.987184 Centerline is valid? [True, True] Translation: X:36.78, Y:6.30, Z:3.68 [[ 8.97558349e-01 -4.10345287e-01 -1.61263002e-01 3.67751611e+01] [ 4.10411747e-01 9.11248744e-01 -3.44662875e-02 6.30198162e+00] [ 1.61093787e-01 -3.52487265e-02 9.86309444e-01 3.68051040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917552017999995 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:36.79, Y:6.32, Z:3.69 [[ 8.96765774e-01 -4.16758948e-01 -1.48738452e-01 3.67944458e+01] [ 4.11834872e-01 9.09008805e-01 -6.39924321e-02 6.32164027e+00] [ 1.61873981e-01 -3.86945830e-03 9.86803852e-01 3.69028998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947552017999996 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:36.83, Y:6.34, Z:3.69 [[ 8.99120395e-01 -4.18686148e-01 -1.27610441e-01 3.68277001e+01] [ 4.09377135e-01 9.07578166e-01 -9.33393487e-02 6.34021016e+00] [ 1.54896343e-01 3.16825153e-02 9.87422575e-01 3.69202799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.977552018 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:36.87, Y:6.33, Z:3.69 [[ 8.98452699e-01 -4.14800303e-01 -1.43956440e-01 3.68655962e+01] [ 4.10509815e-01 9.09896382e-01 -5.97517100e-02 6.33364731e+00] [ 1.55770472e-01 -5.41144655e-03 9.87778455e-01 3.69046051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.007552018 meters Centerline goodness : 0.986751 Centerline is valid? [True, True] Translation: X:36.89, Y:6.33, Z:3.70 [[ 8.93907700e-01 -4.16297260e-01 -1.66209553e-01 3.68861843e+01] [ 4.17755295e-01 9.08134434e-01 -2.77914324e-02 6.32549213e+00] [ 1.62510116e-01 -4.45919454e-02 9.85698747e-01 3.69975373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.037552018 meters Centerline goodness : 0.986003 Centerline is valid? [True, True] Translation: X:36.91, Y:6.35, Z:3.71 [[ 8.93903222e-01 -4.22784071e-01 -1.48965293e-01 3.69050525e+01] [ 4.17861581e-01 9.06218789e-01 -6.44919048e-02 6.34924502e+00] [ 1.62261297e-01 -4.59735128e-03 9.86737116e-01 3.71188383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:36.93, Y:6.36, Z:3.72 [[ 8.94598646e-01 -4.21901126e-01 -1.47284425e-01 3.69302969e+01] [ 4.17068436e-01 9.06631495e-01 -6.38220280e-02 6.35782539e+00] [ 1.60459284e-01 -4.33258491e-03 9.87032951e-01 3.71767001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.097552017999995 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:36.96, Y:6.36, Z:3.72 [[ 8.96298732e-01 -4.19081950e-01 -1.44978973e-01 3.69572696e+01] [ 4.14359636e-01 9.07940695e-01 -6.28473233e-02 6.36420627e+00] [ 1.57970488e-01 -3.74345814e-03 9.87436738e-01 3.72343888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:36.98, Y:6.37, Z:3.73 [[ 8.97120879e-01 -4.17327849e-01 -1.44953767e-01 3.69842197e+01] [ 4.12574709e-01 9.08749721e-01 -6.28971680e-02 6.37198700e+00] [ 1.57975436e-01 -3.37789567e-03 9.87437265e-01 3.72851395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157552018 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:37.01, Y:6.38, Z:3.73 [[ 8.98032607e-01 -4.15333136e-01 -1.45037315e-01 3.70116518e+01] [ 4.10538868e-01 9.09664526e-01 -6.29943442e-02 6.37957258e+00] [ 1.58098939e-01 -2.97247975e-03 9.87418802e-01 3.73224219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.187552018 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:37.04, Y:6.39, Z:3.74 [[ 8.99217803e-01 -4.13401946e-01 -1.43199771e-01 3.70402640e+01] [ 4.07993287e-01 9.10547363e-01 -6.66706682e-02 6.38853797e+00] [ 1.57951958e-01 1.52690654e-03 9.87445618e-01 3.73566381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.217552018 meters Centerline goodness : 0.988374 Centerline is valid? [True, True] Translation: X:37.07, Y:6.39, Z:3.74 [[ 9.01150577e-01 -4.06289402e-01 -1.51183863e-01 3.70685165e+01] [ 4.01799728e-01 9.13723544e-01 -6.05496867e-02 6.39024719e+00] [ 1.62740951e-01 -6.18124991e-03 9.86649469e-01 3.73941270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.247552018 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:37.09, Y:6.40, Z:3.74 [[ 9.02197523e-01 -4.04288338e-01 -1.50301595e-01 3.70936463e+01] [ 3.98960169e-01 9.14631108e-01 -6.54272141e-02 6.40086026e+00] [ 1.63921974e-01 -9.36079010e-04 9.86472863e-01 3.74485857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.277552017999994 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:37.12, Y:6.41, Z:3.75 [[ 9.03726792e-01 -4.00623378e-01 -1.50926452e-01 3.71189531e+01] [ 3.95188654e-01 9.16242798e-01 -6.57652151e-02 6.40886516e+00] [ 1.64632358e-01 -2.10634692e-04 9.86354978e-01 3.74911997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:37.15, Y:6.41, Z:3.75 [[ 9.06693236e-01 -3.93469478e-01 -1.51951128e-01 3.71475926e+01] [ 3.87855243e-01 9.19336992e-01 -6.62405176e-02 6.41253789e+00] [ 1.65757914e-01 1.12478782e-03 9.86165832e-01 3.75344392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337552018 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:37.18, Y:6.43, Z:3.76 [[ 9.09088753e-01 -3.92298335e-01 -1.40212893e-01 3.71755417e+01] [ 3.83685099e-01 9.19536651e-01 -8.50769726e-02 6.42770186e+00] [ 1.62306449e-01 2.35449210e-02 9.86459453e-01 3.75729838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367552018 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:37.21, Y:6.42, Z:3.76 [[ 9.09494826e-01 -3.83057495e-01 -1.61511974e-01 3.72069984e+01] [ 3.81010443e-01 9.23488750e-01 -4.47165649e-02 6.41688827e+00] [ 1.66283507e-01 -2.08682645e-02 9.85857145e-01 3.76165767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.397552018 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:37.23, Y:6.43, Z:3.77 [[ 9.10911175e-01 -3.83962867e-01 -1.51040880e-01 3.72297376e+01] [ 3.78260612e-01 9.23343718e-01 -6.59946061e-02 6.43265229e+00] [ 1.64802126e-01 2.98240839e-03 9.86322140e-01 3.76947972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.427552018 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:37.26, Y:6.44, Z:3.77 [[ 9.12151056e-01 -3.81434114e-01 -1.49961555e-01 3.72569150e+01] [ 3.75769145e-01 9.24389500e-01 -6.55865942e-02 6.43923286e+00] [ 1.63639852e-01 3.47395573e-03 9.86514030e-01 3.77494886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.457552017999994 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:37.29, Y:6.44, Z:3.78 [[ 9.13851708e-01 -3.77615100e-01 -1.49271204e-01 3.72858367e+01] [ 3.71941209e-01 9.25953131e-01 -6.53493471e-02 6.43982961e+00] [ 1.62895039e-01 4.19950051e-03 9.86634467e-01 3.78107539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:37.31, Y:6.45, Z:3.79 [[ 9.14025707e-01 -3.77096622e-01 -1.49516370e-01 3.73134503e+01] [ 3.71392525e-01 9.26163826e-01 -6.54840390e-02 6.44509627e+00] [ 1.63170463e-01 4.32483285e-03 9.86588413e-01 3.78593198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.517552017999996 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:37.34, Y:6.45, Z:3.79 [[ 9.13823884e-01 -3.77303643e-01 -1.50226061e-01 3.73407697e+01] [ 3.71536295e-01 9.26079284e-01 -6.58630520e-02 6.45003449e+00] [ 1.63971613e-01 4.37279571e-03 9.86455366e-01 3.79057042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547552018 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:37.37, Y:6.45, Z:3.80 [[ 9.12694506e-01 -3.79612754e-01 -1.51270932e-01 3.73705530e+01] [ 3.73790764e-01 9.25136769e-01 -6.63507554e-02 6.44869308e+00] [ 1.65133894e-01 4.01429273e-03 9.86262988e-01 3.79598735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.577552018 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:37.40, Y:6.45, Z:3.80 [[ 9.12138981e-01 -3.81118217e-01 -1.50835621e-01 3.73981937e+01] [ 3.75345587e-01 9.24518678e-01 -6.61883987e-02 6.45323182e+00] [ 1.64675953e-01 3.75753388e-03 9.86340566e-01 3.80183427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.607552018 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:37.43, Y:6.46, Z:3.81 [[ 9.11454970e-01 -3.83027148e-01 -1.50133410e-01 3.74261196e+01] [ 3.77323287e-01 9.23730613e-01 -6.59461281e-02 6.45783936e+00] [ 1.63941985e-01 3.45809442e-03 9.86463921e-01 3.80747740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.637552017999994 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:37.46, Y:6.45, Z:3.81 [[ 9.10283985e-01 -3.86005899e-01 -1.49607862e-01 3.74560927e+01] [ 3.80371185e-01 9.22491521e-01 -6.57811103e-02 6.45398550e+00] [ 1.63403881e-01 2.97297144e-03 9.86554780e-01 3.81415222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:37.48, Y:6.46, Z:3.82 [[ 9.09604688e-01 -3.87640570e-01 -1.49512878e-01 3.74839300e+01] [ 3.82030366e-01 9.21806638e-01 -6.57671721e-02 6.45846975e+00] [ 1.63315987e-01 2.70366869e-03 9.86570108e-01 3.82002734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.697552017999996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:37.51, Y:6.46, Z:3.83 [[ 9.08976843e-01 -3.89216033e-01 -1.49237992e-01 3.75115700e+01] [ 3.83636693e-01 9.21143169e-01 -6.57126258e-02 6.46390795e+00] [ 1.63045965e-01 2.47808538e-03 9.86615362e-01 3.82501510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.727552018 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:37.54, Y:6.47, Z:3.83 [[ 9.08472258e-01 -3.90502139e-01 -1.48950450e-01 3.75382565e+01] [ 3.84950435e-01 9.20599132e-01 -6.56536380e-02 6.46898763e+00] [ 1.62761541e-01 2.30596819e-03 9.86662740e-01 3.82973435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.757552018 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:37.57, Y:6.47, Z:3.83 [[ 9.08022401e-01 -3.91514415e-01 -1.49036179e-01 3.75660799e+01] [ 3.85965124e-01 9.20169457e-01 -6.57198053e-02 6.47438196e+00] [ 1.62868791e-01 2.15228798e-03 9.86645389e-01 3.83439775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.787552018 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:37.60, Y:6.47, Z:3.84 [[ 9.07609987e-01 -3.92253166e-01 -1.49604697e-01 3.75960989e+01] [ 3.86659939e-01 9.19854925e-01 -6.60379281e-02 6.47324610e+00] [ 1.63518204e-01 2.09053996e-03 9.86538102e-01 3.83784692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81755201799999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:37.62, Y:6.48, Z:3.84 [[ 9.07367699e-01 -3.92342393e-01 -1.50835357e-01 3.76242402e+01] [ 3.86652460e-01 9.19816806e-01 -6.66101994e-02 6.47899122e+00] [ 1.64874902e-01 2.11908141e-03 9.86312210e-01 3.84269904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:37.65, Y:6.48, Z:3.85 [[ 9.07077941e-01 -3.92405432e-01 -1.52405991e-01 3.76537956e+01] [ 3.86584442e-01 9.19789734e-01 -6.73744383e-02 6.47921118e+00] [ 1.66619561e-01 2.19608170e-03 9.86018813e-01 3.84686092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.877552017999996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:37.68, Y:6.48, Z:3.85 [[ 9.06850190e-01 -3.92728708e-01 -1.52927741e-01 3.76810763e+01] [ 3.86866834e-01 9.19651804e-01 -6.76358858e-02 6.48483974e+00] [ 1.67202827e-01 2.17294508e-03 9.85920125e-01 3.85125812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.907552018 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:37.71, Y:6.49, Z:3.86 [[ 9.06523757e-01 -3.93333893e-01 -1.53307295e-01 3.77073743e+01] [ 3.87439564e-01 9.19393229e-01 -6.78724951e-02 6.49054822e+00] [ 1.67646242e-01 2.13071773e-03 9.85844916e-01 3.85553124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.937552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.73, Y:6.50, Z:3.86 [[ 9.06146068e-01 -3.94183744e-01 -1.53357359e-01 3.77347573e+01] [ 3.88292469e-01 9.19029470e-01 -6.79248973e-02 6.49663334e+00] [ 1.67714823e-01 2.00237092e-03 9.85833520e-01 3.85995044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:6.50, Z:3.87 [[ 9.05465114e-01 -3.95935976e-01 -1.52864746e-01 3.77640623e+01] [ 3.90096181e-01 9.18276480e-01 -6.77737166e-02 6.49621490e+00] [ 1.67206153e-01 1.73478256e-03 9.85920429e-01 3.86539278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:6.50, Z:3.87 [[ 9.05153972e-01 -3.96953497e-01 -1.52066462e-01 3.77912390e+01] [ 3.91184331e-01 9.17837388e-01 -6.74488597e-02 6.50237095e+00] [ 1.66346345e-01 1.56558594e-03 9.86066145e-01 3.86979718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:37.82, Y:6.51, Z:3.87 [[ 9.04901766e-01 -3.97404904e-01 -1.52388111e-01 3.78180847e+01] [ 3.91606305e-01 9.17642059e-01 -6.76576249e-02 6.50935902e+00] [ 1.66725212e-01 1.54735915e-03 9.86002185e-01 3.87321181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:6.52, Z:3.88 [[ 9.05228997e-01 -3.97517100e-01 -1.50135334e-01 3.78447847e+01] [ 3.91880854e-01 9.17593436e-01 -6.67209313e-02 6.51663165e+00] [ 1.64285908e-01 1.56255877e-03 9.86411526e-01 3.87974599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:6.52, Z:3.88 [[ 9.05870409e-01 -3.96145354e-01 -1.49892162e-01 3.78725169e+01] [ 3.90498097e-01 9.18185911e-01 -6.66773515e-02 6.51931364e+00] [ 1.64042795e-01 1.86843556e-03 9.86451454e-01 3.88436810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:6.53, Z:3.89 [[ 9.06081495e-01 -3.95463360e-01 -1.50416275e-01 3.78992941e+01] [ 3.89762284e-01 9.18479521e-01 -6.69382635e-02 6.52621523e+00] [ 1.64625899e-01 2.02493064e-03 9.86354000e-01 3.88879143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:6.53, Z:3.89 [[ 9.06371089e-01 -3.94591525e-01 -1.50960183e-01 3.79266062e+01] [ 3.88826238e-01 9.18853886e-01 -6.72435303e-02 6.53376460e+00] [ 1.65244078e-01 2.25031190e-03 9.86250136e-01 3.89359010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:6.54, Z:3.90 [[ 9.07377942e-01 -3.92219357e-01 -1.51093501e-01 3.79548395e+01] [ 3.86400574e-01 9.19867626e-01 -6.73657734e-02 6.53825007e+00] [ 1.65408181e-01 2.74360115e-03 9.86221378e-01 3.89736697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:6.55, Z:3.90 [[ 9.07761126e-01 -3.91452953e-01 -1.50779057e-01 3.79811986e+01] [ 3.85637709e-01 9.20193443e-01 -6.72873304e-02 6.54624015e+00] [ 1.65085723e-01 2.93473279e-03 9.86274856e-01 3.90196495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:6.55, Z:3.91 [[ 9.08287732e-01 -3.90324944e-01 -1.50531837e-01 3.80073986e+01] [ 3.84503256e-01 9.20671630e-01 -6.72383480e-02 6.55393415e+00] [ 1.64835197e-01 3.19178498e-03 9.86315959e-01 3.90680173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:6.56, Z:3.91 [[ 9.08615006e-01 -3.89799842e-01 -1.49916156e-01 3.80334875e+01] [ 3.84014609e-01 9.20893701e-01 -6.69893331e-02 6.56225144e+00] [ 1.64169276e-01 3.29751911e-03 9.86426670e-01 3.91183323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:6.57, Z:3.92 [[ 9.09506271e-01 -3.87840211e-01 -1.49593831e-01 3.80606621e+01] [ 3.82043783e-01 9.21719203e-01 -6.69048539e-02 6.56713469e+00] [ 1.63831899e-01 3.69899110e-03 9.86481336e-01 3.91630227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:6.57, Z:3.92 [[ 9.09780324e-01 -3.87197010e-01 -1.49593573e-01 3.80862568e+01] [ 3.81385243e-01 9.21988955e-01 -6.69452301e-02 6.57438083e+00] [ 1.63844615e-01 3.85267183e-03 9.86478636e-01 3.92078149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:6.58, Z:3.92 [[ 9.09901613e-01 -3.87079666e-01 -1.49158932e-01 3.81122562e+01] [ 3.81296160e-01 9.22038087e-01 -6.67757820e-02 6.58229242e+00] [ 1.63377763e-01 3.88566398e-03 9.86555933e-01 3.92450279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:6.59, Z:3.93 [[ 9.09680594e-01 -3.87597456e-01 -1.49162426e-01 3.81392261e+01] [ 3.81816542e-01 9.21820836e-01 -6.68017560e-02 6.59105224e+00] [ 1.63393223e-01 3.81557948e-03 9.86553646e-01 3.92868158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:6.60, Z:3.93 [[ 9.08650296e-01 -3.90219051e-01 -1.48605962e-01 3.81671113e+01] [ 3.84507012e-01 9.20715831e-01 -6.66086825e-02 6.59671222e+00] [ 1.62815839e-01 3.38396462e-03 9.86650673e-01 3.93301131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.447552017999996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:38.19, Y:6.61, Z:3.94 [[ 9.07605387e-01 -3.92533278e-01 -1.48896231e-01 3.81945523e+01] [ 3.86818989e-01 9.19732795e-01 -6.68031068e-02 6.60513090e+00] [ 1.63167189e-01 3.03497013e-03 9.86593765e-01 3.93533814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:6.61, Z:3.94 [[ 9.07225098e-01 -3.93853226e-01 -1.47723584e-01 3.82210315e+01] [ 3.88235593e-01 9.19168964e-01 -6.63440952e-02 6.61147893e+00] [ 1.61912770e-01 2.83747484e-03 9.86800995e-01 3.94201443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.507552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.25, Y:6.62, Z:3.95 [[ 9.05072553e-01 -3.99039336e-01 -1.47007764e-01 3.82483573e+01] [ 3.91884863e-01 9.16865071e-01 -7.60571799e-02 6.61848523e+00] [ 1.65136090e-01 1.12271486e-02 9.86206886e-01 3.94641850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:6.62, Z:3.95 [[ 9.03869776e-01 -4.00271711e-01 -1.51003261e-01 3.82756903e+01] [ 3.94097695e-01 9.16388263e-01 -7.01395601e-02 6.62392683e+00] [ 1.66452497e-01 3.88699151e-03 9.86041813e-01 3.95210452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:6.63, Z:3.96 [[ 9.03218996e-01 -4.00544171e-01 -1.54142183e-01 3.83051383e+01] [ 3.96418674e-01 9.16235966e-01 -5.79990446e-02 6.62789594e+00] [ 1.64461792e-01 -8.71900110e-03 9.86344918e-01 3.95811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:6.64, Z:3.96 [[ 9.01243486e-01 -4.06537919e-01 -1.49956991e-01 3.83303925e+01] [ 4.00893178e-01 9.13633617e-01 -6.75149869e-02 6.63642425e+00] [ 1.64453150e-01 7.30707437e-04 9.86384624e-01 3.96161503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:6.64, Z:3.97 [[ 9.00228581e-01 -4.09308732e-01 -1.48508801e-01 3.83573015e+01] [ 4.03806726e-01 9.12395913e-01 -6.68866660e-02 6.64459486e+00] [ 1.62876119e-01 2.44435735e-04 9.86646497e-01 3.96675717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.38, Y:6.66, Z:3.97 [[ 8.98847947e-01 -4.13149225e-01 -1.46219310e-01 3.83828991e+01] [ 4.06646036e-01 9.10640681e-01 -7.32976893e-02 6.65522214e+00] [ 1.63436135e-01 6.42397493e-03 9.86533001e-01 3.97112616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:6.66, Z:3.98 [[ 8.98711973e-01 -4.12413212e-01 -1.49104436e-01 3.84095183e+01] [ 4.06906972e-01 9.10996843e-01 -6.71674646e-02 6.66428799e+00] [ 1.63534420e-01 -3.07429762e-04 9.86537581e-01 3.97701500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:6.67, Z:3.98 [[ 8.98235303e-01 -4.13430650e-01 -1.49159106e-01 3.84366390e+01] [ 4.09126178e-01 9.10507237e-01 -5.99361495e-02 6.67019854e+00] [ 1.60589887e-01 -7.18812969e-03 9.86995045e-01 3.98313471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:6.68, Z:3.99 [[ 8.96673251e-01 -4.17872669e-01 -1.46148941e-01 3.84621309e+01] [ 4.12626865e-01 9.08504924e-01 -6.60141964e-02 6.68031468e+00] [ 1.60362561e-01 -1.11181515e-03 9.87057553e-01 3.98646525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:6.69, Z:3.99 [[ 8.96060276e-01 -4.18949002e-01 -1.46825461e-01 3.84870293e+01] [ 4.13659076e-01 9.08008895e-01 -6.63778230e-02 6.69017117e+00] [ 1.61127747e-01 -1.25715419e-03 9.86932758e-01 3.98992075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:6.70, Z:3.99 [[ 8.95462840e-01 -4.19747182e-01 -1.48184363e-01 3.85126358e+01] [ 4.14358121e-01 9.07640057e-01 -6.70587364e-02 6.70037474e+00] [ 1.62645779e-01 -1.35278776e-03 9.86683597e-01 3.99383975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:6.71, Z:4.00 [[ 8.94491620e-01 -4.21214705e-01 -1.49876327e-01 3.85390725e+01] [ 4.15710396e-01 9.06959582e-01 -6.78909594e-02 6.70909190e+00] [ 1.64528441e-01 -1.57725292e-03 9.86371078e-01 3.99818691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:6.72, Z:4.00 [[ 8.93977979e-01 -4.22315857e-01 -1.49842216e-01 3.85640225e+01] [ 4.16819618e-01 9.06447097e-01 -6.79342794e-02 6.71924289e+00] [ 1.64513765e-01 -1.72542563e-03 9.86373278e-01 4.00271840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.897552018 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:38.59, Y:6.73, Z:4.00 [[ 8.92754636e-01 -4.24719386e-01 -1.50341620e-01 3.85895640e+01] [ 4.19215781e-01 9.05322490e-01 -6.81859045e-02 6.73069850e+00] [ 1.65067526e-01 -2.15229752e-03 9.86279919e-01 4.00482475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:6.74, Z:4.01 [[ 8.92387346e-01 -4.25901100e-01 -1.49174656e-01 3.86149835e+01] [ 4.20490695e-01 9.04766792e-01 -6.77098730e-02 6.74077501e+00] [ 1.63805984e-01 -2.30312101e-03 9.86489886e-01 4.01300425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:6.75, Z:4.02 [[ 8.90079746e-01 -4.30306016e-01 -1.50315594e-01 3.86388447e+01] [ 4.24864541e-01 9.02677805e-01 -6.82854470e-02 6.75201620e+00] [ 1.65070189e-01 -3.08427251e-03 9.86277000e-01 4.01751423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:6.76, Z:4.02 [[ 8.88933675e-01 -4.32797502e-01 -1.49944134e-01 3.86638684e+01] [ 4.27407459e-01 9.01484453e-01 -6.81809674e-02 6.76366711e+00] [ 1.64680858e-01 -3.47888356e-03 9.86340769e-01 4.02218681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:6.77, Z:4.03 [[ 8.87634114e-01 -4.35489292e-01 -1.49849115e-01 3.86877443e+01] [ 4.30133065e-01 9.00185398e-01 -6.82040693e-02 6.77496728e+00] [ 1.64594127e-01 -3.91480044e-03 9.86353612e-01 4.02711997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:6.79, Z:4.03 [[ 8.85230198e-01 -4.40672344e-01 -1.48914007e-01 3.87119378e+01] [ 4.35444969e-01 8.97655262e-01 -6.78432706e-02 6.78680866e+00] [ 1.63570095e-01 -4.78694317e-03 9.86520101e-01 4.03277324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:6.80, Z:4.04 [[ 8.83865645e-01 -4.43616091e-01 -1.48277734e-01 3.87367313e+01] [ 4.38470093e-01 8.96201345e-01 -6.75805144e-02 6.79901695e+00] [ 1.62866509e-01 -5.28325710e-03 9.86633968e-01 4.03786392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:6.81, Z:4.04 [[ 8.82668343e-01 -4.46220556e-01 -1.47593397e-01 3.87601845e+01] [ 4.41147725e-01 8.94905010e-01 -6.73328186e-02 6.81112074e+00] [ 1.62127358e-01 -5.67794372e-03 9.86753506e-01 4.04251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:6.82, Z:4.05 [[ 8.81256034e-01 -4.49000440e-01 -1.47602195e-01 3.87849438e+01] [ 4.43961223e-01 8.93510266e-01 -6.73634745e-02 6.82417840e+00] [ 1.62130306e-01 -6.16518261e-03 9.86750097e-01 4.04706176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:6.84, Z:4.05 [[ 8.79461148e-01 -4.52677906e-01 -1.47074141e-01 3.88081465e+01] [ 4.47715221e-01 8.91648488e-01 -6.71867166e-02 6.83733655e+00] [ 1.61552378e-01 -6.75922477e-03 9.86840991e-01 4.05138064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.83, Y:6.85, Z:4.06 [[ 8.78757155e-01 -4.54170356e-01 -1.46680437e-01 3.88328173e+01] [ 4.49250670e-01 8.90887434e-01 -6.70329453e-02 6.85116869e+00] [ 1.61120135e-01 -6.99060427e-03 9.86910043e-01 4.05568569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:6.87, Z:4.06 [[ 8.78266149e-01 -4.55216541e-01 -1.46377843e-01 3.88552867e+01] [ 4.50320943e-01 8.90352388e-01 -6.69602356e-02 6.86523860e+00] [ 1.60809269e-01 -7.10809988e-03 9.86959905e-01 4.06031602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:6.88, Z:4.06 [[ 8.77946161e-01 -4.55975663e-01 -1.45934002e-01 3.88791187e+01] [ 4.51113266e-01 8.89963234e-01 -6.68001688e-02 6.88055861e+00] [ 1.60335148e-01 -7.18581251e-03 9.87036476e-01 4.06451539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:6.90, Z:4.07 [[ 8.77113765e-01 -4.58345730e-01 -1.43494373e-01 3.88985599e+01] [ 4.51142137e-01 8.88750313e-01 -8.12013193e-02 6.90319796e+00] [ 1.64748947e-01 6.48643708e-03 9.86314205e-01 4.06823002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:6.91, Z:4.08 [[ 8.77921063e-01 -4.53948109e-01 -1.52268585e-01 3.89279541e+01] [ 4.51110438e-01 8.90788857e-01 -5.47227932e-02 6.90691535e+00] [ 1.60480468e-01 -2.06476556e-02 9.86823031e-01 4.07578619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:6.93, Z:4.08 [[ 8.77732619e-01 -4.56041397e-01 -1.47009166e-01 3.89498505e+01] [ 4.51076019e-01 8.89930415e-01 -6.74854144e-02 6.92695341e+00] [ 1.61604071e-01 -7.07815977e-03 9.86830291e-01 4.07801416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:6.95, Z:4.08 [[ 8.77922505e-01 -4.55547506e-01 -1.47406056e-01 3.89706348e+01] [ 4.50537160e-01 8.90184378e-01 -6.77350816e-02 6.94608516e+00] [ 1.62075116e-01 -6.94575341e-03 9.86753978e-01 4.08239875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:6.96, Z:4.09 [[ 8.77963932e-01 -4.55555389e-01 -1.47134707e-01 3.89933844e+01] [ 4.50559169e-01 8.90180628e-01 -6.76378986e-02 6.96239156e+00] [ 1.61789275e-01 -6.90925610e-03 9.86801141e-01 4.08669537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:6.98, Z:4.09 [[ 8.77927203e-01 -4.55653995e-01 -1.47048507e-01 3.90157646e+01] [ 4.50653665e-01 8.90130534e-01 -6.76676230e-02 6.97805712e+00] [ 1.61725389e-01 -6.86070163e-03 9.86811952e-01 4.09124227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:7.00, Z:4.10 [[ 8.77700891e-01 -4.56176437e-01 -1.46779443e-01 3.90379932e+01] [ 4.51194218e-01 8.89862581e-01 -6.75896760e-02 6.99698116e+00] [ 1.61446351e-01 -6.90251697e-03 9.86857351e-01 4.09556219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:7.01, Z:4.10 [[ 8.77081452e-01 -4.57252439e-01 -1.47133724e-01 3.90611470e+01] [ 4.52250190e-01 8.89308935e-01 -6.78187560e-02 7.01185830e+00] [ 1.61857627e-01 -7.05868164e-03 9.86788875e-01 4.09998712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:7.03, Z:4.10 [[ 8.76199525e-01 -4.58540436e-01 -1.48374732e-01 3.90840954e+01] [ 4.53460009e-01 8.88643574e-01 -6.84588765e-02 7.02704610e+00] [ 1.63243415e-01 -7.29837212e-03 9.86558828e-01 4.10455572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:7.05, Z:4.11 [[ 8.74603044e-01 -4.61078058e-01 -1.49921779e-01 3.91064107e+01] [ 4.55915945e-01 8.87325359e-01 -6.92413056e-02 7.04569587e+00] [ 1.64955043e-01 -7.79307311e-03 9.86270298e-01 4.10822373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:7.06, Z:4.11 [[ 8.73950740e-01 -4.62255407e-01 -1.50100108e-01 3.91296408e+01] [ 4.57086603e-01 8.86711073e-01 -6.93924374e-02 7.06043158e+00] [ 1.65172457e-01 -7.96317627e-03 9.86232552e-01 4.11269985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:7.08, Z:4.12 [[ 8.73319887e-01 -4.63589964e-01 -1.49655339e-01 3.91528938e+01] [ 4.58459893e-01 8.86012563e-01 -6.92550666e-02 7.07560022e+00] [ 1.64702464e-01 -8.12914361e-03 9.86309797e-01 4.11728627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:7.09, Z:4.12 [[ 8.72194005e-01 -4.65910976e-01 -1.49012011e-01 3.91741926e+01] [ 4.60847250e-01 8.84791081e-01 -6.90257625e-02 7.09391660e+00] [ 1.64004359e-01 -8.46791938e-03 9.86423268e-01 4.12224784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:7.11, Z:4.13 [[ 8.71593206e-01 -4.67197737e-01 -1.48497669e-01 3.91980061e+01] [ 4.62182817e-01 8.84110509e-01 -6.88160694e-02 7.10903113e+00] [ 1.63439061e-01 -8.65345227e-03 9.86515479e-01 4.12713792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:7.12, Z:4.13 [[ 8.71233047e-01 -4.67923645e-01 -1.48325455e-01 3.92219240e+01] [ 4.62919714e-01 8.83725885e-01 -6.88033309e-02 7.12387288e+00] [ 1.63273749e-01 -8.71904152e-03 9.86542275e-01 4.13245062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:7.14, Z:4.14 [[ 8.71592700e-01 -4.67655585e-01 -1.47052435e-01 3.92434998e+01] [ 4.62722917e-01 8.83869586e-01 -6.82792575e-02 7.14146548e+00] [ 1.61906351e-01 -8.53282913e-03 9.86769236e-01 4.13779449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:7.16, Z:4.14 [[ 8.72264946e-01 -4.66782699e-01 -1.45834755e-01 3.92664808e+01] [ 4.61912629e-01 8.84333463e-01 -6.77572778e-02 7.15664838e+00] [ 1.60594479e-01 -8.26061676e-03 9.86985904e-01 4.14233105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:7.17, Z:4.15 [[ 8.72973271e-01 -4.65466487e-01 -1.45803354e-01 3.92899210e+01] [ 4.60569847e-01 8.85029721e-01 -6.78071410e-02 7.17247181e+00] [ 1.60602254e-01 -7.95880701e-03 9.86987119e-01 4.14686711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:7.19, Z:4.15 [[ 8.73508583e-01 -4.64366171e-01 -1.46105489e-01 3.93133829e+01] [ 4.59423334e-01 8.85609698e-01 -6.80122224e-02 7.18809318e+00] [ 1.60975013e-01 -7.71501093e-03 9.86928328e-01 4.15069968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:7.21, Z:4.15 [[ 8.73979223e-01 -4.63010323e-01 -1.47586441e-01 3.93364130e+01] [ 4.57936361e-01 8.86321287e-01 -6.87667552e-02 7.20541854e+00] [ 1.62648722e-01 -7.48448237e-03 9.86655652e-01 4.15398800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:7.22, Z:4.16 [[ 8.74121460e-01 -4.62707490e-01 -1.47693776e-01 3.93597896e+01] [ 4.57610740e-01 8.86480351e-01 -6.88839460e-02 7.21914707e+00] [ 1.62800748e-01 -7.37332239e-03 9.86631416e-01 4.15830734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:7.23, Z:4.16 [[ 8.74116613e-01 -4.62608935e-01 -1.48030810e-01 3.93833628e+01] [ 4.57482726e-01 8.86532005e-01 -6.90692409e-02 7.23354912e+00] [ 1.63186099e-01 -7.34696769e-03 9.86567950e-01 4.16264510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:7.25, Z:4.17 [[ 8.74469262e-01 -4.61665415e-01 -1.48891082e-01 3.94046695e+01] [ 4.56454593e-01 8.87025287e-01 -6.95366492e-02 7.24996559e+00] [ 1.64172820e-01 -7.15435576e-03 9.86405647e-01 4.16690288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:7.26, Z:4.17 [[ 8.74597110e-01 -4.61467120e-01 -1.48754807e-01 3.94281634e+01] [ 4.56258455e-01 8.87129016e-01 -6.95005866e-02 7.26400415e+00] [ 1.64036941e-01 -7.08562605e-03 9.86428749e-01 4.17161540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:7.28, Z:4.18 [[ 8.74796749e-01 -4.61218081e-01 -1.48352721e-01 3.94507502e+01] [ 4.56022880e-01 8.87259525e-01 -6.93806082e-02 7.27737788e+00] [ 1.63626956e-01 -6.95830461e-03 9.86497745e-01 4.17668864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:7.29, Z:4.18 [[ 8.75163719e-01 -4.60753994e-01 -1.47628660e-01 3.94740465e+01] [ 4.55598349e-01 8.87501755e-01 -6.90708258e-02 7.29105867e+00] [ 1.62845353e-01 -6.81109276e-03 9.86628096e-01 4.18113881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:7.31, Z:4.19 [[ 8.75908837e-01 -4.59812611e-01 -1.46137171e-01 3.94965929e+01] [ 4.54743811e-01 8.87991864e-01 -6.83996745e-02 7.30680705e+00] [ 1.61219651e-01 -6.54309460e-03 9.86896860e-01 4.18623927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.097552017999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.52, Y:7.32, Z:4.19 [[ 8.76384786e-01 -4.59066307e-01 -1.45629091e-01 3.95192891e+01] [ 4.54011495e-01 8.88379519e-01 -6.82304450e-02 7.32017591e+00] [ 1.60696200e-01 -6.32115742e-03 9.86983675e-01 4.19118176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127552017999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.54, Y:7.33, Z:4.20 [[ 8.76741352e-01 -4.58523448e-01 -1.45192458e-01 3.95435364e+01] [ 4.53487215e-01 8.88660837e-01 -6.80533770e-02 7.33457045e+00] [ 1.60230921e-01 -6.17771384e-03 9.87060225e-01 4.19576014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157552018 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.57, Y:7.35, Z:4.20 [[ 8.76973276e-01 -4.57959169e-01 -1.45572225e-01 3.95667884e+01] [ 4.52877965e-01 8.88952766e-01 -6.82973538e-02 7.34818206e+00] [ 1.60684231e-01 -6.03149889e-03 9.86987436e-01 4.19974067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.187552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.59, Y:7.36, Z:4.20 [[ 8.77028488e-01 -4.57442577e-01 -1.46858160e-01 3.95906787e+01] [ 4.52256239e-01 8.89219251e-01 -6.89450302e-02 7.36306595e+00] [ 1.62127496e-01 -5.95076353e-03 9.86751875e-01 4.20347271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:7.38, Z:4.21 [[ 8.77289687e-01 -4.56831010e-01 -1.47201340e-01 3.96147212e+01] [ 4.51601001e-01 8.89534637e-01 -6.91712817e-02 7.37575169e+00] [ 1.62540277e-01 -5.79302055e-03 9.86684904e-01 4.20786755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:7.39, Z:4.21 [[ 8.78679112e-01 -4.54096602e-01 -1.47374672e-01 3.96368671e+01] [ 4.48805101e-01 8.90937083e-01 -6.93187948e-02 7.39044018e+00] [ 1.62778990e-01 -5.23352756e-03 9.86648676e-01 4.21184338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.277552017999994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.66, Y:7.40, Z:4.22 [[ 8.79508944e-01 -4.52436479e-01 -1.47530505e-01 3.96609332e+01] [ 4.47106006e-01 8.91783133e-01 -6.94194744e-02 7.40476015e+00] [ 1.62973119e-01 -4.90672620e-03 9.86618309e-01 4.21635442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:7.42, Z:4.22 [[ 8.80560534e-01 -4.50583177e-01 -1.46928373e-01 3.96834749e+01] [ 4.45259766e-01 8.92723191e-01 -6.92029318e-02 7.41835752e+00] [ 1.62348043e-01 -4.48392237e-03 9.86723369e-01 4.22062327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337552018 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.71, Y:7.43, Z:4.23 [[ 8.81562903e-01 -4.48781162e-01 -1.46431954e-01 3.97070846e+01] [ 4.43464680e-01 8.93632226e-01 -6.89965379e-02 7.43249663e+00] [ 1.61820659e-01 -4.11261134e-03 9.86811614e-01 4.22524944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.367552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:39.73, Y:7.45, Z:4.23 [[ 8.82290937e-01 -4.47440810e-01 -1.46148635e-01 3.97315646e+01] [ 4.42116078e-01 8.94305474e-01 -6.89281691e-02 7.44632293e+00] [ 1.61542800e-01 -3.79996231e-03 9.86858391e-01 4.23022533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.397552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.76, Y:7.46, Z:4.23 [[ 8.83379426e-01 -4.45423763e-01 -1.45734213e-01 3.97552394e+01] [ 4.40090957e-01 8.95313570e-01 -6.88008815e-02 7.45820711e+00] [ 1.61123366e-01 -3.35902605e-03 9.86928558e-01 4.23418093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.427552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.78, Y:7.47, Z:4.24 [[ 8.83602037e-01 -4.45048423e-01 -1.45531240e-01 3.97806091e+01] [ 4.39720993e-01 8.95500569e-01 -6.87326714e-02 7.47019005e+00] [ 1.60912676e-01 -3.26081306e-03 9.86963261e-01 4.23844156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.457552017999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.81, Y:7.48, Z:4.24 [[ 8.83581586e-01 -4.45123098e-01 -1.45426989e-01 3.98053485e+01] [ 4.39793697e-01 8.95463627e-01 -6.87488025e-02 7.48266595e+00] [ 1.60826259e-01 -3.21269723e-03 9.86977504e-01 4.24271526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:39.83, Y:7.50, Z:4.25 [[ 8.83753252e-01 -4.44656847e-01 -1.45809731e-01 3.98286753e+01] [ 4.39281836e-01 8.95695726e-01 -6.89973603e-02 7.49602222e+00] [ 1.61281301e-01 -3.07492449e-03 9.86903687e-01 4.24654522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517552017999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:39.85, Y:7.51, Z:4.25 [[ 8.83923943e-01 -4.44077234e-01 -1.46539662e-01 3.98533118e+01] [ 4.38635464e-01 8.95983624e-01 -6.93705727e-02 7.50877259e+00] [ 1.62103029e-01 -2.95918238e-03 9.86769401e-01 4.25121980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547552018 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:39.88, Y:7.52, Z:4.26 [[ 8.84469673e-01 -4.42920937e-01 -1.46746181e-01 3.98773414e+01] [ 4.37436714e-01 8.96556641e-01 -6.95363947e-02 7.52138553e+00] [ 1.62365389e-01 -2.68933516e-03 9.86727038e-01 4.25521759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.577552018 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:39.90, Y:7.53, Z:4.26 [[ 8.84320351e-01 -4.43222596e-01 -1.46735298e-01 3.99026272e+01] [ 4.37738688e-01 8.96407462e-01 -6.95593532e-02 7.53362764e+00] [ 1.62364893e-01 -2.71896518e-03 9.86727039e-01 4.25995836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.607552018 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:39.93, Y:7.55, Z:4.26 [[ 8.85789303e-01 -4.40315707e-01 -1.46626702e-01 3.99276668e+01] [ 4.34790290e-01 8.97840492e-01 -6.95690674e-02 7.54531982e+00] [ 1.62279744e-01 -2.12833072e-03 9.86742497e-01 4.26465968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.637552017999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.95, Y:7.56, Z:4.27 [[ 8.86421888e-01 -4.38982989e-01 -1.46799772e-01 3.99524250e+01] [ 4.33415275e-01 8.98493518e-01 -6.97179794e-02 7.55623789e+00] [ 1.62503650e-01 -1.82572066e-03 9.86706253e-01 4.26947507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:7.57, Z:4.27 [[ 8.86886651e-01 -4.37938671e-01 -1.47111485e-01 3.99771320e+01] [ 4.32328249e-01 8.99003404e-01 -6.98939527e-02 7.56782419e+00] [ 1.62862991e-01 -1.61243709e-03 9.86647377e-01 4.27396672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697552017999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:40.00, Y:7.58, Z:4.28 [[ 8.87410593e-01 -4.36824126e-01 -1.47265483e-01 4.00009275e+01] [ 4.31175508e-01 8.99545922e-01 -7.00343903e-02 7.57924333e+00] [ 1.63064776e-01 -1.34800962e-03 9.86614444e-01 4.27836910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727552018 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:40.02, Y:7.59, Z:4.28 [[ 8.87952788e-01 -4.35691102e-01 -1.47353691e-01 4.00247487e+01] [ 4.30015436e-01 9.00095562e-01 -7.01049429e-02 7.59050816e+00] [ 1.63176503e-01 -1.11448240e-03 9.86596263e-01 4.28309022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.757552018 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:40.05, Y:7.60, Z:4.29 [[ 8.89290047e-01 -4.33497336e-01 -1.45750715e-01 4.00505488e+01] [ 4.27908937e-01 9.01154603e-01 -6.93853277e-02 7.60116359e+00] [ 1.61422282e-01 -6.64352102e-04 9.86885204e-01 4.28821959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.787552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.08, Y:7.61, Z:4.29 [[ 8.89656447e-01 -4.32956360e-01 -1.45121318e-01 4.00753925e+01] [ 4.27398724e-01 9.01414741e-01 -6.91505197e-02 7.61212545e+00] [ 1.60753653e-01 -5.04460578e-04 9.86994432e-01 4.29262934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81755201799999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:40.10, Y:7.62, Z:4.30 [[ 8.89367659e-01 -4.32973608e-01 -1.46829907e-01 4.01003651e+01] [ 4.27272638e-01 9.01406484e-01 -7.00317272e-02 7.62353307e+00] [ 1.62675320e-01 -4.52448198e-04 9.86679551e-01 4.29545170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:40.12, Y:7.63, Z:4.30 [[ 8.88638154e-01 -4.34708496e-01 -1.46118977e-01 4.01249479e+01] [ 4.29075451e-01 9.00570944e-01 -6.97583860e-02 7.63293472e+00] [ 1.61915068e-01 -7.06102577e-04 9.86804445e-01 4.30091055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.15, Y:7.64, Z:4.31 [[ 8.87742519e-01 -4.36370680e-01 -1.46607808e-01 4.01504791e+01] [ 4.30714839e-01 8.99766461e-01 -7.00360127e-02 7.64272695e+00] [ 1.62474451e-01 -9.72212178e-04 9.86712272e-01 4.30556393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:40.18, Y:7.65, Z:4.31 [[ 8.86448791e-01 -4.38810596e-01 -1.47152309e-01 4.01769580e+01] [ 4.33135211e-01 8.98578540e-01 -7.03597629e-02 7.65240549e+00] [ 1.63102517e-01 -1.36651978e-03 9.86608180e-01 4.31046866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:7.66, Z:4.32 [[ 8.84197491e-01 -4.43525751e-01 -1.46559562e-01 4.02035925e+01] [ 4.37950158e-01 8.96259004e-01 -7.01388405e-02 7.65978075e+00] [ 1.62463709e-01 -2.16919661e-03 9.86712135e-01 4.31616783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.967552018 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.23, Y:7.67, Z:4.32 [[ 8.83169957e-01 -4.45546867e-01 -1.46624747e-01 4.02283189e+01] [ 4.39983187e-01 8.95255173e-01 -7.02351095e-02 7.67042449e+00] [ 1.62559596e-01 -2.48288498e-03 9.86695603e-01 4.32113527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99755201799999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:40.25, Y:7.68, Z:4.33 [[ 8.82366540e-01 -4.47100516e-01 -1.46732468e-01 4.02531503e+01] [ 4.41545454e-01 8.94479505e-01 -7.03137757e-02 7.68133279e+00] [ 1.62686510e-01 -2.74653107e-03 9.86673987e-01 4.32579037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:7.69, Z:4.33 [[ 8.81677456e-01 -4.48479030e-01 -1.46667729e-01 4.02778365e+01] [ 4.42937435e-01 8.93788511e-01 -7.03457645e-02 7.69259296e+00] [ 1.62638531e-01 -2.94235282e-03 9.86681332e-01 4.33033314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:7.70, Z:4.34 [[ 8.80257769e-01 -4.51121702e-01 -1.47090006e-01 4.03041541e+01] [ 4.45574149e-01 8.92456028e-01 -7.06110217e-02 7.70253726e+00] [ 1.63125527e-01 -3.38360402e-03 9.86599520e-01 4.33505406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:7.71, Z:4.34 [[ 8.79344746e-01 -4.52803970e-01 -1.47381757e-01 4.03299435e+01] [ 4.47246494e-01 8.91602658e-01 -7.08185972e-02 7.71294641e+00] [ 1.63472909e-01 -3.64201288e-03 9.86541101e-01 4.33994807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:7.72, Z:4.34 [[ 8.78547794e-01 -4.54247872e-01 -1.47691042e-01 4.03556183e+01] [ 4.48675857e-01 8.90866987e-01 -7.10351087e-02 7.72296037e+00] [ 1.63840620e-01 -3.85766655e-03 9.86479280e-01 4.34459072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:7.73, Z:4.35 [[ 8.77462458e-01 -4.56167809e-01 -1.48224710e-01 4.03809801e+01] [ 4.50570755e-01 8.89884010e-01 -7.13613589e-02 7.73158575e+00] [ 1.64455554e-01 -4.16880609e-03 9.86375685e-01 4.34941219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:7.74, Z:4.35 [[ 8.77471749e-01 -4.56329099e-01 -1.47672215e-01 4.04060442e+01] [ 4.50768530e-01 8.89801441e-01 -7.11416118e-02 7.74300621e+00] [ 1.63862937e-01 -4.14123252e-03 9.86474423e-01 4.35422067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:7.75, Z:4.36 [[ 8.77989324e-01 -4.55492621e-01 -1.47177507e-01 4.04303541e+01] [ 4.49946515e-01 8.90230973e-01 -7.09714591e-02 7.75424949e+00] [ 1.63348951e-01 -3.90982287e-03 9.86560608e-01 4.35897056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:7.77, Z:4.36 [[ 8.78728043e-01 -4.54083538e-01 -1.47122963e-01 4.04549651e+01] [ 4.48517226e-01 8.90951756e-01 -7.09737040e-02 7.76557258e+00] [ 1.63307453e-01 -3.62059933e-03 9.86568582e-01 4.36405988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.267552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:7.78, Z:4.37 [[ 8.81079991e-01 -4.49478212e-01 -1.47198461e-01 4.04806798e+01] [ 4.43831138e-01 8.93287193e-01 -7.10767959e-02 7.77571781e+00] [ 1.63437971e-01 -2.70691762e-03 9.86549899e-01 4.36855682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:7.79, Z:4.37 [[ 8.82320917e-01 -4.46857496e-01 -1.47743625e-01 4.05049081e+01] [ 4.41120398e-01 8.94602526e-01 -7.14080891e-02 7.78673156e+00] [ 1.64081060e-01 -2.16787615e-03 9.86444477e-01 4.37314955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:7.80, Z:4.38 [[ 8.83375856e-01 -4.44807572e-01 -1.47625609e-01 4.05297259e+01] [ 4.39046487e-01 8.95624435e-01 -7.13796456e-02 7.79868132e+00] [ 1.63967310e-01 -1.75944951e-03 9.86464204e-01 4.37787624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:7.81, Z:4.38 [[ 8.85227783e-01 -4.41082246e-01 -1.47709936e-01 4.05551127e+01] [ 4.35251780e-01 8.97466120e-01 -7.14874267e-02 7.80937902e+00] [ 1.64096498e-01 -1.00835655e-03 9.86443776e-01 4.38275588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:7.82, Z:4.39 [[ 8.86018954e-01 -4.39571103e-01 -1.47470873e-01 4.05809789e+01] [ 4.33727651e-01 8.98207549e-01 -7.14389468e-02 7.81982597e+00] [ 1.63861948e-01 -6.65934533e-04 9.86483055e-01 4.38745637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:7.83, Z:4.39 [[ 8.86575268e-01 -4.38338084e-01 -1.47797218e-01 4.06061501e+01] [ 4.32440142e-01 8.98810092e-01 -7.16654838e-02 7.82964112e+00] [ 1.64255342e-01 -3.76604184e-04 9.86417782e-01 4.39247362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:7.84, Z:4.40 [[ 8.87053876e-01 -4.37336896e-01 -1.47891379e-01 4.06316004e+01] [ 4.31412764e-01 8.99297733e-01 -7.17399115e-02 7.84010427e+00] [ 1.64372892e-01 -1.65062178e-04 9.86398259e-01 4.39705160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:7.85, Z:4.40 [[ 8.88601188e-01 -4.33816101e-01 -1.48968183e-01 4.06567930e+01] [ 4.27744170e-01 9.01001268e-01 -7.23300749e-02 7.84947609e+00] [ 1.65598473e-01 5.52318654e-04 9.86193105e-01 4.40179820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:7.86, Z:4.41 [[ 8.89590068e-01 -4.31504843e-01 -1.49776770e-01 4.06820723e+01] [ 4.25328825e-01 9.02110049e-01 -7.27519794e-02 7.86014645e+00] [ 1.66507960e-01 1.01506088e-03 9.86039588e-01 4.40610949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:7.87, Z:4.41 [[ 8.90704576e-01 -4.28922102e-01 -1.50569546e-01 4.07071832e+01] [ 4.22631236e-01 9.03340113e-01 -7.32084620e-02 7.87037794e+00] [ 1.67416238e-01 1.57171894e-03 9.85885051e-01 4.40997299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:7.88, Z:4.41 [[ 8.93260650e-01 -4.23367065e-01 -1.51148073e-01 4.07339376e+01] [ 4.16942882e-01 9.05954352e-01 -7.35210542e-02 7.87789880e+00] [ 1.68059647e-01 2.65335166e-03 9.85773257e-01 4.41452163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:7.89, Z:4.42 [[ 8.94541967e-01 -4.20836586e-01 -1.50636109e-01 4.07595700e+01] [ 4.14409172e-01 9.07130893e-01 -7.33388081e-02 7.88752260e+00] [ 1.67510322e-01 3.17965645e-03 9.85865195e-01 4.41943673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:7.90, Z:4.42 [[ 8.95836435e-01 -4.18354152e-01 -1.49856218e-01 4.07853715e+01] [ 4.11947526e-01 9.08276501e-01 -7.30276165e-02 7.89671114e+00] [ 1.66662288e-01 3.68790120e-03 9.86007140e-01 4.42424702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:7.90, Z:4.43 [[ 8.97763746e-01 -4.14391669e-01 -1.49331177e-01 4.08135040e+01] [ 4.07964229e-01 9.10087663e-01 -7.28397815e-02 7.90299547e+00] [ 1.66088660e-01 4.47113678e-03 9.86100688e-01 4.42920154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:7.91, Z:4.43 [[ 8.98346656e-01 -4.13163903e-01 -1.49227596e-01 4.08394182e+01] [ 4.06717155e-01 9.10644251e-01 -7.28574182e-02 7.91171152e+00] [ 1.65995308e-01 4.75779467e-03 9.86115065e-01 4.43376892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:7.92, Z:4.44 [[ 8.98603430e-01 -4.12639779e-01 -1.49131782e-01 4.08650548e+01] [ 4.06189298e-01 9.10881229e-01 -7.28398265e-02 7.92025705e+00] [ 1.65897950e-01 4.87838435e-03 9.86130859e-01 4.43771130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:7.93, Z:4.44 [[ 8.98638916e-01 -4.12574790e-01 -1.49097758e-01 4.08908995e+01] [ 4.06121547e-01 9.10910466e-01 -7.28519804e-02 7.92832292e+00] [ 1.65871598e-01 4.91581273e-03 9.86135106e-01 4.44171533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:7.93, Z:4.45 [[ 8.98051739e-01 -4.13649677e-01 -1.49656335e-01 4.09201663e+01] [ 4.07157569e-01 9.10423675e-01 -7.31535774e-02 7.93180007e+00] [ 1.66510624e-01 4.76198788e-03 9.86028162e-01 4.44576084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.95, Y:7.94, Z:4.45 [[ 8.97667649e-01 -4.14423060e-01 -1.49820956e-01 4.09473761e+01] [ 4.07916049e-01 9.10072294e-01 -7.33001819e-02 7.93898066e+00] [ 1.66725187e-01 4.68482963e-03 9.85992274e-01 4.45046835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:7.95, Z:4.45 [[ 8.97157989e-01 -4.15494832e-01 -1.49905259e-01 4.09744128e+01] [ 4.08984133e-01 9.09584164e-01 -7.34072783e-02 7.94636936e+00] [ 1.66851795e-01 4.54905363e-03 9.85971493e-01 4.45495156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:7.95, Z:4.46 [[ 8.96812113e-01 -4.16309495e-01 -1.49714522e-01 4.10014700e+01] [ 4.09815656e-01 9.09212067e-01 -7.33794657e-02 7.95423685e+00] [ 1.66670818e-01 4.45223879e-03 9.86002544e-01 4.46010906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:7.96, Z:4.46 [[ 8.96670357e-01 -4.17118784e-01 -1.48304387e-01 4.10298646e+01] [ 4.10747710e-01 9.08841711e-01 -7.27534365e-02 7.95754627e+00] [ 1.65132038e-01 4.32016233e-03 9.86262007e-01 4.46465210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:7.96, Z:4.47 [[ 8.96524055e-01 -4.17504677e-01 -1.48102882e-01 4.10567111e+01] [ 4.11151594e-01 9.08664747e-01 -7.26824968e-02 7.96469586e+00] [ 1.64921150e-01 4.26887099e-03 9.86297517e-01 4.46986708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:7.97, Z:4.48 [[ 8.96259628e-01 -4.18072794e-01 -1.48100704e-01 4.10840151e+01] [ 4.11717601e-01 9.08403730e-01 -7.27411894e-02 7.97257471e+00] [ 1.64946344e-01 4.21932487e-03 9.86293517e-01 4.47506644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:7.98, Z:4.48 [[ 8.95694473e-01 -4.18957396e-01 -1.49017149e-01 4.11128624e+01] [ 4.12524669e-01 9.07996463e-01 -7.32517588e-02 7.97742402e+00] [ 1.65996411e-01 4.13794542e-03 9.86117675e-01 4.47930918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:7.99, Z:4.48 [[ 8.95577980e-01 -4.19001192e-01 -1.49593055e-01 4.11382501e+01] [ 4.12508623e-01 9.07975960e-01 -7.35954621e-02 7.98523312e+00] [ 1.66663484e-01 4.20205022e-03 9.86004881e-01 4.48327092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:7.99, Z:4.49 [[ 8.95158335e-01 -4.19491673e-01 -1.50725879e-01 4.11645839e+01] [ 4.12901931e-01 9.07749617e-01 -7.41796988e-02 7.99352945e+00] [ 1.67939125e-01 4.16756918e-03 9.85788558e-01 4.48757272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:8.00, Z:4.49 [[ 8.94662177e-01 -4.20006492e-01 -1.52230537e-01 4.11905556e+01] [ 4.13280326e-01 9.07511524e-01 -7.49813779e-02 8.00208693e+00] [ 1.69643632e-01 4.16911688e-03 9.85496655e-01 4.49196078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:8.01, Z:4.50 [[ 8.92771838e-01 -4.23195504e-01 -1.54479808e-01 4.12187881e+01] [ 4.16309733e-01 9.06031061e-01 -7.61178219e-02 8.00853158e+00] [ 1.72176225e-01 3.64439999e-03 9.85059423e-01 4.49635088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:8.02, Z:4.50 [[ 8.91589251e-01 -4.25685368e-01 -1.54468686e-01 4.12444094e+01] [ 4.18826987e-01 9.04865516e-01 -7.61731717e-02 8.01699261e+00] [ 1.72199192e-01 3.21952650e-03 9.85056888e-01 4.50099200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:8.03, Z:4.51 [[ 8.90387653e-01 -4.28348825e-01 -1.54036072e-01 4.12710478e+01] [ 4.21561280e-01 9.03609319e-01 -7.60018805e-02 8.02579969e+00] [ 1.71743746e-01 2.73549231e-03 9.85137860e-01 4.50655070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:8.03, Z:4.51 [[ 8.89003050e-01 -4.31572976e-01 -1.53030533e-01 4.12972265e+01] [ 4.24911415e-01 9.02075456e-01 -7.55656098e-02 8.03485652e+00] [ 1.70657163e-01 2.15363726e-03 9.85328115e-01 4.51202359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:8.04, Z:4.52 [[ 8.86309115e-01 -4.37783449e-01 -1.51002665e-01 4.13236863e+01] [ 4.31377634e-01 8.99079891e-01 -7.46236275e-02 8.04009261e+00] [ 1.68432449e-01 1.00042869e-03 9.85712691e-01 4.51876339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:8.05, Z:4.52 [[ 8.84886284e-01 -4.40996944e-01 -1.49993202e-01 4.13502438e+01] [ 4.34718456e-01 8.97508511e-01 -7.41507712e-02 8.04929193e+00] [ 1.67320439e-01 4.10187141e-04 9.85902481e-01 4.52410570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:8.06, Z:4.53 [[ 8.83594577e-01 -4.43773724e-01 -1.49417219e-01 4.13759708e+01] [ 4.37573126e-01 8.96138872e-01 -7.39248346e-02 8.05829646e+00] [ 1.66704478e-01 -6.13767812e-05 9.86006903e-01 4.52899726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:8.07, Z:4.53 [[ 8.80751971e-01 -4.49355744e-01 -1.49517160e-01 4.14026465e+01] [ 4.43222050e-01 8.93352237e-01 -7.39999668e-02 8.06725141e+00] [ 1.66823800e-01 -1.09368562e-03 9.85986117e-01 4.53302373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:8.08, Z:4.54 [[ 8.79171215e-01 -4.52247729e-01 -1.50099851e-01 4.14283466e+01] [ 4.46097317e-01 8.91890941e-01 -7.43487263e-02 8.07860984e+00] [ 1.67496740e-01 -1.59388077e-03 9.85871341e-01 4.53707567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:8.09, Z:4.54 [[ 8.77831672e-01 -4.54683355e-01 -1.50580884e-01 4.14533621e+01] [ 4.48518538e-01 8.90650887e-01 -7.46466280e-02 8.08930544e+00] [ 1.68055577e-01 -2.01114371e-03 9.85775471e-01 4.54117163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:8.10, Z:4.55 [[ 8.76189318e-01 -4.58070098e-01 -1.49880169e-01 4.14790764e+01] [ 4.51034778e-01 8.88912542e-01 -8.00132568e-02 8.10252235e+00] [ 1.69882042e-01 2.50559207e-03 9.85461219e-01 4.54524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:8.11, Z:4.55 [[ 8.75009248e-01 -4.59683713e-01 -1.51821274e-01 4.15057226e+01] [ 4.54476036e-01 8.88044836e-01 -6.94831018e-02 8.10731795e+00] [ 1.66764348e-01 -8.20077386e-03 9.85962677e-01 4.55371705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:8.12, Z:4.56 [[ 8.74710604e-01 -4.61441585e-01 -1.48165527e-01 4.15302091e+01] [ 4.55553616e-01 8.87164951e-01 -7.35476219e-02 8.12090934e+00] [ 1.65385193e-01 -3.16445665e-03 9.86223973e-01 4.55847796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:8.13, Z:4.56 [[ 8.74623096e-01 -4.61614721e-01 -1.48142800e-01 4.15553466e+01] [ 4.55721472e-01 8.87074944e-01 -7.35933700e-02 8.13354471e+00] [ 1.65385549e-01 -3.14539398e-03 9.86223974e-01 4.56321492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:8.15, Z:4.57 [[ 8.74644511e-01 -4.62028310e-01 -1.46720212e-01 4.15796763e+01] [ 4.56248464e-01 8.86859544e-01 -7.29211120e-02 8.14587213e+00] [ 1.63811838e-01 -3.16082112e-03 9.86486539e-01 4.56819063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:8.16, Z:4.57 [[ 8.74776553e-01 -4.61834829e-01 -1.46542054e-01 4.16043247e+01] [ 4.56057147e-01 8.86960632e-01 -7.28883801e-02 8.15920291e+00] [ 1.63639426e-01 -3.07050525e-03 9.86515438e-01 4.57344466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:8.17, Z:4.58 [[ 8.75825609e-01 -4.59448686e-01 -1.47771471e-01 4.16270063e+01] [ 4.53529364e-01 8.88200528e-01 -7.35590804e-02 8.17308920e+00] [ 1.65047321e-01 -2.59377483e-03 9.86282239e-01 4.57655575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:8.19, Z:4.58 [[ 8.76772997e-01 -4.57555587e-01 -1.48027012e-01 4.16501937e+01] [ 4.51584579e-01 8.89178252e-01 -7.37116251e-02 8.18569887e+00] [ 1.65349565e-01 -2.21835332e-03 9.86232528e-01 4.58057518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:8.20, Z:4.59 [[ 8.77775431e-01 -4.55469424e-01 -1.48519010e-01 4.16748639e+01] [ 4.49424513e-01 8.90249590e-01 -7.39815873e-02 8.19886682e+00] [ 1.65915338e-01 -1.80886388e-03 9.86138341e-01 4.58501117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:8.21, Z:4.59 [[ 8.78995715e-01 -4.52764935e-01 -1.49567534e-01 4.16986498e+01] [ 4.46585097e-01 8.91629036e-01 -7.45614787e-02 8.21374065e+00] [ 1.67117579e-01 -1.25541125e-03 9.85936174e-01 4.58891093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:8.23, Z:4.59 [[ 8.79091351e-01 -4.52390747e-01 -1.50136631e-01 4.17232893e+01] [ 4.46148241e-01 8.91819107e-01 -7.49027861e-02 8.22734716e+00] [ 1.67780043e-01 -1.13680237e-03 9.85823800e-01 4.59314605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:8.24, Z:4.60 [[ 8.78670121e-01 -4.52866570e-01 -1.51164438e-01 4.17477595e+01] [ 4.46534690e-01 8.91577517e-01 -7.54738516e-02 8.24084367e+00] [ 1.68954399e-01 -1.18354703e-03 9.85623158e-01 4.59753161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:8.25, Z:4.60 [[ 8.77097589e-01 -4.55394368e-01 -1.52695085e-01 4.17718242e+01] [ 4.48960107e-01 8.90288327e-01 -7.62988675e-02 8.25330698e+00] [ 1.70688726e-01 -1.63244910e-03 9.85323649e-01 4.60221915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:8.27, Z:4.61 [[ 8.75841370e-01 -4.57730262e-01 -1.52921229e-01 4.17967548e+01] [ 4.51307324e-01 8.89088713e-01 -7.64392553e-02 8.26550361e+00] [ 1.70949099e-01 -2.06580851e-03 9.85277696e-01 4.60762269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:8.28, Z:4.61 [[ 8.74672907e-01 -4.60208342e-01 -1.52169601e-01 4.18216052e+01] [ 4.53875791e-01 8.87807475e-01 -7.61226212e-02 8.27780038e+00] [ 1.70129574e-01 -2.48370342e-03 9.85418571e-01 4.61249410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:8.29, Z:4.62 [[ 8.73550931e-01 -4.62561216e-01 -1.51479019e-01 4.18451883e+01] [ 4.56311360e-01 8.86582684e-01 -7.58359222e-02 8.28970989e+00] [ 1.69377432e-01 -2.87505695e-03 9.85547066e-01 4.61763044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:8.30, Z:4.62 [[ 8.71222869e-01 -4.67277346e-01 -1.50408096e-01 4.18688829e+01] [ 4.61178856e-01 8.84102929e-01 -7.53397214e-02 8.30314546e+00] [ 1.68180783e-01 -3.72734534e-03 9.85749122e-01 4.62333455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:8.32, Z:4.63 [[ 8.70228361e-01 -4.69165763e-01 -1.50286681e-01 4.18933529e+01] [ 4.63095032e-01 8.83100899e-01 -7.53378584e-02 8.31618616e+00] [ 1.68064247e-01 -4.03587421e-03 9.85767782e-01 4.62784875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:8.33, Z:4.63 [[ 8.69525559e-01 -4.70469453e-01 -1.50279062e-01 4.19165638e+01] [ 4.64408598e-01 8.82406120e-01 -7.53929279e-02 8.32830422e+00] [ 1.68077233e-01 -4.23481050e-03 9.85764734e-01 4.63241196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:8.34, Z:4.64 [[ 8.68968069e-01 -4.71509017e-01 -1.50245605e-01 4.19411534e+01] [ 4.65459422e-01 8.81850269e-01 -7.54163746e-02 8.34126085e+00] [ 1.68053628e-01 -4.39881115e-03 9.85768040e-01 4.63668704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:8.36, Z:4.64 [[ 8.68943802e-01 -4.71487552e-01 -1.50453172e-01 4.19647972e+01] [ 4.65410947e-01 8.81861992e-01 -7.55782914e-02 8.35528140e+00] [ 1.68313158e-01 -4.34926541e-03 9.85723980e-01 4.64145381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:8.37, Z:4.65 [[ 8.68962555e-01 -4.71418851e-01 -1.50560105e-01 4.19878859e+01] [ 4.65325331e-01 8.81898954e-01 -7.56741183e-02 8.36882908e+00] [ 1.68453005e-01 -4.30145542e-03 9.85700301e-01 4.64539609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:8.38, Z:4.65 [[ 8.69328029e-01 -4.70520457e-01 -1.51258973e-01 4.20118566e+01] [ 4.64348321e-01 8.82379537e-01 -7.60722638e-02 8.38212102e+00] [ 1.69261379e-01 -4.10509902e-03 9.85562648e-01 4.64975044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.097552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:8.40, Z:4.66 [[ 8.70809879e-01 -4.67631314e-01 -1.51694129e-01 4.20361046e+01] [ 4.61369663e-01 8.83916681e-01 -7.63500778e-02 8.39632568e+00] [ 1.69788658e-01 -3.50066728e-03 9.85474280e-01 4.65505472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:8.41, Z:4.66 [[ 8.72064734e-01 -4.65379495e-01 -1.51410123e-01 4.20594903e+01] [ 4.59097740e-01 8.85106153e-01 -7.62650844e-02 8.40979281e+00] [ 1.69506238e-01 -3.00395463e-03 9.85524536e-01 4.66025791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:8.42, Z:4.67 [[ 8.73634986e-01 -4.62614047e-01 -1.50831544e-01 4.20826318e+01] [ 4.56335248e-01 8.86556437e-01 -7.59988502e-02 8.42402863e+00] [ 1.68878812e-01 -2.43449541e-03 9.85633816e-01 4.66503589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.187552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:8.44, Z:4.67 [[ 8.75153761e-01 -4.59875031e-01 -1.50402294e-01 4.21060281e+01] [ 4.53587656e-01 8.87981662e-01 -7.58076982e-02 8.43908003e+00] [ 1.68416546e-01 -1.87723172e-03 9.85714128e-01 4.66930889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:8.45, Z:4.67 [[ 8.78562472e-01 -4.53033215e-01 -1.51290744e-01 4.21278498e+01] [ 4.46559192e-01 8.91493491e-01 -7.63167298e-02 8.45473511e+00] [ 1.69448727e-01 -5.11257597e-04 9.85538872e-01 4.67278714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:8.47, Z:4.68 [[ 8.80316584e-01 -4.49534136e-01 -1.51531423e-01 4.21521391e+01] [ 4.42983064e-01 8.93263133e-01 -7.64655517e-02 8.46815813e+00] [ 1.69731309e-01 1.88039334e-04 9.85490359e-01 4.67660030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.277552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:8.48, Z:4.68 [[ 8.82076120e-01 -4.45883766e-01 -1.52083481e-01 4.21756848e+01] [ 4.39219850e-01 8.95090366e-01 -7.68059901e-02 8.48090817e+00] [ 1.70375003e-01 9.50645885e-04 9.85378838e-01 4.68101775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:8.50, Z:4.69 [[ 8.85527197e-01 -4.39253708e-01 -1.51320068e-01 4.21985930e+01] [ 4.32553444e-01 8.98360225e-01 -7.64619118e-02 8.49534502e+00] [ 1.69526108e-01 2.25508602e-03 9.85523116e-01 4.68510379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:8.51, Z:4.69 [[ 8.86927161e-01 -4.36723386e-01 -1.50442333e-01 4.22226053e+01] [ 4.30060482e-01 8.99591650e-01 -7.60450145e-02 8.50931132e+00] [ 1.68547303e-01 2.74708667e-03 9.85689738e-01 4.68947306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:8.52, Z:4.69 [[ 8.88097622e-01 -4.34505372e-01 -1.49958981e-01 4.22470875e+01] [ 4.27843931e-01 9.00663512e-01 -7.58604593e-02 8.52294972e+00] [ 1.68024359e-01 3.21245363e-03 9.85777609e-01 4.69396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:8.54, Z:4.70 [[ 8.90052693e-01 -4.29890992e-01 -1.51657309e-01 4.22709836e+01] [ 4.22999524e-01 9.02871087e-01 -7.67802205e-02 8.53508387e+00] [ 1.69934124e-01 4.18747268e-03 9.85446527e-01 4.69818056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:8.55, Z:4.70 [[ 8.90603830e-01 -4.28357400e-01 -1.52757181e-01 4.22958493e+01] [ 4.21337607e-01 9.03597995e-01 -7.73646217e-02 8.54765670e+00] [ 1.71170791e-01 4.53888319e-03 9.85230917e-01 4.70240700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.457552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:8.56, Z:4.71 [[ 8.91086356e-01 -4.27160845e-01 -1.53292917e-01 4.23208844e+01] [ 4.20062993e-01 9.04162686e-01 -7.76976201e-02 8.56032490e+00] [ 1.71791117e-01 4.84260763e-03 9.85121496e-01 4.70711213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:8.57, Z:4.71 [[ 8.91463102e-01 -4.26492459e-01 -1.52963136e-01 4.23452999e+01] [ 4.19404874e-01 9.04477203e-01 -7.75921382e-02 8.57257216e+00] [ 1.71444131e-01 5.01704353e-03 9.85181069e-01 4.71160375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:8.58, Z:4.72 [[ 8.91669947e-01 -4.26406152e-01 -1.51995064e-01 4.23706588e+01] [ 4.19396938e-01 9.04517673e-01 -7.71620830e-02 8.58246567e+00] [ 1.70384608e-01 5.05684626e-03 9.85364660e-01 4.71743489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:8.59, Z:4.72 [[ 8.91442959e-01 -4.27222852e-01 -1.51030082e-01 4.23965284e+01] [ 4.20304321e-01 9.04132948e-01 -7.67325886e-02 8.59292491e+00] [ 1.69333189e-01 4.92412975e-03 9.85546561e-01 4.72264328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:8.61, Z:4.73 [[ 8.90853317e-01 -4.29392937e-01 -1.48330959e-01 4.24209193e+01] [ 4.21384608e-01 9.03041026e-01 -8.33781578e-02 8.60600687e+00] [ 1.69750934e-01 1.17733253e-02 9.85416668e-01 4.72666497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.607552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:8.61, Z:4.73 [[ 8.90620264e-01 -4.28488045e-01 -1.52294257e-01 4.24480255e+01] [ 4.22787365e-01 9.03544494e-01 -6.97007238e-02 8.61107916e+00] [ 1.67470564e-01 -2.31121053e-03 9.85874367e-01 4.73412711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.637552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:8.62, Z:4.74 [[ 8.89762859e-01 -4.31324575e-01 -1.49268771e-01 4.24729673e+01] [ 4.24601648e-01 9.02186958e-01 -7.59745646e-02 8.62348218e+00] [ 1.67438035e-01 4.21957975e-03 9.85873572e-01 4.73638384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:8.63, Z:4.74 [[ 8.89251970e-01 -4.32195589e-01 -1.49792881e-01 4.24986524e+01] [ 4.25427025e-01 9.01770456e-01 -7.63013159e-02 8.63412319e+00] [ 1.68055887e-01 4.12515566e-03 9.85768838e-01 4.74046392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:8.64, Z:4.74 [[ 8.88974412e-01 -4.32544641e-01 -1.50431473e-01 4.25237718e+01] [ 4.25712389e-01 9.01603049e-01 -7.66870556e-02 8.64375919e+00] [ 1.68800049e-01 4.13228858e-03 9.85641653e-01 4.74452436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:8.65, Z:4.75 [[ 8.87946828e-01 -4.34032964e-01 -1.52203207e-01 4.25503076e+01] [ 4.27054530e-01 9.00888458e-01 -7.76171080e-02 8.65052047e+00] [ 1.70806496e-01 3.92079599e-03 9.85296792e-01 4.74938385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:8.66, Z:4.75 [[ 8.87364704e-01 -4.35223191e-01 -1.52199396e-01 4.25763008e+01] [ 4.28257748e-01 9.00314923e-01 -7.76423898e-02 8.66087600e+00] [ 1.70819156e-01 3.71654572e-03 9.85295389e-01 4.75409341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:8.67, Z:4.76 [[ 8.86729455e-01 -4.36609486e-01 -1.51931008e-01 4.26022299e+01] [ 4.29678218e-01 8.99644323e-01 -7.75675294e-02 8.67095193e+00] [ 1.70550587e-01 3.49996843e-03 9.85342706e-01 4.75880090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:8.68, Z:4.76 [[ 8.86260346e-01 -4.37713852e-01 -1.51489876e-01 4.26273205e+01] [ 4.30828621e-01 8.99108155e-01 -7.74030044e-02 8.68000304e+00] [ 1.70086151e-01 3.33303895e-03 9.85423560e-01 4.76399552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:8.69, Z:4.77 [[ 8.85765114e-01 -4.38985451e-01 -1.50704803e-01 4.26549512e+01] [ 4.32185578e-01 8.98488833e-01 -7.70288460e-02 8.68610081e+00] [ 1.69221125e-01 3.09702205e-03 9.85573244e-01 4.76991295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:8.70, Z:4.77 [[ 8.85816375e-01 -4.39076927e-01 -1.50135948e-01 4.26796744e+01] [ 4.32319643e-01 8.98444044e-01 -7.67986043e-02 8.69581724e+00] [ 1.68609243e-01 3.12274197e-03 9.85678026e-01 4.77419267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:8.70, Z:4.78 [[ 8.85979774e-01 -4.38844777e-01 -1.49850266e-01 4.27060262e+01] [ 4.32105517e-01 8.98557242e-01 -7.66792387e-02 8.70423384e+00] [ 1.68299325e-01 3.18512785e-03 9.85730791e-01 4.77862752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.73, Y:8.71, Z:4.78 [[ 8.86182321e-01 -4.38595731e-01 -1.49380988e-01 4.27324098e+01] [ 4.31885086e-01 8.98678498e-01 -7.64998617e-02 8.71444324e+00] [ 1.67797994e-01 3.27740433e-03 9.85815952e-01 4.78280870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:8.72, Z:4.79 [[ 8.86398054e-01 -4.38052035e-01 -1.49696043e-01 4.27575953e+01] [ 4.31294713e-01 8.98943023e-01 -7.67223112e-02 8.72392004e+00] [ 1.68176578e-01 3.44339554e-03 9.85750872e-01 4.78716560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:8.73, Z:4.79 [[ 8.86682840e-01 -4.37417217e-01 -1.49865673e-01 4.27835075e+01] [ 4.30630839e-01 8.99251506e-01 -7.68362494e-02 8.73392047e+00] [ 1.68376430e-01 3.59260339e-03 9.85716222e-01 4.79191952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:8.74, Z:4.80 [[ 8.87221103e-01 -4.36133656e-01 -1.50419906e-01 4.28110542e+01] [ 4.29267655e-01 8.99873417e-01 -7.71823432e-02 8.74091701e+00] [ 1.69020693e-01 3.90740324e-03 9.85604757e-01 4.79621871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:8.75, Z:4.80 [[ 8.87308877e-01 -4.35961922e-01 -1.50399999e-01 4.28363081e+01] [ 4.29084838e-01 8.99956244e-01 -7.72331653e-02 8.74947915e+00] [ 1.69024137e-01 3.99531399e-03 9.85603814e-01 4.80070952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:8.76, Z:4.81 [[ 8.87296790e-01 -4.36129148e-01 -1.49985909e-01 4.28616207e+01] [ 4.29287987e-01 8.99875298e-01 -7.70472039e-02 8.75811875e+00] [ 1.68571146e-01 3.97658756e-03 9.85681467e-01 4.80544590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:8.76, Z:4.81 [[ 8.86862136e-01 -4.37196190e-01 -1.49449134e-01 4.28899007e+01] [ 4.30412415e-01 8.99358146e-01 -7.68119646e-02 8.76462442e+00] [ 1.67990194e-01 3.79686048e-03 9.85781354e-01 4.81019240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:8.77, Z:4.82 [[ 8.86894876e-01 -4.37321576e-01 -1.48886932e-01 4.29162668e+01] [ 4.30580748e-01 8.99297114e-01 -7.65827637e-02 8.77436548e+00] [ 1.67384883e-01 3.81301421e-03 9.85884254e-01 4.81514423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:8.78, Z:4.82 [[ 8.87152245e-01 -4.36886824e-01 -1.48629732e-01 4.29414096e+01] [ 4.30153189e-01 8.99507841e-01 -7.65106391e-02 8.78379210e+00] [ 1.67120100e-01 3.94303183e-03 9.85928661e-01 4.81976523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:8.79, Z:4.82 [[ 8.87526273e-01 -4.36089113e-01 -1.48739368e-01 4.29664584e+01] [ 4.29329900e-01 8.99894054e-01 -7.65932651e-02 8.79325702e+00] [ 1.67251162e-01 4.12027695e-03 9.85905712e-01 4.82404276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:8.80, Z:4.83 [[ 8.88355031e-01 -4.34107820e-01 -1.49585229e-01 4.29935718e+01] [ 4.27238583e-01 9.00849465e-01 -7.70547511e-02 8.80056397e+00] [ 1.68203843e-01 4.54339452e-03 9.85741764e-01 4.82740615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267552017999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.02, Y:8.81, Z:4.83 [[ 8.88500134e-01 -4.33538176e-01 -1.50373408e-01 4.30192005e+01] [ 4.26577287e-01 9.01122777e-01 -7.75213430e-02 8.80974118e+00] [ 1.69113365e-01 4.73184321e-03 9.85585247e-01 4.83032693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:8.82, Z:4.84 [[ 8.88783969e-01 -4.33067951e-01 -1.50050676e-01 4.30455246e+01] [ 4.26125922e-01 9.01348307e-01 -7.73816979e-02 8.81842165e+00] [ 1.68759456e-01 4.83512995e-03 9.85645407e-01 4.83641305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.327552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:8.83, Z:4.84 [[ 8.89592859e-01 -4.31299144e-01 -1.50351565e-01 4.30732788e+01] [ 4.24293342e-01 9.02193777e-01 -7.75986375e-02 8.82561161e+00] [ 1.69114473e-01 5.23802565e-03 9.85582497e-01 4.84047139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.357552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:8.84, Z:4.84 [[ 8.89844997e-01 -4.30620483e-01 -1.50804114e-01 4.30981215e+01] [ 4.23551883e-01 9.02516708e-01 -7.78934762e-02 8.83548872e+00] [ 1.69645759e-01 5.43975347e-03 9.85490094e-01 4.84444817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:8.85, Z:4.85 [[ 8.89718197e-01 -4.30886311e-01 -1.50792962e-01 4.31230918e+01] [ 4.23817844e-01 9.02389981e-01 -7.79150601e-02 8.84853499e+00] [ 1.69646591e-01 5.41369878e-03 9.85490094e-01 4.84919538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:8.86, Z:4.85 [[ 8.89682892e-01 -4.30727172e-01 -1.51454467e-01 4.31494127e+01] [ 4.23583772e-01 9.02465299e-01 -7.83145703e-02 8.85834023e+00] [ 1.70414614e-01 5.52147902e-03 9.85356977e-01 4.85359954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:8.86, Z:4.86 [[ 8.89873152e-01 -4.29692988e-01 -1.53263529e-01 4.31783404e+01] [ 4.22350276e-01 9.02956115e-01 -7.93126687e-02 8.86357287e+00] [ 1.72470339e-01 5.84732053e-03 9.84997356e-01 4.85862294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:8.87, Z:4.86 [[ 8.89728898e-01 -4.29795735e-01 -1.53811948e-01 4.32042087e+01] [ 4.22390416e-01 9.02906828e-01 -7.96592503e-02 8.87285183e+00] [ 1.73115064e-01 5.90644435e-03 9.84883896e-01 4.86365758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:8.88, Z:4.87 [[ 8.89455591e-01 -4.30485353e-01 -1.53463713e-01 4.32305690e+01] [ 4.23113015e-01 9.02578824e-01 -7.95414571e-02 8.88299866e+00] [ 1.72754530e-01 5.81609940e-03 9.84947737e-01 4.86784030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:8.89, Z:4.87 [[ 8.89186615e-01 -4.31217604e-01 -1.52965818e-01 4.32571232e+01] [ 4.23893372e-01 9.02229880e-01 -7.93451457e-02 8.89270264e+00] [ 1.72225355e-01 5.71144518e-03 9.85041018e-01 4.87234622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:8.90, Z:4.88 [[ 8.88301883e-01 -4.32852670e-01 -1.53487233e-01 4.32849294e+01] [ 4.25491487e-01 9.01448087e-01 -7.96764793e-02 8.89771800e+00] [ 1.72848949e-01 5.46925572e-03 9.84933159e-01 4.87711313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.597552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:8.91, Z:4.88 [[ 8.87729396e-01 -4.33833869e-01 -1.54028223e-01 4.33102595e+01] [ 4.26430136e-01 9.00977164e-01 -7.99843083e-02 8.90665776e+00] [ 1.73475813e-01 5.32214564e-03 9.84823749e-01 4.88189995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:8.92, Z:4.89 [[ 8.87338664e-01 -4.34665142e-01 -1.53936058e-01 4.33359798e+01] [ 4.27278077e-01 9.00577245e-01 -7.99629334e-02 8.91593425e+00] [ 1.73388411e-01 5.18069961e-03 9.84839895e-01 4.88651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:8.92, Z:4.89 [[ 8.86620958e-01 -4.36554245e-01 -1.52720881e-01 4.33638046e+01] [ 4.29307393e-01 8.99665150e-01 -7.93585538e-02 8.92264127e+00] [ 1.72041968e-01 4.79675387e-03 9.85077942e-01 4.89141718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:8.93, Z:4.90 [[ 8.86048641e-01 -4.37958142e-01 -1.52021283e-01 4.33900058e+01] [ 4.30788168e-01 8.98983813e-01 -7.90547855e-02 8.93242888e+00] [ 1.71287360e-01 4.55741536e-03 9.85210572e-01 4.89655082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.717552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:8.94, Z:4.90 [[ 8.85395924e-01 -4.39486493e-01 -1.51412284e-01 4.34149204e+01] [ 4.32386281e-01 8.98238916e-01 -7.87969127e-02 8.94179780e+00] [ 1.70634585e-01 4.29787083e-03 9.85325006e-01 4.90119877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:8.95, Z:4.91 [[ 8.84607925e-01 -4.41225178e-01 -1.50960793e-01 4.34404801e+01] [ 4.34188101e-01 8.97387623e-01 -7.85884723e-02 8.95138462e+00] [ 1.70145560e-01 3.97460537e-03 9.85410925e-01 4.90654711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.777552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:8.96, Z:4.91 [[ 8.83485770e-01 -4.43254447e-01 -1.51586243e-01 4.34666485e+01] [ 4.36177771e-01 8.96388392e-01 -7.89734382e-02 8.95836054e+00] [ 1.70885477e-01 3.65335911e-03 9.85284125e-01 4.91148439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:8.97, Z:4.92 [[ 8.82824094e-01 -4.44431891e-01 -1.51993135e-01 4.34923737e+01] [ 4.37329434e-01 8.95805964e-01 -7.92126357e-02 8.96860301e+00] [ 1.71360978e-01 3.45975173e-03 9.85202236e-01 4.91544835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:8.98, Z:4.92 [[ 8.82046731e-01 -4.45759883e-01 -1.52616155e-01 4.35172294e+01] [ 4.38607236e-01 8.95146588e-01 -7.96007455e-02 8.97823606e+00] [ 1.72096649e-01 3.27302768e-03 9.85074632e-01 4.92009818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:8.99, Z:4.92 [[ 8.80675996e-01 -4.48456120e-01 -1.52633217e-01 4.35447317e+01] [ 4.41334293e-01 8.93800505e-01 -7.96536237e-02 8.98619952e+00] [ 1.72144802e-01 2.78676141e-03 9.85067714e-01 4.92469380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:9.00, Z:4.93 [[ 8.79802250e-01 -4.50064830e-01 -1.52936749e-01 4.35697908e+01] [ 4.42927652e-01 8.92992290e-01 -7.98740522e-02 8.99658501e+00] [ 1.72519839e-01 2.53345577e-03 9.85002785e-01 4.92869972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:9.01, Z:4.93 [[ 8.78639281e-01 -4.52203714e-01 -1.53312803e-01 4.35953559e+01] [ 4.45058337e-01 8.91912103e-01 -8.00991735e-02 9.00778689e+00] [ 1.72962689e-01 2.14513892e-03 9.84926041e-01 4.93262758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.957552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:9.02, Z:4.94 [[ 8.76063428e-01 -4.57043236e-01 -1.53702148e-01 4.36215601e+01] [ 4.49924190e-01 8.89443601e-01 -8.03635671e-02 9.01705071e+00] [ 1.73439017e-01 1.24926764e-03 9.84843818e-01 4.93586285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:9.03, Z:4.94 [[ 8.74643331e-01 -4.59881427e-01 -1.53323572e-01 4.36466619e+01] [ 4.52830098e-01 8.87980025e-01 -8.02270370e-02 9.02701178e+00] [ 1.73043193e-01 7.40514898e-04 9.84913958e-01 4.94049286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:9.04, Z:4.95 [[ 8.72996394e-01 -4.63214108e-01 -1.52676083e-01 4.36725869e+01] [ 4.56265694e-01 8.86246397e-01 -7.99308472e-02 9.03688487e+00] [ 1.72333725e-01 1.18482338e-04 9.85038615e-01 4.94581264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.047552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:9.05, Z:4.95 [[ 8.71414445e-01 -4.66417588e-01 -1.51958871e-01 4.36977838e+01] [ 4.59572536e-01 8.84564539e-01 -7.96157040e-02 9.04658402e+00] [ 1.71551593e-01 -4.57849153e-04 9.85175031e-01 4.95171526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.077552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:9.06, Z:4.96 [[ 8.68786372e-01 -4.71826553e-01 -1.50299509e-01 4.37241480e+01] [ 4.65206723e-01 8.81690140e-01 -7.87730999e-02 9.05588797e+00] [ 1.69684836e-01 -1.48334664e-03 9.85497263e-01 4.95698903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.107552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:9.07, Z:4.96 [[ 8.67739442e-01 -4.73727105e-01 -1.50369180e-01 4.37479918e+01] [ 4.67119118e-01 8.80669848e-01 -7.88691847e-02 9.06798127e+00] [ 1.69788073e-01 -1.80241630e-03 9.85478950e-01 4.96078935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.137552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:9.08, Z:4.96 [[ 8.66799715e-01 -4.75222166e-01 -1.51070005e-01 4.37731123e+01] [ 4.68569820e-01 8.79863377e-01 -7.92638685e-02 9.08079009e+00] [ 1.70588912e-01 -2.08094645e-03 9.85340090e-01 4.96497540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:9.09, Z:4.97 [[ 8.66188975e-01 -4.76223949e-01 -1.51417996e-01 4.37982205e+01] [ 4.69545511e-01 8.79321202e-01 -7.95062020e-02 9.09314628e+00] [ 1.71007812e-01 -2.23024480e-03 9.85267149e-01 4.96933087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:9.11, Z:4.97 [[ 8.65385077e-01 -4.78318210e-01 -1.49399996e-01 4.38227988e+01] [ 4.70112417e-01 8.78163969e-01 -8.84440983e-02 9.10751057e+00] [ 1.73502116e-01 6.30340952e-03 9.84813324e-01 4.97141573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:9.11, Z:4.98 [[ 8.65941488e-01 -4.75227069e-01 -1.55899239e-01 4.38494788e+01] [ 4.69876643e-01 8.79795049e-01 -7.19486749e-02 9.11321629e+00] [ 1.71351337e-01 -1.09500686e-02 9.85149134e-01 4.98283979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:9.13, Z:4.98 [[ 8.66305611e-01 -4.75885279e-01 -1.51814982e-01 4.38717860e+01] [ 4.69134092e-01 8.79505080e-01 -7.99000475e-02 9.12931388e+00] [ 1.71545304e-01 -2.00372411e-03 9.85174195e-01 4.98363901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:9.14, Z:4.99 [[ 8.67140832e-01 -4.74271584e-01 -1.52096163e-01 4.38967240e+01] [ 4.67465715e-01 8.80377021e-01 -8.00756275e-02 9.14272032e+00] [ 1.71879562e-01 -1.66289537e-03 9.85116567e-01 4.98754605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:9.16, Z:4.99 [[ 8.67567355e-01 -4.73609733e-01 -1.51725760e-01 4.39199865e+01] [ 4.66816628e-01 8.80733586e-01 -7.99411442e-02 9.15505654e+00] [ 1.71490876e-01 -1.47378060e-03 9.85184606e-01 4.99195184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:9.17, Z:5.00 [[ 8.67854526e-01 -4.73291612e-01 -1.51074722e-01 4.39434033e+01] [ 4.66545236e-01 8.80904750e-01 -7.96389624e-02 9.16807523e+00] [ 1.70774893e-01 -1.36815806e-03 9.85309121e-01 4.99625156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:9.18, Z:5.00 [[ 8.68088059e-01 -4.73181394e-01 -1.50074949e-01 4.39674663e+01] [ 4.66518498e-01 8.80964042e-01 -7.91381588e-02 9.18152028e+00] [ 1.69657338e-01 -1.31384899e-03 9.85502238e-01 5.00078330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:9.20, Z:5.00 [[ 8.67588815e-01 -4.74502075e-01 -1.48786521e-01 4.39912860e+01] [ 4.67963087e-01 8.80253097e-01 -7.85177367e-02 9.19640148e+00] [ 1.68226625e-01 -1.50548950e-03 9.85747197e-01 5.00480430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.437552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:9.21, Z:5.01 [[ 8.66790310e-01 -4.75938646e-01 -1.48852154e-01 4.40153622e+01] [ 4.69404744e-01 8.79476779e-01 -7.86115829e-02 9.20928941e+00] [ 1.68326303e-01 -1.73214894e-03 9.85729808e-01 5.00966715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.467552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:9.22, Z:5.01 [[ 8.65874795e-01 -4.77599717e-01 -1.48860172e-01 4.40395092e+01] [ 4.71079386e-01 8.78575267e-01 -7.86747181e-02 9.22190964e+00] [ 1.68359888e-01 -2.00250302e-03 9.85723561e-01 5.01483024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:9.24, Z:5.02 [[ 8.64985652e-01 -4.79248354e-01 -1.48730751e-01 4.40639773e+01] [ 4.72753553e-01 8.77676403e-01 -7.86651827e-02 9.23503167e+00] [ 1.68237629e-01 -2.26873630e-03 9.85743858e-01 5.02035505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:9.25, Z:5.03 [[ 8.63274423e-01 -4.82882249e-01 -1.46908150e-01 4.40872929e+01] [ 4.76589173e-01 8.75680532e-01 -7.77583897e-02 9.24984715e+00] [ 1.66192753e-01 -2.88800470e-03 9.86089057e-01 5.02573700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:9.26, Z:5.03 [[ 8.62323052e-01 -4.84755727e-01 -1.46324428e-01 4.41108933e+01] [ 4.78529992e-01 8.74643780e-01 -7.75068010e-02 9.26461166e+00] [ 1.65553616e-01 -3.18472609e-03 9.86195649e-01 5.03028865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:9.28, Z:5.03 [[ 8.61488404e-01 -4.86236021e-01 -1.46329295e-01 4.41345810e+01] [ 4.80021097e-01 8.73820839e-01 -7.75685995e-02 9.27997135e+00] [ 1.65582234e-01 -3.41669964e-03 9.86190068e-01 5.03436640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.16, Y:9.30, Z:5.04 [[ 8.60268283e-01 -4.87973407e-01 -1.47717419e-01 4.41561997e+01] [ 4.81654434e-01 8.72850508e-01 -7.83645082e-02 9.29732211e+00] [ 1.67175020e-01 -3.73424914e-03 9.85920163e-01 5.03711524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:9.32, Z:5.04 [[ 8.58949114e-01 -4.90708168e-01 -1.46328106e-01 4.41790413e+01] [ 4.82865815e-01 8.71312386e-01 -8.74947486e-02 9.31620068e+00] [ 1.70431879e-01 4.49669672e-03 9.85359201e-01 5.03842467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:9.32, Z:5.05 [[ 8.58837156e-01 -4.88867549e-01 -1.52994312e-01 4.42034302e+01] [ 4.83839419e-01 8.72262014e-01 -7.11223980e-02 9.32348878e+00] [ 1.68220559e-01 -1.29421210e-02 9.85664418e-01 5.04901741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:9.34, Z:5.05 [[ 8.57976429e-01 -4.91776425e-01 -1.48433134e-01 4.42250703e+01] [ 4.85433939e-01 8.70710377e-01 -7.88500424e-02 9.34258627e+00] [ 1.68018862e-01 -4.40300300e-03 9.85773948e-01 5.04985871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:9.36, Z:5.05 [[ 8.56383862e-01 -4.94649816e-01 -1.48081868e-01 4.42459127e+01] [ 4.88370091e-01 8.69078548e-01 -7.87218582e-02 9.36079863e+00] [ 1.67634528e-01 -4.90262659e-03 9.85837020e-01 5.05417784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:9.38, Z:5.06 [[ 8.55392975e-01 -4.96335949e-01 -1.48167080e-01 4.42681459e+01] [ 4.90069667e-01 8.68114880e-01 -7.87926193e-02 9.37640808e+00] [ 1.67733656e-01 -5.21353859e-03 9.85818563e-01 5.05836038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:9.39, Z:5.06 [[ 8.54212367e-01 -4.98297416e-01 -1.48394462e-01 4.42912106e+01] [ 4.92036723e-01 8.66988174e-01 -7.89390214e-02 9.39237775e+00] [ 1.67991354e-01 -5.58483614e-03 9.85772649e-01 5.06259267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.827552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:9.41, Z:5.07 [[ 8.53202506e-01 -4.99947180e-01 -1.48654973e-01 4.43132967e+01] [ 4.93679094e-01 8.66036014e-01 -7.91364273e-02 9.40815238e+00] [ 1.68304594e-01 -5.86845453e-03 9.85717568e-01 5.06643930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.857552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:9.43, Z:5.07 [[ 8.51510676e-01 -5.02883673e-01 -1.48450601e-01 4.43340800e+01] [ 4.96672695e-01 8.64330282e-01 -7.90531283e-02 9.42652547e+00] [ 1.68064878e-01 -6.41677747e-03 9.85755052e-01 5.07092908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:9.44, Z:5.08 [[ 8.50654770e-01 -5.04662205e-01 -1.47317757e-01 4.43564605e+01] [ 4.98568406e-01 8.63290948e-01 -7.84747283e-02 9.44236185e+00] [ 1.66781316e-01 -6.69307746e-03 9.85971194e-01 5.07610131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:9.47, Z:5.08 [[ 8.48306823e-01 -5.09518311e-01 -1.44106295e-01 4.43755452e+01] [ 5.01828824e-01 8.60456116e-01 -8.82219037e-02 9.46647503e+00] [ 1.68947818e-01 2.52255048e-03 9.85621769e-01 5.07723603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:9.48, Z:5.09 [[ 8.48137525e-01 -5.07762373e-01 -1.51129452e-01 4.44010833e+01] [ 5.03354093e-01 8.61318830e-01 -6.90255790e-02 9.47526901e+00] [ 1.65219234e-01 -1.75284443e-02 9.86101089e-01 5.08826312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:9.50, Z:5.09 [[ 8.47270127e-01 -5.10690291e-01 -1.46043690e-01 4.44222917e+01] [ 5.04768308e-01 8.59730336e-01 -7.79275536e-02 9.49588420e+00] [ 1.65355035e-01 -7.69253793e-03 9.86204105e-01 5.08977149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:9.51, Z:5.09 [[ 8.46752837e-01 -5.11690941e-01 -1.45540418e-01 4.44449050e+01] [ 5.05815135e-01 8.59134082e-01 -7.77153642e-02 9.51195395e+00] [ 1.64804982e-01 -7.81084135e-03 9.86295244e-01 5.09494905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:9.53, Z:5.10 [[ 8.46405151e-01 -5.12404623e-01 -1.45051103e-01 4.44649152e+01] [ 5.06568879e-01 8.58708078e-01 -7.75139201e-02 9.53165430e+00] [ 1.64275044e-01 -7.87019325e-03 9.86383176e-01 5.09998005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:9.55, Z:5.10 [[ 8.46139929e-01 -5.12794909e-01 -1.45219148e-01 4.44863560e+01] [ 5.06946937e-01 8.58474490e-01 -7.76295886e-02 9.54890828e+00] [ 1.64474992e-01 -7.93290759e-03 9.86349353e-01 5.10417165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.097552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:9.57, Z:5.11 [[ 8.45714655e-01 -5.13415054e-01 -1.45505000e-01 4.45084407e+01] [ 5.07548773e-01 8.58102683e-01 -7.78076325e-02 9.56716868e+00] [ 1.64805841e-01 -8.04782917e-03 9.86293195e-01 5.10822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:9.59, Z:5.11 [[ 8.44687713e-01 -5.14918881e-01 -1.46154761e-01 4.45279205e+01] [ 5.09012582e-01 8.57198432e-01 -7.82115055e-02 9.59059436e+00] [ 1.65556213e-01 -8.33031450e-03 9.86165172e-01 5.11200773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:9.61, Z:5.12 [[ 8.43968214e-01 -5.16016200e-01 -1.46440892e-01 4.45500002e+01] [ 5.10092950e-01 8.56536540e-01 -7.84240942e-02 9.60817393e+00] [ 1.65900078e-01 -8.51102367e-03 9.86105839e-01 5.11696649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.187552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:9.63, Z:5.12 [[ 8.43149990e-01 -5.17374592e-01 -1.46361288e-01 4.45710719e+01] [ 5.11468100e-01 8.55714590e-01 -7.84405732e-02 9.62530267e+00] [ 1.65826649e-01 -8.72196111e-03 9.86116347e-01 5.12153541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.217552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:9.65, Z:5.13 [[ 8.41103018e-01 -5.20830029e-01 -1.45882808e-01 4.45900765e+01] [ 5.15006911e-01 8.53609345e-01 -7.82238394e-02 9.64832428e+00] [ 1.65268253e-01 -9.33634709e-03 9.86204460e-01 5.12630509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:9.67, Z:5.13 [[ 8.40087933e-01 -5.22609130e-01 -1.45368368e-01 4.46117080e+01] [ 5.16843860e-01 8.52518339e-01 -7.80058094e-02 9.66720080e+00] [ 1.64695748e-01 -9.60100926e-03 9.86297689e-01 5.13087872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.277552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:9.69, Z:5.14 [[ 8.39151162e-01 -5.24261652e-01 -1.44827645e-01 4.46321139e+01] [ 5.18553758e-01 8.51500430e-01 -7.77754364e-02 9.68618822e+00] [ 1.64095481e-01 -9.83557181e-03 9.86395425e-01 5.13502870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:9.70, Z:5.14 [[ 8.39001118e-01 -5.24504658e-01 -1.44817085e-01 4.46568669e+01] [ 5.18796963e-01 8.51350477e-01 -7.77950953e-02 9.69961703e+00] [ 1.64093984e-01 -9.86049165e-03 9.86395425e-01 5.13978079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:9.72, Z:5.14 [[ 8.37187774e-01 -5.27527496e-01 -1.44330773e-01 4.46743388e+01] [ 5.21893647e-01 8.49474663e-01 -7.75874882e-02 9.72498930e+00] [ 1.63534868e-01 -1.03700168e-02 9.86483051e-01 5.14337880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:9.74, Z:5.15 [[ 8.36371355e-01 -5.28872672e-01 -1.44141089e-01 4.46956227e+01] [ 5.23263639e-01 8.48635386e-01 -7.75444748e-02 9.74362255e+00] [ 1.63334382e-01 -1.05678133e-02 9.86514167e-01 5.14772489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:9.76, Z:5.15 [[ 8.35668458e-01 -5.29951561e-01 -1.44255231e-01 4.47161848e+01] [ 5.24339617e-01 8.47959949e-01 -7.76652556e-02 9.76154147e+00] [ 1.63481482e-01 -1.07363281e-02 9.86487981e-01 5.15227764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:9.79, Z:5.16 [[ 8.35123922e-01 -5.30658983e-01 -1.44807039e-01 4.47334128e+01] [ 5.25010116e-01 8.47515382e-01 -7.79875355e-02 9.78581649e+00] [ 1.64110979e-01 -1.08959035e-02 9.86381704e-01 5.15687372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.457552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:9.81, Z:5.16 [[ 8.35075819e-01 -5.30765227e-01 -1.44695026e-01 4.47543561e+01] [ 5.25115469e-01 8.47449439e-01 -7.79948286e-02 9.80631665e+00] [ 1.64018661e-01 -1.08500010e-02 9.86397565e-01 5.16130949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.487552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:9.83, Z:5.17 [[ 8.35514364e-01 -5.30074582e-01 -1.44695145e-01 4.47736326e+01] [ 5.24403029e-01 8.47884081e-01 -7.80643827e-02 9.82674022e+00] [ 1.64064655e-01 -1.06546594e-02 9.86392045e-01 5.16570673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:9.85, Z:5.17 [[ 8.36055500e-01 -5.29350242e-01 -1.44220390e-01 4.47940106e+01] [ 5.23700577e-01 8.48339009e-01 -7.78372042e-02 9.84802834e+00] [ 1.63550926e-01 -1.04520789e-02 9.86479523e-01 5.17012551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.81, Y:9.88, Z:5.17 [[ 8.37786642e-01 -5.26798206e-01 -1.43517222e-01 4.48087714e+01] [ 5.21155514e-01 8.49933366e-01 -7.75254988e-02 9.87625983e+00] [ 1.62820370e-01 -9.84496442e-03 9.86606611e-01 5.17390234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.577552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:9.90, Z:5.18 [[ 8.38265988e-01 -5.26041057e-01 -1.43495432e-01 4.48288661e+01] [ 5.20384478e-01 8.50404172e-01 -7.75418509e-02 9.89688759e+00] [ 1.62819311e-01 -9.67209908e-03 9.86608495e-01 5.17824271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.607552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:9.92, Z:5.18 [[ 8.38626089e-01 -5.25423505e-01 -1.43653834e-01 4.48489938e+01] [ 5.19734213e-01 8.50787755e-01 -7.76952015e-02 9.91686530e+00] [ 1.63041808e-01 -9.50458938e-03 9.86573379e-01 5.18269764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.637552017999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:9.95, Z:5.19 [[ 8.38513290e-01 -5.25860622e-01 -1.42709738e-01 4.48655383e+01] [ 5.18278147e-01 8.50570506e-01 -8.89807634e-02 9.94764203e+00] [ 1.68176174e-01 6.48213860e-04 9.85756742e-01 5.18641783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:9.96, Z:5.19 [[ 8.39417741e-01 -5.22080250e-01 -1.51030028e-01 4.48895508e+01] [ 5.17741716e-01 8.52673681e-01 -6.99364667e-02 9.95926653e+00] [ 1.65291778e-01 -1.94886351e-02 9.86052139e-01 5.19228487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:9.98, Z:5.20 [[ 8.39455578e-01 -5.23410173e-01 -1.46137344e-01 4.49083299e+01] [ 5.17464192e-01 8.52031872e-01 -7.91991081e-02 9.98405600e+00] [ 1.65967294e-01 -9.13670954e-03 9.86088930e-01 5.19507316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:10.00, Z:5.20 [[ 8.39621150e-01 -5.23185175e-01 -1.45991772e-01 4.49280964e+01] [ 5.17236387e-01 8.52171244e-01 -7.91876928e-02 1.00046299e+01] [ 1.65839817e-01 -9.02459501e-03 9.86111409e-01 5.19989222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:10.03, Z:5.20 [[ 8.40222682e-01 -5.22377855e-01 -1.45420843e-01 4.49438835e+01] [ 5.16452496e-01 8.52669011e-01 -7.89454055e-02 1.00321958e+01] [ 1.65235178e-01 -8.77123719e-03 9.86215190e-01 5.20449527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:10.05, Z:5.21 [[ 8.40276241e-01 -5.22430058e-01 -1.44922992e-01 4.49643084e+01] [ 5.16541420e-01 8.52637492e-01 -7.87036758e-02 1.00521195e+01] [ 1.64683942e-01 -8.72589912e-03 9.86307791e-01 5.20928696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:10.07, Z:5.21 [[ 8.40620148e-01 -5.22010187e-01 -1.44440755e-01 4.49843898e+01] [ 5.16143470e-01 8.52896342e-01 -7.85095461e-02 1.00701196e+01] [ 1.64175774e-01 -8.55544633e-03 9.86393998e-01 5.21358587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.847552017999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:10.09, Z:5.22 [[ 8.40613408e-01 -5.21676919e-01 -1.45678727e-01 4.50033905e+01] [ 5.15698750e-01 8.53100384e-01 -7.92119522e-02 1.00933274e+01] [ 1.65601625e-01 -8.53970843e-03 9.86155756e-01 5.21795937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877552017999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:10.11, Z:5.22 [[ 8.40813605e-01 -5.21215817e-01 -1.46173029e-01 4.50244419e+01] [ 5.15178155e-01 8.53383388e-01 -7.95503719e-02 1.01124183e+01] [ 1.66204547e-01 -8.41811631e-03 9.86055366e-01 5.22251059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:10.13, Z:5.23 [[ 8.41557853e-01 -5.19902590e-01 -1.46566288e-01 4.50442359e+01] [ 5.13800735e-01 8.54186950e-01 -7.98339411e-02 1.01314170e+01] [ 1.66700883e-01 -8.12098652e-03 9.85974069e-01 5.22718476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.937552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:10.15, Z:5.23 [[ 8.42619075e-01 -5.18056725e-01 -1.47004507e-01 4.50652228e+01] [ 5.11885144e-01 8.55311124e-01 -8.01029401e-02 1.01510787e+01] [ 1.67232457e-01 -7.75315789e-03 9.85887009e-01 5.23168775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.967552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:10.18, Z:5.24 [[ 8.45689910e-01 -5.12484966e-01 -1.48888332e-01 4.50828388e+01] [ 5.06054944e-01 8.58670262e-01 -8.12020677e-02 1.01751971e+01] [ 1.69460822e-01 -6.67390709e-03 9.85514327e-01 5.23641346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99755201799999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.10, Y:10.19, Z:5.24 [[ 8.47399900e-01 -5.09563144e-01 -1.49193871e-01 4.51040923e+01] [ 5.03053086e-01 8.60411932e-01 -8.14180545e-02 1.01939006e+01] [ 1.69855827e-01 -6.05878593e-03 9.85450298e-01 5.24048664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:45.12, Y:10.21, Z:5.24 [[ 8.49616564e-01 -5.05859739e-01 -1.49189872e-01 4.51243732e+01] [ 4.99281220e-01 8.62599733e-01 -8.14859735e-02 1.02116351e+01] [ 1.69911617e-01 -5.25586826e-03 9.85445289e-01 5.24480806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057552017999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:45.14, Y:10.23, Z:5.25 [[ 8.51790931e-01 -5.02158801e-01 -1.49294167e-01 4.51445858e+01] [ 4.95509183e-01 8.64763756e-01 -8.15738655e-02 1.02292042e+01] [ 1.70067219e-01 -4.49275188e-03 9.85422222e-01 5.25018105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087552018 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:45.16, Y:10.25, Z:5.26 [[ 8.55606633e-01 -4.95982374e-01 -1.48117437e-01 4.51635779e+01] [ 4.89337582e-01 8.68326714e-01 -8.09780696e-02 1.02519085e+01] [ 1.68778023e-01 -3.19405506e-03 9.85648912e-01 5.25534736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.117552018 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:45.19, Y:10.27, Z:5.26 [[ 8.56871894e-01 -4.93978293e-01 -1.47499165e-01 4.51859726e+01] [ 4.87347962e-01 8.69469962e-01 -8.07090392e-02 1.02694251e+01] [ 1.68114607e-01 -2.72611035e-03 9.85763687e-01 5.26022925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.147552018 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:45.21, Y:10.29, Z:5.26 [[ 8.57421900e-01 -4.93094847e-01 -1.47258811e-01 4.52068803e+01] [ 4.86460927e-01 8.69972011e-01 -8.06502695e-02 1.02861029e+01] [ 1.67879276e-01 -2.48435033e-03 9.85804431e-01 5.26484442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.177552018 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:45.23, Y:10.30, Z:5.27 [[ 8.56985938e-01 -4.93762814e-01 -1.47558075e-01 4.52271361e+01] [ 4.87106082e-01 8.69592757e-01 -8.08461613e-02 1.03047432e+01] [ 1.68234261e-01 -2.59241243e-03 9.85743634e-01 5.26925641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:45.25, Y:10.32, Z:5.27 [[ 8.55764057e-01 -4.95837541e-01 -1.47692285e-01 4.52505514e+01] [ 4.89190826e-01 8.68410257e-01 -8.09688922e-02 1.03199298e+01] [ 1.68404911e-01 -2.95944296e-03 9.85713461e-01 5.27384680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237552017999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:45.27, Y:10.33, Z:5.28 [[ 8.54355728e-01 -4.98274201e-01 -1.47645221e-01 4.52731029e+01] [ 4.91655301e-01 8.67012940e-01 -8.10162173e-02 1.03340688e+01] [ 1.68378608e-01 -3.37388643e-03 9.85716623e-01 5.27829571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267552017999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:45.30, Y:10.35, Z:5.28 [[ 8.52297266e-01 -5.01687566e-01 -1.47982960e-01 4.52957983e+01] [ 4.95083523e-01 8.65039512e-01 -8.12339128e-02 1.03493051e+01] [ 1.68765151e-01 -4.02848319e-03 9.85648058e-01 5.28294848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297552018 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:45.32, Y:10.37, Z:5.29 [[ 8.49050709e-01 -5.07088190e-01 -1.48237852e-01 4.53162324e+01] [ 5.00530219e-01 8.61879403e-01 -8.14456553e-02 1.03673034e+01] [ 1.69063281e-01 -5.04603321e-03 9.85592281e-01 5.28646340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.327552018 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:45.34, Y:10.38, Z:5.29 [[ 8.47679374e-01 -5.09238082e-01 -1.48715350e-01 4.53391700e+01] [ 5.02664730e-01 8.60608340e-01 -8.17401594e-02 1.03833878e+01] [ 1.69610872e-01 -5.46451408e-03 9.85495962e-01 5.29066245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.357552018 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:45.36, Y:10.40, Z:5.30 [[ 8.46804792e-01 -5.10589757e-01 -1.49062887e-01 4.53627039e+01] [ 5.03993898e-01 8.59805653e-01 -8.20023779e-02 1.03985653e+01] [ 1.70034687e-01 -5.68677868e-03 9.85421669e-01 5.29526517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:45.39, Y:10.41, Z:5.30 [[ 8.46484407e-01 -5.11148604e-01 -1.48967288e-01 4.53864896e+01] [ 5.04557668e-01 8.59473228e-01 -8.20203038e-02 1.04134105e+01] [ 1.69957959e-01 -5.73367898e-03 9.85434634e-01 5.30039110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417552017999995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:45.41, Y:10.43, Z:5.31 [[ 8.46467832e-01 -5.11152667e-01 -1.49047513e-01 4.54102525e+01] [ 5.04542461e-01 8.59471194e-01 -8.21350830e-02 1.04282335e+01] [ 1.70085611e-01 -5.67609351e-03 9.85412942e-01 5.30502830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447552017999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:45.43, Y:10.44, Z:5.31 [[ 8.46473123e-01 -5.10994765e-01 -1.49558026e-01 4.54318469e+01] [ 5.04323838e-01 8.59565578e-01 -8.24892966e-02 1.04432018e+01] [ 1.70706530e-01 -5.60070514e-03 9.85306000e-01 5.30945255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477552018 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:45.45, Y:10.46, Z:5.31 [[ 8.47021034e-01 -5.09978949e-01 -1.49922776e-01 4.54534440e+01] [ 5.03253704e-01 8.60170053e-01 -8.27235663e-02 1.04616391e+01] [ 1.71146360e-01 -5.38059174e-03 9.85230924e-01 5.31382145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507552018 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:45.48, Y:10.48, Z:5.32 [[ 8.47547169e-01 -5.09378951e-01 -1.48986172e-01 4.54751979e+01] [ 5.02716646e-01 8.60526826e-01 -8.22773099e-02 1.04766181e+01] [ 1.70116928e-01 -5.16392766e-03 9.85410353e-01 5.31835013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.537552018 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:45.50, Y:10.49, Z:5.32 [[ 8.47975480e-01 -5.08817316e-01 -1.48467250e-01 4.54976066e+01] [ 5.02187807e-01 8.60859964e-01 -8.20215223e-02 1.04916951e+01] [ 1.69543482e-01 -5.00620290e-03 9.85509993e-01 5.32354868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:45.52, Y:10.51, Z:5.33 [[ 8.47834795e-01 -5.09214031e-01 -1.47909538e-01 4.55198433e+01] [ 5.02635290e-01 8.60625167e-01 -8.17440330e-02 1.05074282e+01] [ 1.68919880e-01 -5.03911829e-03 9.85616904e-01 5.32834257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.597552017999995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:45.54, Y:10.52, Z:5.33 [[ 8.47501497e-01 -5.09819652e-01 -1.47733323e-01 4.55428739e+01] [ 5.03253617e-01 8.60266238e-01 -8.17177869e-02 1.05207359e+01] [ 1.68751324e-01 -5.09138245e-03 9.85645509e-01 5.33266264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.627552017999996 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:45.57, Y:10.54, Z:5.34 [[ 8.46158010e-01 -5.11967863e-01 -1.48005168e-01 4.55654456e+01] [ 5.05404709e-01 8.58986976e-01 -8.18990562e-02 1.05352473e+01] [ 1.69064196e-01 -5.50296643e-03 9.85589679e-01 5.33726881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.657552018 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:45.59, Y:10.55, Z:5.34 [[ 8.45358094e-01 -5.13324022e-01 -1.47878805e-01 4.55889261e+01] [ 5.06787344e-01 8.58175669e-01 -8.18602957e-02 1.05497957e+01] [ 1.68926848e-01 -5.74184309e-03 9.85611866e-01 5.34177139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687552018 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:45.61, Y:10.56, Z:5.35 [[ 8.44702492e-01 -5.14370778e-01 -1.47987847e-01 4.56128224e+01] [ 5.07828244e-01 8.57547642e-01 -8.19909502e-02 1.05645134e+01] [ 1.69080378e-01 -5.89444842e-03 9.85584639e-01 5.34674012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.717552018 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:45.64, Y:10.58, Z:5.35 [[ 8.44435625e-01 -5.14867352e-01 -1.47783918e-01 4.56367852e+01] [ 5.08338572e-01 8.57249384e-01 -8.19474869e-02 1.05786095e+01] [ 1.68879758e-01 -5.92488846e-03 9.85618853e-01 5.35187795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:45.66, Y:10.59, Z:5.36 [[ 8.44224583e-01 -5.15383602e-01 -1.47188983e-01 4.56597659e+01] [ 5.08903617e-01 8.56938983e-01 -8.16865220e-02 1.05930905e+01] [ 1.68231871e-01 -5.94323585e-03 9.85729535e-01 5.35640279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.777552017999994 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:45.68, Y:10.61, Z:5.36 [[ 8.44144729e-01 -5.15455594e-01 -1.47394733e-01 4.56827194e+01] [ 5.08946435e-01 8.56895945e-01 -8.18710246e-02 1.06067083e+01] [ 1.68502827e-01 -5.90503004e-03 9.85683483e-01 5.36089203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.807552017999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:45.71, Y:10.62, Z:5.36 [[ 8.44329550e-01 -5.15185468e-01 -1.47280498e-01 4.57057981e+01] [ 5.08674253e-01 8.57059061e-01 -8.18551724e-02 1.06210411e+01] [ 1.68398681e-01 -5.80505665e-03 9.85701875e-01 5.36492474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.837552018 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:45.73, Y:10.64, Z:5.37 [[ 8.45739390e-01 -5.13412589e-01 -1.45369865e-01 4.57280988e+01] [ 5.07039402e-01 8.58125195e-01 -8.08219958e-02 1.06377688e+01] [ 1.66240574e-01 -5.35390395e-03 9.86070691e-01 5.36977653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867552018 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:45.75, Y:10.65, Z:5.37 [[ 8.46691474e-01 -5.12077731e-01 -1.44533545e-01 4.57500411e+01] [ 5.05747356e-01 8.58924547e-01 -8.04253340e-02 1.06523839e+01] [ 1.65327433e-01 -5.00201385e-03 9.86226049e-01 5.37454093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.897552018 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:45.77, Y:10.67, Z:5.38 [[ 8.47663077e-01 -5.10532042e-01 -1.44306417e-01 4.57737165e+01] [ 5.04194547e-01 8.59846062e-01 -8.03281288e-02 1.06672062e+01] [ 1.65091388e-01 -4.66731993e-03 9.86267230e-01 5.37911450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.927552018 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:45.80, Y:10.68, Z:5.38 [[ 8.48421955e-01 -5.09271387e-01 -1.44301216e-01 4.57974174e+01] [ 5.02904967e-01 8.60594922e-01 -8.03926337e-02 1.06820679e+01] [ 1.65126562e-01 -4.36292263e-03 9.86262736e-01 5.38359972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.957552017999994 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:45.82, Y:10.70, Z:5.39 [[ 8.49660052e-01 -5.06902685e-01 -1.45352892e-01 4.58207641e+01] [ 5.00396372e-01 8.61994597e-01 -8.10480479e-02 1.06974940e+01] [ 1.66376881e-01 -3.87077149e-03 9.86054639e-01 5.38806027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987552017999995 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:45.84, Y:10.71, Z:5.39 [[ 8.50075893e-01 -5.06079581e-01 -1.45789007e-01 4.58434814e+01] [ 4.99510150e-01 8.62479020e-01 -8.13606236e-02 1.07114304e+01] [ 1.66914910e-01 -3.66038389e-03 9.85964510e-01 5.39224244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017552017999996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:45.87, Y:10.73, Z:5.40 [[ 8.50181224e-01 -5.05723030e-01 -1.46410737e-01 4.58674591e+01] [ 4.99086663e-01 8.62688475e-01 -8.17379859e-02 1.07254848e+01] [ 1.67643638e-01 -3.57954554e-03 9.85841162e-01 5.39660063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047552018 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:45.89, Y:10.74, Z:5.40 [[ 8.50347542e-01 -5.05212292e-01 -1.47205971e-01 4.58904041e+01] [ 4.98483213e-01 8.62988262e-01 -8.22541556e-02 1.07384138e+01] [ 1.68592835e-01 -3.43508625e-03 9.85679794e-01 5.40048998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.077552018 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:45.91, Y:10.75, Z:5.40 [[ 8.50678205e-01 -5.04525114e-01 -1.47651618e-01 4.59136964e+01] [ 4.97739284e-01 8.63390781e-01 -8.25346260e-02 1.07513648e+01] [ 1.69121837e-01 -3.28160317e-03 9.85589689e-01 5.40499697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.107552018 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:45.94, Y:10.77, Z:5.41 [[ 8.50664029e-01 -5.04610126e-01 -1.47442632e-01 4.59372317e+01] [ 4.97839544e-01 8.63341156e-01 -8.24489983e-02 1.07650284e+01] [ 1.68897892e-01 -3.26637562e-03 9.85628141e-01 5.40989351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.137552017999994 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:45.96, Y:10.78, Z:5.41 [[ 8.50495634e-01 -5.05040909e-01 -1.46938276e-01 4.59616354e+01] [ 4.98311435e-01 8.63089176e-01 -8.22361736e-02 1.07781200e+01] [ 1.68353467e-01 -3.27951642e-03 9.85721236e-01 5.41497849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.167552017999995 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:45.99, Y:10.79, Z:5.42 [[ 8.50356756e-01 -5.05269241e-01 -1.46957074e-01 4.59851676e+01] [ 4.98529378e-01 8.62955586e-01 -8.23171652e-02 1.07899317e+01] [ 1.68409760e-01 -3.26346128e-03 9.85711673e-01 5.41954166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.197552017999996 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:46.01, Y:10.80, Z:5.42 [[ 8.50187657e-01 -5.05557579e-01 -1.46943808e-01 4.60095470e+01] [ 4.98817899e-01 8.62786584e-01 -8.23408399e-02 1.08038515e+01] [ 1.68409182e-01 -3.29303588e-03 9.85711674e-01 5.42428533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227552018 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:46.03, Y:10.82, Z:5.43 [[ 8.49942677e-01 -5.05869182e-01 -1.47288207e-01 4.60333023e+01] [ 4.99091108e-01 8.62603874e-01 -8.25991723e-02 1.08156550e+01] [ 1.68835753e-01 -3.30567248e-03 9.85638656e-01 5.42895210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.257552018 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:46.06, Y:10.83, Z:5.43 [[ 8.49573255e-01 -5.06497867e-01 -1.47258940e-01 4.60576281e+01] [ 4.99726593e-01 8.62234498e-01 -8.26135724e-02 1.08285001e+01] [ 1.68815337e-01 -3.40292679e-03 9.85641822e-01 5.43332310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.287552018 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:46.08, Y:10.84, Z:5.44 [[ 8.49458430e-01 -5.06566972e-01 -1.47683037e-01 4.60809779e+01] [ 4.99745376e-01 8.62194048e-01 -8.29215440e-02 1.08407787e+01] [ 1.69336751e-01 -3.36551053e-03 9.85552504e-01 5.43780912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31755201799999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:46.11, Y:10.85, Z:5.44 [[ 8.49028324e-01 -5.07143762e-01 -1.48175940e-01 4.61056607e+01] [ 5.00276608e-01 8.61854571e-01 -8.32467068e-02 1.08528043e+01] [ 1.69924159e-01 -3.45014476e-03 9.85451103e-01 5.44218221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.347552017999995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:46.13, Y:10.87, Z:5.45 [[ 8.48813244e-01 -5.07596231e-01 -1.47858521e-01 4.61299205e+01] [ 5.00753348e-01 8.61588078e-01 -8.31388499e-02 1.08655792e+01] [ 1.69594106e-01 -3.47129248e-03 9.85507884e-01 5.44768481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.377552017999996 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:46.15, Y:10.88, Z:5.45 [[ 8.48679370e-01 -5.07947224e-01 -1.47420977e-01 4.61542515e+01] [ 5.01138009e-01 8.61381211e-01 -8.29644852e-02 1.08790184e+01] [ 1.69127239e-01 -3.46800762e-03 9.85588124e-01 5.45269582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.407552018 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:46.18, Y:10.89, Z:5.46 [[ 8.48575265e-01 -5.08307928e-01 -1.46775576e-01 4.61769452e+01] [ 5.01551658e-01 8.61168434e-01 -8.26732302e-02 1.08925762e+01] [ 1.68421952e-01 -3.46107533e-03 9.85708916e-01 5.45816187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.437552018 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:46.20, Y:10.91, Z:5.46 [[ 8.48381491e-01 -5.08749527e-01 -1.46365175e-01 4.62011456e+01] [ 5.02029426e-01 8.60907485e-01 -8.24909583e-02 1.09056238e+01] [ 1.67974111e-01 -3.49582239e-03 9.85785209e-01 5.46242747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.467552018 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:46.22, Y:10.92, Z:5.47 [[ 8.48142058e-01 -5.09168904e-01 -1.46294483e-01 4.62249799e+01] [ 5.02449641e-01 8.60659435e-01 -8.25208748e-02 1.09173128e+01] [ 1.67926791e-01 -3.51618596e-03 9.85793198e-01 5.46723852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49755201799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:46.25, Y:10.93, Z:5.47 [[ 8.47010411e-01 -5.11108522e-01 -1.46087102e-01 4.62500406e+01] [ 5.04428914e-01 8.59507551e-01 -8.24514447e-02 1.09282784e+01] [ 1.67704603e-01 -3.85332604e-03 9.85829761e-01 5.47277664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.527552017999994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:46.27, Y:10.94, Z:5.48 [[ 8.46056625e-01 -5.12723884e-01 -1.45953441e-01 4.62728345e+01] [ 5.06068162e-01 8.58543740e-01 -8.24479364e-02 1.09412676e+01] [ 1.67580440e-01 -4.10676702e-03 9.85849852e-01 5.47736383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.557552017999996 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:46.30, Y:10.95, Z:5.48 [[ 8.45222146e-01 -5.14102783e-01 -1.45937839e-01 4.62954031e+01] [ 5.07463566e-01 8.57717544e-01 -8.24702645e-02 1.09543523e+01] [ 1.67571638e-01 -4.35244248e-03 9.85850294e-01 5.48205128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587552018 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:46.32, Y:10.97, Z:5.49 [[ 8.44183073e-01 -5.15781201e-01 -1.46029765e-01 4.63194227e+01] [ 5.09153232e-01 8.56707663e-01 -8.25528081e-02 1.09683356e+01] [ 1.67684005e-01 -4.66184344e-03 9.85829773e-01 5.48676062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.617552018 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:46.34, Y:10.98, Z:5.49 [[ 8.43241317e-01 -5.17157756e-01 -1.46601284e-01 4.63435927e+01] [ 5.10485908e-01 8.55876107e-01 -8.29471395e-02 1.09816901e+01] [ 1.68369293e-01 -4.89343422e-03 9.85711842e-01 5.49102874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.647552018 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:46.37, Y:10.99, Z:5.50 [[ 8.40886729e-01 -5.20499984e-01 -1.48287817e-01 4.63678945e+01] [ 5.13711858e-01 8.53843537e-01 -8.39722635e-02 1.09929927e+01] [ 1.70322156e-01 -5.56604815e-03 9.85372712e-01 5.49505016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67755201799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:46.39, Y:11.01, Z:5.50 [[ 8.39593971e-01 -5.22392063e-01 -1.48958040e-01 4.63922106e+01] [ 5.15565912e-01 8.52684665e-01 -8.43839605e-02 1.10057981e+01] [ 1.71095747e-01 -5.94942328e-03 9.85236443e-01 5.49956686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:46.42, Y:11.02, Z:5.50 [[ 8.37522659e-01 -5.25549884e-01 -1.49509582e-01 4.64151518e+01] [ 5.18710177e-01 8.50737512e-01 -8.47669684e-02 1.10188239e+01] [ 1.71742680e-01 -6.55788508e-03 9.85120016e-01 5.50445487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.737552017999995 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:46.44, Y:11.03, Z:5.51 [[ 8.36853378e-01 -5.26833360e-01 -1.48738142e-01 4.64394871e+01] [ 5.20076180e-01 8.49941845e-01 -8.43778849e-02 1.10328313e+01] [ 1.70871855e-01 -6.74324666e-03 9.85270185e-01 5.50886325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767552017999996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:46.46, Y:11.05, Z:5.51 [[ 8.36340023e-01 -5.27747394e-01 -1.48384819e-01 4.64632920e+01] [ 5.21024737e-01 8.49373723e-01 -8.42466798e-02 1.10464397e+01] [ 1.70495131e-01 -6.85329087e-03 9.85334686e-01 5.51445374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797552018 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:46.49, Y:11.06, Z:5.52 [[ 8.35640519e-01 -5.28948239e-01 -1.48049600e-01 4.64850746e+01] [ 5.22263025e-01 8.48625027e-01 -8.41242973e-02 1.10608480e+01] [ 1.70135995e-01 -7.02316046e-03 9.85395564e-01 5.51971549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.827552018 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:46.51, Y:11.08, Z:5.52 [[ 8.35060967e-01 -5.29973850e-01 -1.47651276e-01 4.65077379e+01] [ 5.23335566e-01 8.47983532e-01 -8.39274389e-02 1.10752894e+01] [ 1.69685199e-01 -7.18663590e-03 9.85472113e-01 5.52431537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.857552018 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:46.53, Y:11.09, Z:5.53 [[ 8.34272163e-01 -5.31277947e-01 -1.47423543e-01 4.65314086e+01] [ 5.24675282e-01 8.47165137e-01 -8.38276698e-02 1.10901423e+01] [ 1.69427878e-01 -7.41439749e-03 9.85514698e-01 5.52935163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:46.55, Y:11.11, Z:5.53 [[ 8.32383824e-01 -5.34342428e-01 -1.47021559e-01 4.65535004e+01] [ 5.27811873e-01 8.45230638e-01 -8.36647795e-02 1.11071071e+01] [ 1.68972768e-01 -7.95851522e-03 9.85588589e-01 5.53429963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.917552017999995 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:46.58, Y:11.12, Z:5.54 [[ 8.31321631e-01 -5.35998867e-01 -1.47001905e-01 4.65753539e+01] [ 5.29483710e-01 8.44178544e-01 -8.37232806e-02 1.11223321e+01] [ 1.68971438e-01 -8.23413984e-03 9.85586552e-01 5.53870805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947552017999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:46.60, Y:11.14, Z:5.54 [[ 8.30539757e-01 -5.37386815e-01 -1.46352738e-01 4.65973989e+01] [ 5.30945566e-01 8.43293529e-01 -8.33836267e-02 1.11371790e+01] [ 1.68227578e-01 -8.45192014e-03 9.85711949e-01 5.54305199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977552018 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:46.62, Y:11.15, Z:5.55 [[ 8.29765625e-01 -5.39214690e-01 -1.44001828e-01 4.66190646e+01] [ 5.33002491e-01 8.42123885e-01 -8.20713518e-02 1.11541761e+01] [ 1.65521458e-01 -8.65334675e-03 9.86168224e-01 5.54787611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.007552018 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:46.64, Y:11.17, Z:5.55 [[ 8.29618282e-01 -5.39384649e-01 -1.44214099e-01 4.66418970e+01] [ 5.33144806e-01 8.42015165e-01 -8.22622502e-02 1.11707096e+01] [ 1.65801453e-01 -8.64073121e-03 9.86121299e-01 5.55258159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.037552018 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:46.66, Y:11.19, Z:5.56 [[ 8.29257682e-01 -5.40515652e-01 -1.42037063e-01 4.66635979e+01] [ 5.34469017e-01 8.41289267e-01 -8.10878452e-02 1.11886801e+01] [ 1.63323506e-01 -8.67169088e-03 9.86534457e-01 5.55802449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:46.68, Y:11.21, Z:5.56 [[ 8.29823228e-01 -5.39634714e-01 -1.42083730e-01 4.66834098e+01] [ 5.33559924e-01 8.41856935e-01 -8.11831730e-02 1.12078012e+01] [ 1.63423432e-01 -8.44250177e-03 9.86519896e-01 5.56086434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.097552017999995 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:46.71, Y:11.22, Z:5.56 [[ 8.29887925e-01 -5.39314482e-01 -1.42919284e-01 4.67057897e+01] [ 5.33158088e-01 8.42062493e-01 -8.16897319e-02 1.12241422e+01] [ 1.64403424e-01 -8.40525023e-03 9.86357372e-01 5.56438474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127552017999996 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:46.73, Y:11.24, Z:5.57 [[ 8.29916993e-01 -5.39210845e-01 -1.43141362e-01 4.67277448e+01] [ 5.33022169e-01 8.42129516e-01 -8.18855661e-02 1.12402641e+01] [ 1.64697151e-01 -8.33929623e-03 9.86308930e-01 5.56801184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157552018 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:46.75, Y:11.26, Z:5.57 [[ 8.29554884e-01 -5.39657105e-01 -1.43558014e-01 4.67497615e+01] [ 5.33433815e-01 8.41842729e-01 -8.21534270e-02 1.12569581e+01] [ 1.65187951e-01 -8.42792231e-03 9.86226095e-01 5.57185839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.187552018 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:46.77, Y:11.28, Z:5.58 [[ 8.29020976e-01 -5.40406859e-01 -1.43821582e-01 4.67706960e+01] [ 5.34161858e-01 8.41360469e-01 -8.23630435e-02 1.12758130e+01] [ 1.65515347e-01 -8.54331267e-03 9.86170209e-01 5.57565526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.217552018 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:46.79, Y:11.29, Z:5.58 [[ 8.28333311e-01 -5.41466273e-01 -1.43799170e-01 4.67925452e+01] [ 5.35227568e-01 8.40677504e-01 -8.24183551e-02 1.12926891e+01] [ 1.65515487e-01 -8.69541111e-03 9.86168856e-01 5.57964874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:46.81, Y:11.31, Z:5.58 [[ 8.27621645e-01 -5.42430494e-01 -1.44262164e-01 4.68147152e+01] [ 5.36154219e-01 8.40053973e-01 -8.27525038e-02 1.13095615e+01] [ 1.66075486e-01 -8.85900467e-03 9.86073248e-01 5.58389303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.277552017999994 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:46.84, Y:11.33, Z:5.59 [[ 8.26665764e-01 -5.43735849e-01 -1.44827623e-01 4.68362814e+01] [ 5.37418133e-01 8.39207084e-01 -8.31457796e-02 1.13259305e+01] [ 1.66749708e-01 -9.09922129e-03 9.85957270e-01 5.58731547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.307552017999996 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:46.86, Y:11.34, Z:5.59 [[ 8.24833683e-01 -5.46273383e-01 -1.45721606e-01 4.68572666e+01] [ 5.39910891e-01 8.37551388e-01 -8.36893184e-02 1.13444021e+01] [ 1.67766580e-01 -9.64691324e-03 9.85779545e-01 5.59072368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.337552018 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:46.88, Y:11.36, Z:5.59 [[ 8.24045088e-01 -5.47423499e-01 -1.45867082e-01 4.68798642e+01] [ 5.41054279e-01 8.36797963e-01 -8.38417268e-02 1.13612091e+01] [ 1.67958208e-01 -9.83264561e-03 9.85745078e-01 5.59489138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367552018 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:46.90, Y:11.38, Z:5.60 [[ 8.23843479e-01 -5.47746008e-01 -1.45795174e-01 4.69017100e+01] [ 5.41376477e-01 8.36586859e-01 -8.38685681e-02 1.13774847e+01] [ 1.67909000e-01 -9.83550485e-03 9.85753433e-01 5.59933939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.397552018 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:46.92, Y:11.40, Z:5.60 [[ 8.24457826e-01 -5.46965418e-01 -1.45251933e-01 4.69224411e+01] [ 5.40626499e-01 8.37099995e-01 -8.35858102e-02 1.13971472e+01] [ 1.67308940e-01 -9.61406839e-03 9.85857641e-01 5.60382824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:46.94, Y:11.41, Z:5.61 [[ 8.25426715e-01 -5.45533519e-01 -1.45134133e-01 4.69438681e+01] [ 5.39171418e-01 8.38037872e-01 -8.35865210e-02 1.14140633e+01] [ 1.67227149e-01 -9.25762897e-03 9.85874930e-01 5.60818205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.457552017999994 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:46.97, Y:11.43, Z:5.61 [[ 8.26434572e-01 -5.44024031e-01 -1.45064649e-01 4.69654501e+01] [ 5.37640009e-01 8.39022196e-01 -8.35761632e-02 1.14314534e+01] [ 1.67179902e-01 -8.92232881e-03 9.85886034e-01 5.61245233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487552017999995 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:46.99, Y:11.45, Z:5.62 [[ 8.27373978e-01 -5.42735791e-01 -1.44534296e-01 4.69871817e+01] [ 5.36367822e-01 8.39859739e-01 -8.33377363e-02 1.14489488e+01] [ 1.66618909e-01 -8.57207131e-03 9.85984107e-01 5.61633986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517552017999996 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:47.01, Y:11.47, Z:5.62 [[ 8.29256176e-01 -5.39969603e-01 -1.44107674e-01 4.70084556e+01] [ 5.33586822e-01 8.41647116e-01 -8.31578976e-02 1.14664371e+01] [ 1.66190545e-01 -7.93475552e-03 9.86061734e-01 5.62032054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547552018 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:47.03, Y:11.48, Z:5.62 [[ 8.29606123e-01 -5.39573048e-01 -1.43577875e-01 4.70313345e+01] [ 5.33220286e-01 8.41902949e-01 -8.29189464e-02 1.14818087e+01] [ 1.65619465e-01 -7.76856990e-03 9.86159136e-01 5.62458695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.577552018 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:47.05, Y:11.50, Z:5.63 [[ 8.29805065e-01 -5.39478895e-01 -1.42779815e-01 4.70538926e+01] [ 5.33184415e-01 8.41964384e-01 -8.25248831e-02 1.14984657e+01] [ 1.64735952e-01 -7.64840625e-03 9.86308049e-01 5.62940934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.607552018 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:47.07, Y:11.51, Z:5.63 [[ 8.30141376e-01 -5.39077949e-01 -1.42338544e-01 4.70744564e+01] [ 5.32805509e-01 8.42222598e-01 -8.23370275e-02 1.15148461e+01] [ 1.64266814e-01 -7.48738691e-03 9.86387527e-01 5.63453397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.637552017999994 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:47.09, Y:11.54, Z:5.64 [[ 8.30220273e-01 -5.39370375e-01 -1.40761843e-01 4.70945343e+01] [ 5.33233832e-01 8.42035933e-01 -8.14688093e-02 1.15355266e+01] [ 1.62468392e-01 -7.42191991e-03 9.86685835e-01 5.63832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667552017999995 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:47.12, Y:11.55, Z:5.64 [[ 8.30267180e-01 -5.39340214e-01 -1.40600652e-01 4.71177070e+01] [ 5.33206678e-01 8.42055867e-01 -8.14404989e-02 1.15510415e+01] [ 1.62317741e-01 -7.35183345e-03 9.86711154e-01 5.64188872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697552017999996 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:47.14, Y:11.57, Z:5.65 [[ 8.29877735e-01 -5.39652369e-01 -1.41697799e-01 4.71394528e+01] [ 5.33415689e-01 8.41855290e-01 -8.21424040e-02 1.15689192e+01] [ 1.63617384e-01 -7.41567659e-03 9.86496001e-01 5.64572866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727552018 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:47.16, Y:11.59, Z:5.65 [[ 8.29766960e-01 -5.39661604e-01 -1.42310029e-01 4.71605461e+01] [ 5.33359223e-01 8.41849582e-01 -8.25664604e-02 1.15856566e+01] [ 1.64361587e-01 -7.39144569e-03 9.86372463e-01 5.64998198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.757552018 meters Centerline goodness : 0.987016 Centerline is valid? [True, True] Translation: X:47.19, Y:11.60, Z:5.65 [[ 8.31229672e-01 -5.37948251e-01 -1.40245896e-01 4.71866980e+01] [ 5.31179101e-01 8.42969679e-01 -8.51521164e-02 1.16032690e+01] [ 1.64030470e-01 -3.71472313e-03 9.86448278e-01 5.65463273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.787552018 meters Centerline goodness : 0.987887 Centerline is valid? [True, True] Translation: X:47.21, Y:11.62, Z:5.66 [[ 8.31148787e-01 -5.36633117e-01 -1.45659164e-01 4.72107060e+01] [ 5.31281275e-01 8.43706876e-01 -7.68043929e-02 1.16167138e+01] [ 1.64109419e-01 -1.35501082e-02 9.86349073e-01 5.65953024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81755201799999 meters Centerline goodness : 0.988050 Centerline is valid? [True, True] Translation: X:47.23, Y:11.64, Z:5.66 [[ 8.30210984e-01 -5.38933521e-01 -1.42479409e-01 4.72275848e+01] [ 5.32595698e-01 8.42317475e-01 -8.27229974e-02 1.16359613e+01] [ 1.64595092e-01 -7.20637908e-03 9.86334894e-01 5.66434604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.847552017999995 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:47.25, Y:11.65, Z:5.67 [[ 8.31139765e-01 -5.37438486e-01 -1.42711474e-01 4.72490029e+01] [ 5.30987408e-01 8.43277434e-01 -8.32799050e-02 1.16539818e+01] [ 1.65103192e-01 -6.56075526e-03 9.86254477e-01 5.66928680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877552017999996 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:47.27, Y:11.67, Z:5.68 [[ 8.31359936e-01 -5.34971974e-01 -1.50484699e-01 4.72742335e+01] [ 5.30223785e-01 8.44663629e-01 -7.35261250e-02 1.16661363e+01] [ 1.66443368e-01 -1.86638920e-02 9.85874365e-01 5.67515772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907552018 meters Centerline goodness : 0.987168 Centerline is valid? [True, True] Translation: X:47.29, Y:11.69, Z:5.68 [[ 8.32976741e-01 -5.35040929e-01 -1.40999834e-01 4.72945970e+01] [ 5.28071518e-01 8.44821753e-01 -8.61201326e-02 1.16883005e+01] [ 1.65197523e-01 -2.72192892e-03 9.86256746e-01 5.68089787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.937552018 meters Centerline goodness : 0.986352 Centerline is valid? [True, True] Translation: X:47.32, Y:11.70, Z:5.69 [[ 8.35249131e-01 -5.30572752e-01 -1.44400293e-01 4.73195702e+01] [ 5.24957198e-01 8.47569807e-01 -7.77519342e-02 1.17024975e+01] [ 1.63642386e-01 -1.08617380e-02 9.86459929e-01 5.68591857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.967552018 meters Centerline goodness : 0.986038 Centerline is valid? [True, True] Translation: X:47.34, Y:11.72, Z:5.69 [[ 8.36110873e-01 -5.30065919e-01 -1.41239971e-01 4.73412377e+01] [ 5.23791218e-01 8.47936495e-01 -8.15258215e-02 1.17190305e+01] [ 1.62976586e-01 -5.81563080e-03 9.86612797e-01 5.69090808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99755201799999 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:47.36, Y:11.74, Z:5.69 [[ 8.36163078e-01 -5.31690447e-01 -1.34672106e-01 4.73597981e+01] [ 5.24042171e-01 8.46925924e-01 -8.99793459e-02 1.17388699e+01] [ 1.61898456e-01 4.66354400e-03 9.86796403e-01 5.69450843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.027552017999994 meters Centerline goodness : 0.987893 Centerline is valid? [True, True] Translation: X:47.38, Y:11.75, Z:5.70 [[ 8.36372985e-01 -5.29941153e-01 -1.40152076e-01 4.73845086e+01] [ 5.23558622e-01 8.48021485e-01 -8.21336108e-02 1.17518660e+01] [ 1.62377952e-01 -4.68349461e-03 9.86717521e-01 5.69700531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.057552017999996 meters Centerline goodness : 0.986595 Centerline is valid? [True, True] Translation: X:47.41, Y:11.76, Z:5.70 [[ 8.36152059e-01 -5.28146476e-01 -1.48023765e-01 4.74127218e+01] [ 5.23444609e-01 8.48983217e-01 -7.23411283e-02 1.17617793e+01] [ 1.63876404e-01 -1.69940583e-02 9.86334490e-01 5.70267836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.087552018 meters Centerline goodness : 0.986029 Centerline is valid? [True, True] Translation: X:47.43, Y:11.78, Z:5.71 [[ 8.35977396e-01 -5.29976031e-01 -1.42362913e-01 4.74337713e+01] [ 5.23477612e-01 8.47996566e-01 -8.29036358e-02 1.17800033e+01] [ 1.64660201e-01 -5.21823223e-03 9.86336549e-01 5.70953434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.117552018 meters Centerline goodness : 0.986029 Centerline is valid? [True, True] Translation: X:47.46, Y:11.79, Z:5.71 [[ 8.35758868e-01 -5.30211280e-01 -1.42769443e-01 4.74580222e+01] [ 5.23905216e-01 8.47841061e-01 -8.17854534e-02 1.17939547e+01] [ 1.64409366e-01 -6.44473792e-03 9.86371140e-01 5.71388000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.147552018 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:47.48, Y:11.81, Z:5.72 [[ 8.34771077e-01 -5.31817268e-01 -1.42575043e-01 4.74812468e+01] [ 5.25891779e-01 8.46816358e-01 -7.96234354e-02 1.18076543e+01] [ 1.63079996e-01 -8.51170190e-03 9.86576133e-01 5.71822652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17755201799999 meters Centerline goodness : 0.986990 Centerline is valid? [True, True] Translation: X:47.51, Y:11.82, Z:5.72 [[ 8.34361879e-01 -5.33499813e-01 -1.38629742e-01 4.75056291e+01] [ 5.26913082e-01 8.45793895e-01 -8.36378630e-02 1.18221239e+01] [ 1.61872974e-01 -3.26158026e-03 9.86806213e-01 5.72252268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.207552017999994 meters Centerline goodness : 0.986936 Centerline is valid? [True, True] Translation: X:47.53, Y:11.83, Z:5.73 [[ 8.33598255e-01 -5.33845564e-01 -1.41855082e-01 4.75304621e+01] [ 5.27924428e-01 8.45540063e-01 -7.97358110e-02 1.18342197e+01] [ 1.62510764e-01 -8.42112993e-03 9.86670835e-01 5.72737158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.237552017999995 meters Centerline goodness : 0.988365 Centerline is valid? [True, True] Translation: X:47.55, Y:11.86, Z:5.73 [[ 8.32504102e-01 -5.38242985e-01 -1.31268461e-01 4.75475259e+01] [ 5.30427926e-01 8.42763441e-01 -9.16296746e-02 1.18550228e+01] [ 1.59947290e-01 6.65362241e-03 9.87103132e-01 5.72961939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267552017999996 meters Centerline goodness : 0.987385 Centerline is valid? [True, True] Translation: X:47.57, Y:11.86, Z:5.73 [[ 8.31991962e-01 -5.37641958e-01 -1.36859415e-01 4.75730838e+01] [ 5.31534540e-01 8.43156173e-01 -8.09858076e-02 1.18647447e+01] [ 1.58935229e-01 -5.36596541e-03 9.87274430e-01 5.73249648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297552018 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:47.60, Y:11.88, Z:5.74 [[ 8.31555430e-01 -5.38110188e-01 -1.37669868e-01 4.75957643e+01] [ 5.31932090e-01 8.42856771e-01 -8.14905851e-02 1.18781394e+01] [ 1.59886895e-01 -5.46708218e-03 9.87120201e-01 5.73717162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327552018 meters Centerline goodness : 0.987727 Centerline is valid? [True, True] Translation: X:47.62, Y:11.89, Z:5.74 [[ 8.30870419e-01 -5.38896571e-01 -1.38725747e-01 4.76201686e+01] [ 5.32623942e-01 8.42353247e-01 -8.21750791e-02 1.18919154e+01] [ 1.61139952e-01 -5.61181202e-03 9.86915611e-01 5.74126049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.357552018 meters Centerline goodness : 0.987120 Centerline is valid? [True, True] Translation: X:47.64, Y:11.90, Z:5.74 [[ 8.29039524e-01 -5.41175828e-01 -1.40791301e-01 4.76448949e+01] [ 5.34736267e-01 8.40887375e-01 -8.34598508e-02 1.19035054e+01] [ 1.63556081e-01 -6.09469963e-03 9.86515212e-01 5.74406712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:47.67, Y:11.92, Z:5.75 [[ 8.28026493e-01 -5.42462078e-01 -1.41799228e-01 4.76694374e+01] [ 5.35943705e-01 8.40056117e-01 -8.40836746e-02 1.19167863e+01] [ 1.64731514e-01 -6.37289340e-03 9.86317857e-01 5.74847646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417552017999995 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:47.69, Y:11.93, Z:5.75 [[ 8.26946308e-01 -5.43897747e-01 -1.42601000e-01 4.76929683e+01] [ 5.37316033e-01 8.39125181e-01 -8.46192183e-02 1.19301490e+01] [ 1.65684292e-01 -6.64625352e-03 9.86156449e-01 5.75367038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447552017999996 meters Centerline goodness : 0.987641 Centerline is valid? [True, True] Translation: X:47.72, Y:11.94, Z:5.76 [[ 8.25810808e-01 -5.45507799e-01 -1.43030590e-01 4.77163213e+01] [ 5.38900008e-01 8.38077010e-01 -8.49335379e-02 1.19429804e+01] [ 1.66202556e-01 -6.94015234e-03 9.86067211e-01 5.75985562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477552018 meters Centerline goodness : 0.987919 Centerline is valid? [True, True] Translation: X:47.74, Y:11.96, Z:5.76 [[ 8.24643351e-01 -5.47454499e-01 -1.42326790e-01 4.77394343e+01] [ 5.40936285e-01 8.36803844e-01 -8.45414855e-02 1.19579886e+01] [ 1.65382222e-01 -7.27315128e-03 9.86202729e-01 5.76469489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507552018 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:47.76, Y:11.97, Z:5.77 [[ 8.23856680e-01 -5.48694148e-01 -1.42108772e-01 4.77627994e+01] [ 5.42204491e-01 8.35989874e-01 -8.44702265e-02 1.19718464e+01] [ 1.65149814e-01 -7.46065437e-03 9.86240274e-01 5.76989049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.537552018 meters Centerline goodness : 0.987913 Centerline is valid? [True, True] Translation: X:47.79, Y:11.98, Z:5.78 [[ 8.22468158e-01 -5.48358929e-01 -1.51157579e-01 4.77940406e+01] [ 5.43800266e-01 8.35965993e-01 -7.37707882e-02 1.19790702e+01] [ 1.66815466e-01 -2.15254072e-02 9.85753142e-01 5.77714769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters Centerline goodness : 0.987514 Centerline is valid? [True, True] Translation: X:47.81, Y:12.00, Z:5.78 [[ 8.20180815e-01 -5.55746088e-01 -1.35829729e-01 4.78076076e+01] [ 5.47587346e-01 8.31344753e-01 -9.49420906e-02 1.20027920e+01] [ 1.65685028e-01 3.49104060e-03 9.86172543e-01 5.78084835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.597552017999995 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:47.83, Y:12.01, Z:5.78 [[ 8.18679153e-01 -5.56329723e-01 -1.42343543e-01 4.78339017e+01] [ 5.49904806e-01 8.30914244e-01 -8.47715970e-02 1.20117510e+01] [ 1.65436236e-01 -8.87465907e-03 9.86180558e-01 5.78370791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627552017999996 meters Centerline goodness : 0.985640 Centerline is valid? [True, True] Translation: X:47.86, Y:12.02, Z:5.79 [[ 8.16632377e-01 -5.57175408e-01 -1.50556056e-01 4.78644033e+01] [ 5.52532048e-01 8.30106002e-01 -7.50490605e-02 1.20199389e+01] [ 1.66792977e-01 -2.18995533e-02 9.85748707e-01 5.79060680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657552018 meters Centerline goodness : 0.986404 Centerline is valid? [True, True] Translation: X:47.88, Y:12.04, Z:5.80 [[ 8.14176111e-01 -5.62082904e-01 -1.45533742e-01 4.78843938e+01] [ 5.55729289e-01 8.26999340e-01 -8.50708471e-02 1.20392593e+01] [ 1.68173177e-01 -1.16147117e-02 9.85689039e-01 5.79746842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.687552018 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:47.90, Y:12.06, Z:5.80 [[ 8.11839674e-01 -5.67477114e-01 -1.37426595e-01 4.79016264e+01] [ 5.59570918e-01 8.23389127e-01 -9.43966777e-02 1.20594203e+01] [ 1.66723518e-01 -2.64957962e-04 9.86003650e-01 5.79954731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.717552018 meters Centerline goodness : 0.987014 Centerline is valid? [True, True] Translation: X:47.93, Y:12.07, Z:5.80 [[ 8.10310177e-01 -5.68348784e-01 -1.42748298e-01 4.79271386e+01] [ 5.62039677e-01 8.22711497e-01 -8.51891678e-02 1.20704883e+01] [ 1.65857826e-01 -1.12005575e-02 9.86086066e-01 5.80276446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:47.95, Y:12.09, Z:5.81 [[ 8.08002012e-01 -5.71779739e-01 -1.42129092e-01 4.79492874e+01] [ 5.65567441e-01 8.20322314e-01 -8.48809205e-02 1.20876359e+01] [ 1.65124856e-01 -1.17996321e-02 9.86202084e-01 5.80860314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.777552017999994 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:47.98, Y:12.10, Z:5.81 [[ 8.07975100e-01 -5.70779742e-01 -1.46242007e-01 4.79778530e+01] [ 5.65490376e-01 8.20898535e-01 -7.96632299e-02 1.20998454e+01] [ 1.65520007e-01 -1.83325415e-02 9.86036026e-01 5.81456282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807552017999996 meters Centerline goodness : 0.986673 Centerline is valid? [True, True] Translation: X:48.00, Y:12.12, Z:5.82 [[ 8.06592791e-01 -5.72954113e-01 -1.45367306e-01 4.79998686e+01] [ 5.67316417e-01 8.19422325e-01 -8.18482477e-02 1.21159653e+01] [ 1.66012506e-01 -1.64510524e-02 9.85986415e-01 5.81934848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837552018 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:48.02, Y:12.14, Z:5.82 [[ 8.04484841e-01 -5.77341705e-01 -1.39573266e-01 4.80159686e+01] [ 5.69961576e-01 8.16484797e-01 -9.21758005e-02 1.21379695e+01] [ 1.67176384e-01 -5.39736451e-03 9.85912230e-01 5.82162707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.867552018 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:48.04, Y:12.15, Z:5.83 [[ 8.04244095e-01 -5.76629587e-01 -1.43839336e-01 4.80390831e+01] [ 5.70286317e-01 8.16907329e-01 -8.62318518e-02 1.21517127e+01] [ 1.67227245e-01 -1.26781478e-02 9.85836859e-01 5.82509564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.897552018 meters Centerline goodness : 0.987032 Centerline is valid? [True, True] Translation: X:48.06, Y:12.17, Z:5.83 [[ 8.03995861e-01 -5.76979788e-01 -1.43822735e-01 4.80608335e+01] [ 5.70638691e-01 8.16659277e-01 -8.62502771e-02 1.21686144e+01] [ 1.67218837e-01 -1.27259512e-02 9.85837670e-01 5.82977938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters Centerline goodness : 0.986808 Centerline is valid? [True, True] Translation: X:48.08, Y:12.19, Z:5.83 [[ 8.04514362e-01 -5.76288961e-01 -1.43692987e-01 4.80821248e+01] [ 5.69938023e-01 8.17150108e-01 -8.62342819e-02 1.21874660e+01] [ 1.67114605e-01 -1.25193786e-02 9.85857989e-01 5.83449004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.957552017999994 meters Centerline goodness : 0.986713 Centerline is valid? [True, True] Translation: X:48.10, Y:12.20, Z:5.84 [[ 8.04808979e-01 -5.75786448e-01 -1.44057191e-01 4.81030157e+01] [ 5.69384563e-01 8.17506156e-01 -8.65153393e-02 1.22032962e+01] [ 1.67582001e-01 -1.23956191e-02 9.85780210e-01 5.83931242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987552017999995 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:48.12, Y:12.22, Z:5.84 [[ 8.05092745e-01 -5.75373195e-01 -1.44122720e-01 4.81248961e+01] [ 5.68954091e-01 8.17798630e-01 -8.65831594e-02 1.22203151e+01] [ 1.67680992e-01 -1.22917376e-02 9.85764677e-01 5.84418434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017552017999996 meters Centerline goodness : 0.987278 Centerline is valid? [True, True] Translation: X:48.15, Y:12.24, Z:5.85 [[ 8.06433611e-01 -5.72920256e-01 -1.46380363e-01 4.81519058e+01] [ 5.66988818e-01 8.19464251e-01 -8.36780834e-02 1.22376665e+01] [ 1.67894344e-01 -1.55152100e-02 9.85682894e-01 5.84977175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047552018 meters Centerline goodness : 0.986723 Centerline is valid? [True, True] Translation: X:48.17, Y:12.25, Z:5.85 [[ 8.05595796e-01 -5.74049438e-01 -1.46569630e-01 4.81728438e+01] [ 5.67973965e-01 8.18682194e-01 -8.46465604e-02 1.22542185e+01] [ 1.68585257e-01 -1.50568205e-02 9.85572069e-01 5.85447632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.077552018 meters Centerline goodness : 0.986130 Centerline is valid? [True, True] Translation: X:48.19, Y:12.27, Z:5.86 [[ 8.04500940e-01 -5.75433053e-01 -1.47156511e-01 4.81947099e+01] [ 5.69229288e-01 8.17712829e-01 -8.55788955e-02 1.22703936e+01] [ 1.69576692e-01 -1.49174939e-02 9.85404087e-01 5.85923708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.107552018 meters Centerline goodness : 0.986299 Centerline is valid? [True, True] Translation: X:48.22, Y:12.29, Z:5.86 [[ 8.03401960e-01 -5.77380041e-01 -1.45525181e-01 4.82161282e+01] [ 5.70899030e-01 8.16372163e-01 -8.72398365e-02 1.22877024e+01] [ 1.69173247e-01 -1.29915292e-02 9.85500701e-01 5.86317983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.137552017999994 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:48.24, Y:12.31, Z:5.87 [[ 8.03454038e-01 -5.77396480e-01 -1.45172013e-01 4.82393402e+01] [ 5.71114707e-01 8.16347716e-01 -8.60488143e-02 1.23054817e+01] [ 1.68195124e-01 -1.37736043e-02 9.85657490e-01 5.86800550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167552017999995 meters Centerline goodness : 0.988011 Centerline is valid? [True, True] Translation: X:48.25, Y:12.32, Z:5.87 [[ 8.00406182e-01 -5.81579415e-01 -1.45311142e-01 4.82519538e+01] [ 5.75315783e-01 8.13360658e-01 -8.63492330e-02 1.23245125e+01] [ 1.68409302e-01 -1.44853334e-02 9.85610715e-01 5.87202964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197552017999996 meters Centerline goodness : 0.987573 Centerline is valid? [True, True] Translation: X:48.28, Y:12.34, Z:5.88 [[ 8.02425501e-01 -5.78812771e-01 -1.45220838e-01 4.82809520e+01] [ 5.72779786e-01 8.15318910e-01 -8.47253841e-02 1.23398846e+01] [ 1.67441430e-01 -1.51937518e-02 9.85764940e-01 5.87781594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227552018 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:48.30, Y:12.37, Z:5.88 [[ 8.04661932e-01 -5.78619382e-01 -1.33111931e-01 4.83007940e+01] [ 5.70149527e-01 8.15590066e-01 -9.87034020e-02 1.23676198e+01] [ 1.65676470e-01 3.52916594e-03 9.86173845e-01 5.88147119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.257552018 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:48.32, Y:12.37, Z:5.88 [[ 8.02031970e-01 -5.76218309e-01 -1.57216982e-01 4.83191928e+01] [ 5.72928084e-01 8.16596669e-01 -7.01661615e-02 1.23739531e+01] [ 1.68813890e-01 -3.37985193e-02 9.85068287e-01 5.88285729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.287552018 meters Centerline goodness : 0.988105 Centerline is valid? [True, True] Translation: X:48.34, Y:12.41, Z:5.89 [[ 8.07306894e-01 -5.75268078e-01 -1.31613897e-01 4.83434770e+01] [ 5.66181179e-01 8.17926278e-01 -1.02154178e-01 1.24053258e+01] [ 1.66416503e-01 7.95246043e-03 9.86023481e-01 5.89124397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31755201799999 meters Centerline goodness : 0.987105 Centerline is valid? [True, True] Translation: X:48.37, Y:12.41, Z:5.89 [[ 8.08789734e-01 -5.69743135e-01 -1.45780404e-01 4.83717271e+01] [ 5.64187375e-01 8.21654055e-01 -8.11000636e-02 1.24142708e+01] [ 1.65987264e-01 -1.66545645e-02 9.85987248e-01 5.89144405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.347552017999995 meters Centerline goodness : 0.987837 Centerline is valid? [True, True] Translation: X:48.39, Y:12.44, Z:5.90 [[ 8.13326829e-01 -5.64001147e-01 -1.42836181e-01 4.83916647e+01] [ 5.57901229e-01 8.25690656e-01 -8.35533358e-02 1.24372736e+01] [ 1.65062677e-01 -1.17323113e-02 9.86213296e-01 5.89837424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.377552017999996 meters Centerline goodness : 0.987541 Centerline is valid? [True, True] Translation: X:48.41, Y:12.46, Z:5.90 [[ 8.15815553e-01 -5.60971172e-01 -1.40557205e-01 4.84124073e+01] [ 5.54723797e-01 8.27781657e-01 -8.40180720e-02 1.24564444e+01] [ 1.63482392e-01 -9.42717661e-03 9.86501209e-01 5.90274095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.407552018 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:48.43, Y:12.48, Z:5.91 [[ 8.19409835e-01 -5.54401820e-01 -1.45623293e-01 4.84321552e+01] [ 5.49296232e-01 8.32076834e-01 -7.69531837e-02 1.24765453e+01] [ 1.63832754e-01 -1.69341306e-02 9.86342772e-01 5.90795394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.437552018 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:48.44, Y:12.49, Z:5.91 [[ 8.16525650e-01 -5.55247157e-01 -1.58071055e-01 4.84417976e+01] [ 5.51899738e-01 8.31094946e-01 -6.84680267e-02 1.24910340e+01] [ 1.69388732e-01 -3.13334740e-02 9.85051101e-01 5.91440416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.467552018 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:48.46, Y:12.52, Z:5.92 [[ 8.18262760e-01 -5.56153205e-01 -1.45394867e-01 4.84579754e+01] [ 5.49005290e-01 8.31051323e-01 -8.91453249e-02 1.25157641e+01] [ 1.70409054e-01 -6.87825136e-03 9.85349402e-01 5.92450074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49755201799999 meters Centerline goodness : 0.988739 Centerline is valid? [True, True] Translation: X:48.49, Y:12.54, Z:5.93 [[ 8.24430650e-01 -5.51321342e-01 -1.27901842e-01 4.84907904e+01] [ 5.41328194e-01 8.34094234e-01 -1.06068826e-01 1.25383289e+01] [ 1.65160196e-01 1.82095185e-02 9.86098638e-01 5.92831774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.527552017999994 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:48.52, Y:12.54, Z:5.93 [[ 8.24932893e-01 -5.42233971e-01 -1.59587100e-01 4.85196017e+01] [ 5.39206879e-01 8.39618750e-01 -6.55461407e-02 1.25386436e+01] [ 1.69533666e-01 -3.19792945e-02 9.85005412e-01 5.92560558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557552017999996 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:48.53, Y:12.57, Z:5.94 [[ 8.22607523e-01 -5.48614375e-01 -1.49462809e-01 4.85253273e+01] [ 5.41828304e-01 8.36018475e-01 -8.65748094e-02 1.25658381e+01] [ 1.72449855e-01 -9.76609093e-03 9.84969883e-01 5.93749744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.587552018 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:48.55, Y:12.58, Z:5.94 [[ 8.24148357e-01 -5.47148388e-01 -1.46315162e-01 4.85458520e+01] [ 5.39712189e-01 8.37022022e-01 -9.00271471e-02 1.25836914e+01] [ 1.71727221e-01 -4.77235076e-03 9.85132979e-01 5.94347502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.617552018 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:48.58, Y:12.60, Z:5.95 [[ 8.28371320e-01 -5.41169183e-01 -1.44695786e-01 4.85775673e+01] [ 5.33762047e-01 8.40907391e-01 -8.92907454e-02 1.25984482e+01] [ 1.69997156e-01 -3.26722623e-03 9.85439137e-01 5.94911919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.647552018 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:48.60, Y:12.61, Z:5.95 [[ 8.31195637e-01 -5.35681075e-01 -1.48861007e-01 4.86008639e+01] [ 5.29086963e-01 8.44375205e-01 -8.42466592e-02 1.26115250e+01] [ 1.70823884e-01 -8.73496263e-03 9.85262859e-01 5.95216724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67755201799999 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:48.61, Y:12.63, Z:5.96 [[ 8.29353763e-01 -5.38951209e-01 -1.47322536e-01 4.86126827e+01] [ 5.31582507e-01 8.42324660e-01 -8.89337170e-02 1.26300167e+01] [ 1.72024339e-01 -4.55657002e-03 9.85082161e-01 5.95669856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.707552017999994 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:48.63, Y:12.64, Z:5.96 [[ 8.30363572e-01 -5.37552963e-01 -1.46741785e-01 4.86343384e+01] [ 5.29875541e-01 8.43226118e-01 -9.05628253e-02 1.26446252e+01] [ 1.72418821e-01 -2.55481166e-03 9.85020418e-01 5.96189208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.737552017999995 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:48.66, Y:12.66, Z:5.97 [[ 8.32926169e-01 -5.33713268e-01 -1.46233185e-01 4.86576954e+01] [ 5.26025412e-01 8.45663741e-01 -9.02779244e-02 1.26593770e+01] [ 1.71846629e-01 -1.72752585e-03 9.85122201e-01 5.96714975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767552017999996 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:48.68, Y:12.67, Z:5.97 [[ 8.34235737e-01 -5.31892605e-01 -1.45399420e-01 4.86812431e+01] [ 5.24254287e-01 8.46810837e-01 -8.98267699e-02 1.26739810e+01] [ 1.70903999e-01 -1.28956779e-03 9.85286841e-01 5.97222354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797552018 meters Centerline goodness : 0.990087 Centerline is valid? [True, True] Translation: X:48.70, Y:12.69, Z:5.98 [[ 8.35763864e-01 -5.29758348e-01 -1.44412102e-01 4.87040798e+01] [ 5.22181681e-01 8.48148256e-01 -8.92794978e-02 1.26871203e+01] [ 1.69779432e-01 -7.92776235e-04 9.85481768e-01 5.97718484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827552018 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:48.73, Y:12.70, Z:5.98 [[ 8.38174586e-01 -5.26380037e-01 -1.42784522e-01 4.87284997e+01] [ 5.18920948e-01 8.50249405e-01 -8.83006215e-02 1.26981142e+01] [ 1.67882139e-01 -8.25424791e-05 9.85807071e-01 5.98073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.857552018 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:48.75, Y:12.71, Z:5.98 [[ 8.38600660e-01 -5.25554476e-01 -1.43322804e-01 4.87531130e+01] [ 5.18019343e-01 8.50759941e-01 -8.86762766e-02 1.27106749e+01] [ 1.68537514e-01 1.19999405e-04 9.85695233e-01 5.98439930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.887552017999994 meters Centerline goodness : 0.989160 Centerline is valid? [True, True] Translation: X:48.78, Y:12.72, Z:5.99 [[ 8.38941959e-01 -5.24877793e-01 -1.43804348e-01 4.87773775e+01] [ 5.17270929e-01 8.51177540e-01 -8.90369656e-02 1.27225778e+01] [ 1.69136557e-01 3.11037688e-04 9.85592577e-01 5.98842464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.917552017999995 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:48.80, Y:12.73, Z:5.99 [[ 8.38343215e-01 -5.25777098e-01 -1.44010756e-01 4.88033266e+01] [ 5.18156504e-01 8.50622372e-01 -8.91931461e-02 1.27331015e+01] [ 1.69394484e-01 1.54359097e-04 9.85548317e-01 5.99285009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947552017999996 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:48.83, Y:12.75, Z:6.00 [[ 8.37658934e-01 -5.26933921e-01 -1.43764228e-01 4.88286032e+01] [ 5.19345722e-01 8.49906255e-01 -8.91031913e-02 1.27450429e+01] [ 1.69137610e-01 -2.52525581e-05 9.85592445e-01 5.99716267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.977552018 meters Centerline goodness : 0.987381 Centerline is valid? [True, True] Translation: X:48.86, Y:12.76, Z:6.00 [[ 8.40775871e-01 -5.26102213e-01 -1.27719991e-01 4.88626515e+01] [ 5.15995765e-01 8.50125861e-01 -1.05044706e-01 1.27616954e+01] [ 1.63842319e-01 2.24160799e-02 9.86231826e-01 6.00114937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007552018 meters Centerline goodness : 0.987381 Centerline is valid? [True, True] Translation: X:48.89, Y:12.77, Z:6.00 [[ 8.40413660e-01 -5.22944702e-01 -1.42245277e-01 4.88940686e+01] [ 5.16441024e-01 8.52355910e-01 -8.23290407e-02 1.27679895e+01] [ 1.64297139e-01 -4.27084632e-03 9.86401647e-01 5.99967029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.037552018 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:48.91, Y:12.77, Z:6.00 [[ 8.32756929e-01 -5.30401730e-01 -1.58713269e-01 4.89146400e+01] [ 5.26461702e-01 8.47356458e-01 -6.94630065e-02 1.27707095e+01] [ 1.71330012e-01 -2.57106579e-02 9.84878159e-01 6.00474971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:48.93, Y:12.79, Z:6.02 [[ 8.31328944e-01 -5.36295611e-01 -1.45873929e-01 4.89330852e+01] [ 5.28519842e-01 8.44028990e-01 -9.10046186e-02 1.27896119e+01] [ 1.71927203e-01 -1.44249244e-03 9.85108601e-01 6.01526133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.097552017999995 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:48.96, Y:12.80, Z:6.02 [[ 8.29781034e-01 -5.38862180e-01 -1.45227363e-01 4.89583463e+01] [ 5.31189556e-01 8.42391707e-01 -9.06303875e-02 1.28008098e+01] [ 1.71175614e-01 -1.93988176e-03 9.85238624e-01 6.01987700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127552017999996 meters Centerline goodness : 0.986910 Centerline is valid? [True, True] Translation: X:48.99, Y:12.82, Z:6.02 [[ 8.32703395e-01 -5.39903141e-01 -1.22921335e-01 4.89907407e+01] [ 5.29070215e-01 8.41279713e-01 -1.11054725e-01 1.28206991e+01] [ 1.63370020e-01 2.74416298e-02 9.86183144e-01 6.02393203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157552018 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:49.02, Y:12.81, Z:6.02 [[ 8.25992923e-01 -5.40189578e-01 -1.61030776e-01 4.90206670e+01] [ 5.38090822e-01 8.40733383e-01 -6.02133384e-02 1.28068841e+01] [ 1.67910567e-01 -3.69133910e-02 9.85110879e-01 6.02310432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187552018 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:49.04, Y:12.83, Z:6.03 [[ 8.24894814e-01 -5.47018725e-01 -1.42544944e-01 4.90365121e+01] [ 5.39714008e-01 8.37113527e-01 -8.91612679e-02 1.28294891e+01] [ 1.68099184e-01 -3.38483542e-03 9.85764276e-01 6.03475017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.217552018 meters Centerline goodness : 0.987914 Centerline is valid? [True, True] Translation: X:49.06, Y:12.84, Z:6.04 [[ 8.23987031e-01 -5.48412670e-01 -1.42439169e-01 4.90614745e+01] [ 5.41132283e-01 8.36199955e-01 -8.91374645e-02 1.28407289e+01] [ 1.67991741e-01 -3.63031797e-03 9.85781718e-01 6.03882710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:49.09, Y:12.85, Z:6.04 [[ 8.21550447e-01 -5.51901358e-01 -1.43037597e-01 4.90887523e+01] [ 5.44606876e-01 8.33898118e-01 -8.95392636e-02 1.28495344e+01] [ 1.68695624e-01 -4.33823685e-03 9.85658646e-01 6.04230684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.277552017999994 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:49.12, Y:12.87, Z:6.04 [[ 8.23876847e-01 -5.53372810e-01 -1.22496836e-01 4.91185731e+01] [ 5.42905004e-01 8.32589925e-01 -1.09764170e-01 1.28697138e+01] [ 1.62730139e-01 2.39280130e-02 9.86380430e-01 6.04396537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307552017999996 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:49.15, Y:12.86, Z:6.05 [[ 8.18297984e-01 -5.51729209e-01 -1.61193327e-01 4.91491105e+01] [ 5.49186588e-01 8.33241275e-01 -6.40552017e-02 1.28624103e+01] [ 1.69654059e-01 -3.61089710e-02 9.84841938e-01 6.04559758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337552018 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:49.17, Y:12.89, Z:6.05 [[ 8.18109019e-01 -5.61226677e-01 -1.25388394e-01 4.91730892e+01] [ 5.50943660e-01 8.27422597e-01 -1.08779267e-01 1.28897737e+01] [ 1.64799017e-01 1.99113586e-02 9.86126169e-01 6.05421069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367552018 meters Centerline goodness : 0.986664 Centerline is valid? [True, True] Translation: X:49.21, Y:12.89, Z:6.06 [[ 8.16210370e-01 -5.57610336e-01 -1.51232755e-01 4.92101150e+01] [ 5.53194141e-01 8.29773222e-01 -7.38420087e-02 1.28865745e+01] [ 1.66663957e-01 -2.33904606e-02 9.85736279e-01 6.05624537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.397552018 meters Centerline goodness : 0.987536 Centerline is valid? [True, True] Translation: X:49.22, Y:12.90, Z:6.07 [[ 8.11071764e-01 -5.65263191e-01 -1.50466336e-01 4.92218770e+01] [ 5.59878543e-01 8.24686759e-01 -8.01733521e-02 1.29027750e+01] [ 1.69406640e-01 -1.92165311e-02 9.85358876e-01 6.06558415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters Centerline goodness : 0.985873 Centerline is valid? [True, True] Translation: X:49.25, Y:12.93, Z:6.07 [[ 8.13119815e-01 -5.68352475e-01 -1.25744307e-01 4.92480702e+01] [ 5.58303886e-01 8.22599646e-01 -1.07826681e-01 1.29279056e+01] [ 1.64720783e-01 1.74724762e-02 9.86185467e-01 6.07101937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.457552017999994 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:49.28, Y:12.92, Z:6.07 [[ 8.08205448e-01 -5.67300796e-01 -1.58030884e-01 4.92762198e+01] [ 5.64364742e-01 8.22775979e-01 -6.73210764e-02 1.29228110e+01] [ 1.68215316e-01 -3.47777984e-02 9.85136596e-01 6.07340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487552017999995 meters Centerline goodness : 0.986981 Centerline is valid? [True, True] Translation: X:49.30, Y:12.95, Z:6.08 [[ 8.11454033e-01 -5.71129942e-01 -1.23906989e-01 4.92991564e+01] [ 5.60838707e-01 8.20627791e-01 -1.09681237e-01 1.29533034e+01] [ 1.64323757e-01 1.95094465e-02 9.86213508e-01 6.07929743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517552017999996 meters Centerline goodness : 0.987534 Centerline is valid? [True, True] Translation: X:49.33, Y:12.95, Z:6.08 [[ 8.07483857e-01 -5.67481286e-01 -1.61042885e-01 4.93259116e+01] [ 5.65004661e-01 8.22497741e-01 -6.53238030e-02 1.29469052e+01] [ 1.69527445e-01 -3.82420642e-02 9.84783220e-01 6.08134315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547552018 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:49.34, Y:12.97, Z:6.09 [[ 8.07077268e-01 -5.72441923e-01 -1.44694603e-01 4.93418322e+01] [ 5.65106684e-01 8.19908383e-01 -9.16770373e-02 1.29711332e+01] [ 1.71116098e-01 -7.77743463e-03 9.85220175e-01 6.09037843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.577552018 meters Centerline goodness : 0.987405 Centerline is valid? [True, True] Translation: X:49.37, Y:12.98, Z:6.09 [[ 8.08102691e-01 -5.70777762e-01 -1.45543076e-01 4.93657026e+01] [ 5.63317657e-01 8.21071100e-01 -9.22792802e-02 1.29841399e+01] [ 1.72172174e-01 -7.41584974e-03 9.85038957e-01 6.09498052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.607552018 meters Centerline goodness : 0.987122 Centerline is valid? [True, True] Translation: X:49.39, Y:13.00, Z:6.10 [[ 8.09241370e-01 -5.69094286e-01 -1.45808432e-01 4.93896605e+01] [ 5.61568456e-01 8.22242333e-01 -9.25117028e-02 1.29984528e+01] [ 1.72537747e-01 -7.01711901e-03 9.84977911e-01 6.09970289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.637552017999994 meters Centerline goodness : 0.987033 Centerline is valid? [True, True] Translation: X:49.42, Y:13.01, Z:6.10 [[ 8.13280901e-01 -5.64967117e-01 -1.39234812e-01 4.94191510e+01] [ 5.56516606e-01 8.25111672e-01 -9.73652713e-02 1.30148678e+01] [ 1.69892445e-01 1.69883068e-03 9.85461146e-01 6.10360119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667552017999995 meters Centerline goodness : 0.987003 Centerline is valid? [True, True] Translation: X:49.44, Y:13.04, Z:6.11 [[ 8.18217469e-01 -5.60875370e-01 -1.26249725e-01 4.94421281e+01] [ 5.51013192e-01 8.27720020e-01 -1.06132135e-01 1.30369303e+01] [ 1.64026326e-01 1.72739031e-02 9.86304708e-01 6.10506920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697552017999996 meters Centerline goodness : 0.987216 Centerline is valid? [True, True] Translation: X:49.47, Y:13.03, Z:6.11 [[ 8.18367890e-01 -5.52487173e-01 -1.58214793e-01 4.94745606e+01] [ 5.49374846e-01 8.32898426e-01 -6.68392868e-02 1.30348757e+01] [ 1.68704701e-01 -3.22201016e-02 9.85139883e-01 6.10989134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727552018 meters Centerline goodness : 0.987378 Centerline is valid? [True, True] Translation: X:49.49, Y:13.06, Z:6.12 [[ 8.18418625e-01 -5.54879929e-01 -1.49329228e-01 4.94871667e+01] [ 5.48410213e-01 8.31843190e-01 -8.53413468e-02 1.30565520e+01] [ 1.71572702e-01 -1.20487259e-02 9.85097780e-01 6.11943187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.757552018 meters Centerline goodness : 0.987888 Centerline is valid? [True, True] Translation: X:49.51, Y:13.07, Z:6.13 [[ 8.19568559e-01 -5.54310566e-01 -1.45076439e-01 4.95088241e+01] [ 5.46592168e-01 8.32301740e-01 -9.22540753e-02 1.30739317e+01] [ 1.71884781e-01 -3.68910573e-03 9.85110152e-01 6.12546710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.787552018 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:49.53, Y:13.09, Z:6.13 [[ 8.21600012e-01 -5.51668116e-01 -1.43651350e-01 4.95324787e+01] [ 5.44049143e-01 8.34058169e-01 -9.14193723e-02 1.30879421e+01] [ 1.70246734e-01 -3.04323619e-03 9.85396767e-01 6.13009875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81755201799999 meters Centerline goodness : 0.987348 Centerline is valid? [True, True] Translation: X:49.56, Y:13.10, Z:6.14 [[ 8.22392135e-01 -5.50651247e-01 -1.43018814e-01 4.95551311e+01] [ 5.43071860e-01 8.34730854e-01 -9.10898252e-02 1.31021513e+01] [ 1.69540943e-01 -2.75793781e-03 9.85519286e-01 6.13518035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.847552017999995 meters Centerline goodness : 0.987012 Centerline is valid? [True, True] Translation: X:49.58, Y:13.12, Z:6.14 [[ 8.23426833e-01 -5.49291639e-01 -1.42291765e-01 4.95783578e+01] [ 5.41764180e-01 8.35627159e-01 -9.06577324e-02 1.31166910e+01] [ 1.68700397e-01 -2.43857173e-03 9.85664359e-01 6.13915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877552017999996 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:49.60, Y:13.13, Z:6.14 [[ 8.24330860e-01 -5.48255804e-01 -1.41046827e-01 4.96049281e+01] [ 5.40591036e-01 8.36310166e-01 -9.13599342e-02 1.31317545e+01] [ 1.68047509e-01 -9.37837261e-04 9.85778451e-01 6.14343105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907552018 meters Centerline goodness : 0.986545 Centerline is valid? [True, True] Translation: X:49.63, Y:13.14, Z:6.15 [[ 8.24757224e-01 -5.46793163e-01 -1.44196944e-01 4.96291174e+01] [ 5.39718052e-01 8.37250450e-01 -8.78413830e-02 1.31440182e+01] [ 1.68760024e-01 -5.37787845e-03 9.85642497e-01 6.14832875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.937552018 meters Centerline goodness : 0.986268 Centerline is valid? [True, True] Translation: X:49.65, Y:13.16, Z:6.15 [[ 8.25598113e-01 -5.45464204e-01 -1.44417997e-01 4.96478277e+01] [ 5.37831159e-01 8.38130185e-01 -9.09694354e-02 1.31587856e+01] [ 1.70661653e-01 -2.56830417e-03 9.85326344e-01 6.15459635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.967552018 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:49.67, Y:13.17, Z:6.16 [[ 8.25753863e-01 -5.45556174e-01 -1.43174786e-01 4.96702341e+01] [ 5.37844134e-01 8.38072887e-01 -9.14194963e-02 1.31748874e+01] [ 1.69865377e-01 -1.51571659e-03 9.85466111e-01 6.15930122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99755201799999 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:49.69, Y:13.19, Z:6.16 [[ 8.26138780e-01 -5.44956435e-01 -1.43238264e-01 4.96937509e+01] [ 5.37216272e-01 8.38463302e-01 -9.15312411e-02 1.31896670e+01] [ 1.69980567e-01 -1.33241845e-03 9.85446514e-01 6.16404386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.027552017999994 meters Centerline goodness : 0.987079 Centerline is valid? [True, True] Translation: X:49.72, Y:13.20, Z:6.17 [[ 8.26564361e-01 -5.44364022e-01 -1.43035553e-01 4.97168361e+01] [ 5.36624771e-01 8.38848314e-01 -9.14732779e-02 1.32032663e+01] [ 1.69779894e-01 -1.14786960e-03 9.85481339e-01 6.16856684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057552017999996 meters Centerline goodness : 0.986793 Centerline is valid? [True, True] Translation: X:49.74, Y:13.21, Z:6.17 [[ 8.26996686e-01 -5.44105939e-01 -1.41510453e-01 4.97429448e+01] [ 5.36523198e-01 8.39015857e-01 -9.05276149e-02 1.32140354e+01] [ 1.67986127e-01 -1.05760304e-03 9.85788792e-01 6.17375585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087552018 meters Centerline goodness : 0.988400 Centerline is valid? [True, True] Translation: X:49.77, Y:13.23, Z:6.18 [[ 8.26921286e-01 -5.44484921e-01 -1.40489710e-01 4.97659241e+01] [ 5.37004916e-01 8.38769957e-01 -8.99482091e-02 1.32265590e+01] [ 1.66813991e-01 -1.06357602e-03 9.85987810e-01 6.17825087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.117552018 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:49.79, Y:13.24, Z:6.18 [[ 8.25986450e-01 -5.45772687e-01 -1.40991343e-01 4.97903282e+01] [ 5.38252093e-01 8.37932264e-01 -9.03006344e-02 1.32395464e+01] [ 1.67424816e-01 -1.30178530e-03 9.85883987e-01 6.18272082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147552018 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:49.81, Y:13.25, Z:6.19 [[ 8.24803377e-01 -5.47235871e-01 -1.42240257e-01 4.98146362e+01] [ 5.39589719e-01 8.36976997e-01 -9.11725905e-02 1.32530709e+01] [ 1.68944735e-01 -1.55191955e-03 9.85624304e-01 6.18672962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17755201799999 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:49.84, Y:13.27, Z:6.19 [[ 8.23823455e-01 -5.48477492e-01 -1.43134045e-01 4.98396267e+01] [ 5.40740365e-01 8.36163473e-01 -9.18177719e-02 1.32652672e+01] [ 1.70043441e-01 -1.75672158e-03 9.85435001e-01 6.19060514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.207552017999994 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:49.86, Y:13.28, Z:6.20 [[ 8.22923497e-01 -5.49671228e-01 -1.43730508e-01 4.98645174e+01] [ 5.41874495e-01 8.35378799e-01 -9.22729334e-02 1.32765767e+01] [ 1.70789196e-01 -1.95033172e-03 9.85305662e-01 6.19536618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237552017999995 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:49.89, Y:13.28, Z:6.20 [[ 8.22239065e-01 -5.50295193e-01 -1.45251922e-01 4.98915963e+01] [ 5.42328057e-01 8.34967687e-01 -9.33233114e-02 1.32849643e+01] [ 1.72636031e-01 -2.04012026e-03 9.84983573e-01 6.20153173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267552017999996 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:49.92, Y:13.30, Z:6.21 [[ 8.22169532e-01 -5.50561210e-01 -1.44636147e-01 4.99160024e+01] [ 5.42653490e-01 8.34792340e-01 -9.29996715e-02 1.32986794e+01] [ 1.71943159e-01 -2.02581348e-03 9.85104789e-01 6.20659640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297552018 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:49.94, Y:13.31, Z:6.21 [[ 8.23096272e-01 -5.49268885e-01 -1.44278266e-01 4.99394380e+01] [ 5.41368036e-01 8.35643967e-01 -9.28429344e-02 1.33119925e+01] [ 1.71560997e-01 -1.68896811e-03 9.85172052e-01 6.21162792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.327552018 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:49.96, Y:13.33, Z:6.22 [[ 8.24232498e-01 -5.47624974e-01 -1.44040539e-01 4.99626690e+01] [ 5.39719805e-01 8.36722865e-01 -9.27220540e-02 1.33258812e+01] [ 1.71298925e-01 -1.31700121e-03 9.85218221e-01 6.21686441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.357552018 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:49.99, Y:13.34, Z:6.22 [[ 8.27194656e-01 -5.43270537e-01 -1.43548338e-01 4.99870172e+01] [ 5.35341917e-01 8.39557622e-01 -9.24771913e-02 1.33363061e+01] [ 1.70757235e-01 -3.50804241e-04 9.85313069e-01 6.22276743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.387552017999994 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:50.01, Y:13.35, Z:6.23 [[ 8.28698442e-01 -5.41053348e-01 -1.43248618e-01 5.00119851e+01] [ 5.33119721e-01 8.40988262e-01 -9.23152514e-02 1.33465987e+01] [ 1.70417882e-01 1.32841851e-04 9.85371873e-01 6.22767235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417552017999995 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:50.04, Y:13.35, Z:6.23 [[ 8.31029405e-01 -5.37791999e-01 -1.42020751e-01 5.00401513e+01] [ 5.29942245e-01 8.43077156e-01 -9.15539479e-02 1.33541339e+01] [ 1.68971432e-01 8.21227222e-04 9.85620607e-01 6.23338728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447552017999996 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:50.06, Y:13.37, Z:6.24 [[ 8.31816265e-01 -5.36788547e-01 -1.41208206e-01 5.00643150e+01] [ 5.29002428e-01 8.43716118e-01 -9.11018285e-02 1.33678607e+01] [ 1.68042057e-01 1.08049906e-03 9.85779235e-01 6.23831772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477552018 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:50.09, Y:13.38, Z:6.24 [[ 8.32088619e-01 -5.36282643e-01 -1.41525463e-01 5.00882551e+01] [ 5.28441388e-01 8.44037540e-01 -9.13801425e-02 1.33817227e+01] [ 1.68458388e-01 1.24846462e-03 9.85707976e-01 6.24353608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.507552018 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:50.11, Y:13.39, Z:6.25 [[ 8.30626535e-01 -5.38338859e-01 -1.42305419e-01 5.01144101e+01] [ 5.30427442e-01 8.42727989e-01 -9.19579569e-02 1.33918237e+01] [ 1.69429301e-01 9.00019922e-04 9.85541933e-01 6.24795632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.537552018 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:50.14, Y:13.40, Z:6.25 [[ 8.29005289e-01 -5.40741166e-01 -1.42650697e-01 5.01398947e+01] [ 5.32813573e-01 8.41188901e-01 -9.22546956e-02 1.34028000e+01] [ 1.69882095e-01 4.73402816e-04 9.85464281e-01 6.25254936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56755201799999 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:50.17, Y:13.41, Z:6.26 [[ 8.26879699e-01 -5.43897301e-01 -1.42988426e-01 5.01655904e+01] [ 5.35965883e-01 8.39151782e-01 -9.25465221e-02 1.34134925e+01] [ 1.70324796e-01 -1.12077345e-04 9.85387970e-01 6.25812003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.597552017999995 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:50.19, Y:13.42, Z:6.26 [[ 8.21949809e-01 -5.51250548e-01 -1.43252730e-01 5.01928645e+01] [ 5.43386708e-01 8.34338281e-01 -9.27928790e-02 1.34194981e+01] [ 1.70673361e-01 -1.57053992e-03 9.85326411e-01 6.26377053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627552017999996 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:50.22, Y:13.43, Z:6.27 [[ 8.19366372e-01 -5.55153203e-01 -1.42981360e-01 5.02178702e+01] [ 5.47372534e-01 8.31744791e-01 -9.26493992e-02 1.34310117e+01] [ 1.70358612e-01 -2.35026718e-03 9.85379328e-01 6.26927614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657552018 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:50.24, Y:13.44, Z:6.27 [[ 8.16928053e-01 -5.58847247e-01 -1.42542315e-01 5.02427218e+01] [ 5.51157339e-01 8.29265020e-01 -9.24397889e-02 1.34436468e+01] [ 1.69865077e-01 -3.04658606e-03 9.85462619e-01 6.27462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.687552018 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:50.27, Y:13.45, Z:6.28 [[ 8.12895416e-01 -5.64804527e-01 -1.42115761e-01 5.02669919e+01] [ 5.57237925e-01 8.25213972e-01 -9.22377101e-02 1.34539426e+01] [ 1.69372188e-01 -4.21268005e-03 9.85543158e-01 6.28058947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.717552018 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:50.29, Y:13.47, Z:6.29 [[ 8.10970467e-01 -5.67706860e-01 -1.41547952e-01 5.02917154e+01] [ 5.60239344e-01 8.23216951e-01 -9.19006451e-02 1.34666459e+01] [ 1.68697300e-01 -4.77202279e-03 9.85656354e-01 6.28564031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:50.32, Y:13.48, Z:6.29 [[ 8.08984616e-01 -5.70642851e-01 -1.41105026e-01 5.03163482e+01] [ 5.63254049e-01 8.21181215e-01 -9.16858125e-02 1.34784711e+01] [ 1.68192650e-01 -5.30556562e-03 9.85739866e-01 6.29095678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.777552017999994 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:50.34, Y:13.49, Z:6.30 [[ 8.07061249e-01 -5.73498999e-01 -1.40538389e-01 5.03415341e+01] [ 5.66200288e-01 8.19185619e-01 -9.13901265e-02 1.34905365e+01] [ 1.67539173e-01 -5.81544669e-03 9.85848267e-01 6.29546537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807552017999996 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:50.37, Y:13.50, Z:6.30 [[ 8.03674257e-01 -5.78070909e-01 -1.41215133e-01 5.03672573e+01] [ 5.70758499e-01 8.15958700e-01 -9.19028579e-02 1.35021112e+01] [ 1.68352085e-01 -6.73977657e-03 9.85703886e-01 6.30030459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837552018 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:50.39, Y:13.52, Z:6.30 [[ 8.02060890e-01 -5.80040193e-01 -1.42308478e-01 5.03906362e+01] [ 5.72631432e-01 8.14556482e-01 -9.26875463e-02 1.35170435e+01] [ 1.69680796e-01 -7.14925176e-03 9.85473143e-01 6.30450517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.867552018 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:50.41, Y:13.53, Z:6.31 [[ 8.01089379e-01 -5.81111111e-01 -1.43407404e-01 5.04128985e+01] [ 5.73590720e-01 8.13790832e-01 -9.34781606e-02 1.35309622e+01] [ 1.71024828e-01 -7.37279430e-03 9.85239133e-01 6.30864457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.897552018 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:50.44, Y:13.54, Z:6.31 [[ 8.00365999e-01 -5.81864568e-01 -1.44387990e-01 5.04356436e+01] [ 5.74246727e-01 8.13250560e-01 -9.41500053e-02 1.35448456e+01] [ 1.72206166e-01 -7.55986780e-03 9.85031921e-01 6.31293647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:50.46, Y:13.56, Z:6.32 [[ 8.00240712e-01 -5.82040510e-01 -1.44373295e-01 5.04590483e+01] [ 5.74421448e-01 8.13124550e-01 -9.41725351e-02 1.35603293e+01] [ 1.72205701e-01 -7.57042044e-03 9.85031921e-01 6.31778960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.957552017999994 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:50.48, Y:13.57, Z:6.32 [[ 7.99800603e-01 -5.82583516e-01 -1.44621721e-01 5.04830952e+01] [ 5.74938854e-01 8.12734716e-01 -9.43800561e-02 1.35736558e+01] [ 1.72523358e-01 -7.66342078e-03 9.84975615e-01 6.32303377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987552017999995 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:50.51, Y:13.59, Z:6.33 [[ 7.99882829e-01 -5.82736513e-01 -1.43546564e-01 5.05053506e+01] [ 5.75195545e-01 8.12625833e-01 -9.37514865e-02 1.35882451e+01] [ 1.71282060e-01 -7.57713979e-03 9.85192896e-01 6.32837654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017552017999996 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:50.53, Y:13.60, Z:6.33 [[ 8.00059376e-01 -5.82775825e-01 -1.42398500e-01 5.05283166e+01] [ 5.75347856e-01 8.12598519e-01 -9.30510176e-02 1.36036132e+01] [ 1.69940694e-01 -7.48233265e-03 9.85425885e-01 6.33327587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047552018 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:50.55, Y:13.62, Z:6.34 [[ 8.00110755e-01 -5.82832574e-01 -1.41876601e-01 5.05493774e+01] [ 5.75447679e-01 8.12558515e-01 -9.27826975e-02 1.36193086e+01] [ 1.69359818e-01 -7.40612636e-03 9.85526459e-01 6.33783823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.077552018 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:50.57, Y:13.64, Z:6.34 [[ 7.99536866e-01 -5.83419550e-01 -1.42696984e-01 5.05712153e+01] [ 5.75952222e-01 8.12135850e-01 -9.33509452e-02 1.36354590e+01] [ 1.70352103e-01 -7.54912265e-03 9.85354338e-01 6.34233020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.107552018 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:50.59, Y:13.65, Z:6.35 [[ 7.98890177e-01 -5.84233960e-01 -1.42986587e-01 5.05931560e+01] [ 5.76736268e-01 8.11548965e-01 -9.36138614e-02 1.36516361e+01] [ 1.70733014e-01 -7.67835627e-03 9.85287410e-01 6.34598706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.137552017999994 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:50.62, Y:13.67, Z:6.35 [[ 7.96460635e-01 -5.87492440e-01 -1.43189001e-01 5.06161955e+01] [ 5.80019738e-01 8.09186453e-01 -9.37783929e-02 1.36665607e+01] [ 1.70960696e-01 -8.36164823e-03 9.85242368e-01 6.34948002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167552017999995 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:50.64, Y:13.68, Z:6.35 [[ 7.95073649e-01 -5.89439300e-01 -1.42895781e-01 5.06386744e+01] [ 5.82015462e-01 8.07765819e-01 -9.36610022e-02 1.36806623e+01] [ 1.70633803e-01 -8.70015911e-03 9.85296104e-01 6.35410582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197552017999996 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:50.66, Y:13.70, Z:6.36 [[ 7.93183960e-01 -5.91981925e-01 -1.42886690e-01 5.06612127e+01] [ 5.84594074e-01 8.05898509e-01 -9.36875814e-02 1.36964263e+01] [ 1.70613525e-01 -9.21922519e-03 9.85294895e-01 6.35943744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227552018 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:50.68, Y:13.71, Z:6.36 [[ 7.91642742e-01 -5.94186874e-01 -1.42280457e-01 5.06821562e+01] [ 5.86884333e-01 8.04269834e-01 -9.33638782e-02 1.37126453e+01] [ 1.69907470e-01 -9.59133456e-03 9.85413344e-01 6.36380957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.257552018 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:50.70, Y:13.73, Z:6.37 [[ 7.88030730e-01 -5.98968152e-01 -1.42283950e-01 5.07023735e+01] [ 5.91736321e-01 8.00702766e-01 -9.33981076e-02 1.37326342e+01] [ 1.69869644e-01 -1.05940021e-02 9.85409596e-01 6.36886523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.287552018 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:50.72, Y:13.75, Z:6.37 [[ 7.86242856e-01 -6.01273151e-01 -1.42452693e-01 5.07239153e+01] [ 5.94048741e-01 7.98967198e-01 -9.35815658e-02 1.37490765e+01] [ 1.70083112e-01 -1.10460056e-02 9.85367810e-01 6.37417394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31755201799999 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:50.75, Y:13.77, Z:6.38 [[ 7.84544485e-01 -6.03540883e-01 -1.42226415e-01 5.07463874e+01] [ 5.96363829e-01 7.97249690e-01 -9.35046273e-02 1.37657322e+01] [ 1.69823830e-01 -1.14601498e-02 9.85407800e-01 6.37816225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.347552017999995 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:50.77, Y:13.78, Z:6.38 [[ 7.83235354e-01 -6.05238259e-01 -1.42228795e-01 5.07684674e+01] [ 5.98076245e-01 7.95957349e-01 -9.35772568e-02 1.37814231e+01] [ 1.69844590e-01 -1.17706476e-02 9.85400562e-01 6.38293662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377552017999996 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:50.79, Y:13.80, Z:6.39 [[ 7.81668363e-01 -6.07334756e-01 -1.41912171e-01 5.07890917e+01] [ 6.00226331e-01 7.94353275e-01 -9.34410307e-02 1.37992103e+01] [ 1.69478383e-01 -1.21395240e-02 9.85459136e-01 6.38716290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407552018 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:50.81, Y:13.82, Z:6.39 [[ 7.81038100e-01 -6.08205663e-01 -1.41652247e-01 5.08101248e+01] [ 6.01132170e-01 7.93684489e-01 -9.33008351e-02 1.38172506e+01] [ 1.69173287e-01 -1.22802156e-02 9.85509815e-01 6.39244018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.437552018 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:50.83, Y:13.84, Z:6.40 [[ 7.81007414e-01 -6.08371898e-01 -1.41106531e-01 5.08305389e+01] [ 6.01343643e-01 7.93558154e-01 -9.30122563e-02 1.38350947e+01] [ 1.68562281e-01 -1.22102535e-02 9.85615375e-01 6.39704507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.467552018 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:50.85, Y:13.86, Z:6.40 [[ 7.82083365e-01 -6.07143744e-01 -1.40435341e-01 5.08500969e+01] [ 6.00157928e-01 7.94503462e-01 -9.25997289e-02 1.38550249e+01] [ 1.67797711e-01 -1.18626758e-02 9.85750072e-01 6.40085213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49755201799999 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:50.87, Y:13.87, Z:6.40 [[ 7.82843350e-01 -6.06246876e-01 -1.40075032e-01 5.08708560e+01] [ 5.99270963e-01 7.95192156e-01 -9.24323970e-02 1.38726327e+01] [ 1.67423418e-01 -1.15828119e-02 9.85817041e-01 6.40485047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.527552017999994 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:50.89, Y:13.89, Z:6.41 [[ 7.83951978e-01 -6.04883821e-01 -1.39767158e-01 5.08923058e+01] [ 5.97912307e-01 7.96234375e-01 -9.22588349e-02 1.38908826e+01] [ 1.67093292e-01 -1.12420077e-02 9.85876995e-01 6.40948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557552017999996 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:50.91, Y:13.91, Z:6.41 [[ 7.84661165e-01 -6.04064702e-01 -1.39329437e-01 5.09128821e+01] [ 5.97112944e-01 7.96859667e-01 -9.20369720e-02 1.39097296e+01] [ 1.66622295e-01 -1.09775725e-02 9.85959687e-01 6.41328757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587552018 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:50.93, Y:13.93, Z:6.42 [[ 7.86485788e-01 -6.01680422e-01 -1.39358439e-01 5.09303878e+01] [ 5.94676958e-01 7.98668983e-01 -9.21258471e-02 1.39310325e+01] [ 1.66731581e-01 -1.04175828e-02 9.85947288e-01 6.41637309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.617552018 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:50.95, Y:13.95, Z:6.42 [[ 7.87170573e-01 -6.00765606e-01 -1.39438788e-01 5.09512926e+01] [ 5.93731947e-01 7.99360251e-01 -9.22256186e-02 1.39502462e+01] [ 1.66867804e-01 -1.01919699e-02 9.85926600e-01 6.42048187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.647552018 meters Centerline goodness : 0.992578 Centerline is valid? [True, True] Translation: X:50.97, Y:13.97, Z:6.42 [[ 7.88672793e-01 -5.98481957e-01 -1.40764250e-01 5.09678911e+01] [ 5.91264701e-01 8.01077026e-01 -9.31753846e-02 1.39728694e+01] [ 1.68526793e-01 -9.74404132e-03 9.85648910e-01 6.42433844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67755201799999 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:50.99, Y:13.99, Z:6.43 [[ 7.88958208e-01 -5.98156056e-01 -1.40549915e-01 5.09889453e+01] [ 5.90950548e-01 8.01321728e-01 -9.30641554e-02 1.39919158e+01] [ 1.68292589e-01 -9.63432023e-03 9.85690004e-01 6.42856832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.707552017999994 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:51.01, Y:14.01, Z:6.43 [[ 7.89093757e-01 -5.98084360e-01 -1.40093328e-01 5.10096254e+01] [ 5.90912655e-01 8.01376500e-01 -9.28328538e-02 1.40100513e+01] [ 1.67789379e-01 -9.52909506e-03 9.85776811e-01 6.43326923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737552017999995 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:51.03, Y:14.03, Z:6.44 [[ 7.89250796e-01 -5.97961908e-01 -1.39730948e-01 5.10305244e+01] [ 5.90813534e-01 8.01469163e-01 -9.26636326e-02 1.40283566e+01] [ 1.67399369e-01 -9.42008956e-03 9.85844163e-01 6.43758944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767552017999996 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:51.05, Y:14.05, Z:6.44 [[ 7.89848142e-01 -5.97220127e-01 -1.39527891e-01 5.10488589e+01] [ 5.90069282e-01 8.02024707e-01 -9.25992001e-02 1.40501427e+01] [ 1.67206922e-01 -9.19181652e-03 9.85878976e-01 6.44218763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797552018 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:51.07, Y:14.07, Z:6.45 [[ 7.89539837e-01 -5.97738414e-01 -1.39052628e-01 5.10680686e+01] [ 5.90632201e-01 8.01638298e-01 -9.23560613e-02 1.40696782e+01] [ 1.66674678e-01 -9.21017043e-03 9.85968927e-01 6.44651083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827552018 meters Centerline goodness : 0.988386 Centerline is valid? [True, True] Translation: X:51.09, Y:14.09, Z:6.45 [[ 7.89327967e-01 -5.97548982e-01 -1.41055220e-01 5.10865614e+01] [ 5.90226994e-01 8.01778701e-01 -9.37177192e-02 1.40911802e+01] [ 1.69095998e-01 -9.28058143e-03 9.85555891e-01 6.45073393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.857552018 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:51.11, Y:14.11, Z:6.45 [[ 7.89039057e-01 -5.97899642e-01 -1.41185638e-01 5.11070790e+01] [ 5.90557439e-01 8.01516933e-01 -9.38750079e-02 1.41085265e+01] [ 1.69290513e-01 -9.30718101e-03 9.85522247e-01 6.45471161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.887552017999994 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:51.13, Y:14.13, Z:6.46 [[ 7.88068312e-01 -5.99271168e-01 -1.40792054e-01 5.11278704e+01] [ 5.91986999e-01 8.00489118e-01 -9.36406128e-02 1.41277524e+01] [ 1.68818626e-01 -9.55186554e-03 9.85600849e-01 6.45836992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.917552017999995 meters Centerline goodness : 0.987066 Centerline is valid? [True, True] Translation: X:51.15, Y:14.15, Z:6.46 [[ 7.88006995e-01 -5.99271752e-01 -1.41132361e-01 5.11478838e+01] [ 5.91940587e-01 8.00489047e-01 -9.39341634e-02 1.41460183e+01] [ 1.69267000e-01 -9.52119454e-03 9.85524241e-01 6.46320264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.947552017999996 meters Centerline goodness : 0.985785 Centerline is valid? [True, True] Translation: X:51.17, Y:14.17, Z:6.47 [[ 7.91112509e-01 -5.98128684e-01 -1.27996388e-01 5.11702490e+01] [ 5.88495334e-01 8.01342596e-01 -1.07346568e-01 1.41740784e+01] [ 1.66776019e-01 9.59793527e-03 9.85948091e-01 6.46814509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.977552018 meters Centerline goodness : 0.985501 Centerline is valid? [True, True] Translation: X:51.20, Y:14.18, Z:6.47 [[ 7.89933691e-01 -5.92753999e-01 -1.56995097e-01 5.12013209e+01] [ 5.89422641e-01 8.04598202e-01 -7.21296315e-02 1.41768151e+01] [ 1.69073100e-01 -3.55588388e-02 9.84961855e-01 6.47235281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.007552018 meters Centerline goodness : 0.985807 Centerline is valid? [True, True] Translation: X:51.21, Y:14.21, Z:6.48 [[ 7.87999093e-01 -5.99726292e-01 -1.39232916e-01 5.12076207e+01] [ 5.91694440e-01 8.00188373e-01 -9.79604858e-02 1.42052925e+01] [ 1.70162040e-01 -5.19056851e-03 9.85402425e-01 6.48024442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.037552018 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:51.24, Y:14.23, Z:6.48 [[ 7.90487525e-01 -5.98853694e-01 -1.28466827e-01 5.12351349e+01] [ 5.89598249e-01 8.00824571e-01 -1.05137582e-01 1.42270282e+01] [ 1.65841421e-01 7.36613096e-03 9.86124923e-01 6.48272159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06755201799999 meters Centerline goodness : 0.985739 Centerline is valid? [True, True] Translation: X:51.26, Y:14.24, Z:6.49 [[ 7.90476608e-01 -5.95420932e-01 -1.43598905e-01 5.12616378e+01] [ 5.89516020e-01 8.03230720e-01 -8.53889475e-02 1.42398549e+01] [ 1.66185419e-01 -1.71558895e-02 9.85945273e-01 6.48524984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.097552017999995 meters Centerline goodness : 0.985875 Centerline is valid? [True, True] Translation: X:51.28, Y:14.26, Z:6.49 [[ 7.90712151e-01 -5.96260677e-01 -1.38735357e-01 5.12797546e+01] [ 5.89130437e-01 8.02743600e-01 -9.23473883e-02 1.42606447e+01] [ 1.66432036e-01 -8.71301941e-03 9.86014432e-01 6.49038295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127552017999996 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:51.30, Y:14.27, Z:6.50 [[ 7.89848203e-01 -5.94355532e-01 -1.51265720e-01 5.13028454e+01] [ 5.89543911e-01 8.03778753e-01 -7.98604614e-02 1.42728029e+01] [ 1.69049679e-01 -2.61001420e-02 9.85261888e-01 6.49566555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157552018 meters Centerline goodness : 0.985042 Centerline is valid? [True, True] Translation: X:51.32, Y:14.30, Z:6.50 [[ 7.92388929e-01 -5.96019710e-01 -1.29924175e-01 5.13209056e+01] [ 5.86820055e-01 8.02942838e-01 -1.04522830e-01 1.43031445e+01] [ 1.66619352e-01 6.58062140e-03 9.85999334e-01 6.50293092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.187552018 meters Centerline goodness : 0.984289 Centerline is valid? [True, True] Translation: X:51.35, Y:14.31, Z:6.51 [[ 7.92836653e-01 -5.91365790e-01 -1.47297472e-01 5.13462857e+01] [ 5.85838276e-01 8.06146968e-01 -8.31900282e-02 1.43103098e+01] [ 1.67939147e-01 -2.03363933e-02 9.85587578e-01 6.50571676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.217552018 meters Centerline goodness : 0.986483 Centerline is valid? [True, True] Translation: X:51.36, Y:14.33, Z:6.51 [[ 7.91555829e-01 -5.91724245e-01 -1.52649232e-01 5.13649831e+01] [ 5.86776173e-01 8.05728284e-01 -8.05956284e-02 1.43273223e+01] [ 1.70684191e-01 -2.57749926e-02 9.84988607e-01 6.51413032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24755201799999 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:51.38, Y:14.35, Z:6.52 [[ 7.91823319e-01 -5.93205678e-01 -1.45337038e-01 5.13827845e+01] [ 5.86090608e-01 8.04961112e-01 -9.23872665e-02 1.43506005e+01] [ 1.71795315e-01 -1.20262813e-02 9.85059256e-01 6.52227258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.277552017999994 meters Centerline goodness : 0.986888 Centerline is valid? [True, True] Translation: X:51.39, Y:14.37, Z:6.52 [[ 7.91469684e-01 -5.95606755e-01 -1.37216375e-01 5.13948587e+01] [ 5.86899040e-01 8.03276133e-01 -1.01473992e-01 1.43742142e+01] [ 1.70661234e-01 -2.18570416e-04 9.85329739e-01 6.52485821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.307552017999996 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:51.42, Y:14.39, Z:6.53 [[ 7.92047440e-01 -5.93936608e-01 -1.41067922e-01 5.14195468e+01] [ 5.86328315e-01 8.04477568e-01 -9.50523513e-02 1.43875317e+01] [ 1.69941050e-01 -7.42614561e-03 9.85426249e-01 6.52812258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337552018 meters Centerline goodness : 0.986753 Centerline is valid? [True, True] Translation: X:51.44, Y:14.40, Z:6.53 [[ 7.92717259e-01 -5.93188662e-01 -1.40451267e-01 5.14419701e+01] [ 5.85624225e-01 8.05031471e-01 -9.47026770e-02 1.44042437e+01] [ 1.69244244e-01 -7.17921785e-03 9.85547992e-01 6.53277111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.367552018 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:51.46, Y:14.42, Z:6.54 [[ 7.93800995e-01 -5.91731611e-01 -1.40476619e-01 5.14615536e+01] [ 5.84130453e-01 8.06106227e-01 -9.47858935e-02 1.44233264e+01] [ 1.69326887e-01 -6.81553466e-03 9.85536379e-01 6.53812602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.397552018 meters Centerline goodness : 0.986597 Centerline is valid? [True, True] Translation: X:51.49, Y:14.44, Z:6.54 [[ 7.95806201e-01 -5.87127231e-01 -1.48236651e-01 5.14927182e+01] [ 5.80860722e-01 8.09321727e-01 -8.71731817e-02 1.44354398e+01] [ 1.71152891e-01 -1.67318895e-02 9.85102397e-01 6.54450017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters Centerline goodness : 0.986779 Centerline is valid? [True, True] Translation: X:51.51, Y:14.45, Z:6.55 [[ 7.95911828e-01 -5.87830192e-01 -1.44844838e-01 5.15141114e+01] [ 5.80529913e-01 8.08920802e-01 -9.29093942e-02 1.44534012e+01] [ 1.71782950e-01 -1.01390757e-02 9.85082645e-01 6.55025090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.457552017999994 meters Centerline goodness : 0.986433 Centerline is valid? [True, True] Translation: X:51.53, Y:14.47, Z:6.55 [[ 7.94037105e-01 -5.92112882e-01 -1.37504222e-01 5.15265195e+01] [ 5.83001646e-01 8.05852522e-01 -1.03492966e-01 1.44736264e+01] [ 1.72087642e-01 2.01206804e-03 9.85079588e-01 6.55325242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487552017999995 meters Centerline goodness : 0.988283 Centerline is valid? [True, True] Translation: X:51.55, Y:14.49, Z:6.56 [[ 7.92566974e-01 -5.93066129e-01 -1.41810290e-01 5.15510378e+01] [ 5.85284723e-01 8.05124110e-01 -9.60050044e-02 1.44876700e+01] [ 1.71112200e-01 -6.90900069e-03 9.85227324e-01 6.55562099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517552017999996 meters Centerline goodness : 0.987137 Centerline is valid? [True, True] Translation: X:51.58, Y:14.50, Z:6.56 [[ 7.92985461e-01 -5.90444240e-01 -1.50165432e-01 5.15835394e+01] [ 5.84089378e-01 8.06882853e-01 -8.82023812e-02 1.44988784e+01] [ 1.73244500e-01 -1.77668279e-02 9.84718581e-01 6.56269975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547552018 meters Centerline goodness : 0.987296 Centerline is valid? [True, True] Translation: X:51.59, Y:14.52, Z:6.57 [[ 7.89319012e-01 -5.98335424e-01 -1.37732413e-01 5.15940045e+01] [ 5.89332600e-01 8.01245604e-01 -1.03404872e-01 1.45217690e+01] [ 1.72228289e-01 4.49230688e-04 9.85056960e-01 6.56662494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.577552018 meters Centerline goodness : 0.987701 Centerline is valid? [True, True] Translation: X:51.62, Y:14.53, Z:6.57 [[ 7.86558935e-01 -6.00910950e-01 -1.42235970e-01 5.16201900e+01] [ 5.93175797e-01 7.99270954e-01 -9.64801316e-02 1.45315065e+01] [ 1.71661047e-01 -8.48362545e-03 9.85119542e-01 6.57060433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:51.64, Y:14.55, Z:6.58 [[ 7.83620621e-01 -6.04900539e-01 -1.41541729e-01 5.16427536e+01] [ 5.97293756e-01 7.96247247e-01 -9.60754451e-02 1.45480700e+01] [ 1.70818300e-01 -9.25529104e-03 9.85259076e-01 6.57510076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.637552017999994 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:51.67, Y:14.56, Z:6.58 [[ 7.81051085e-01 -6.08213290e-01 -1.41547858e-01 5.16652299e+01] [ 6.00647774e-01 7.93711589e-01 -9.61465753e-02 1.45642021e+01] [ 1.70825800e-01 -9.92501863e-03 9.85251257e-01 6.58008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667552017999995 meters Centerline goodness : 0.986666 Centerline is valid? [True, True] Translation: X:51.70, Y:14.58, Z:6.59 [[ 7.79146636e-01 -6.12029643e-01 -1.35463042e-01 5.16960668e+01] [ 6.03071351e-01 7.90834720e-01 -1.04333082e-01 1.45817177e+01] [ 1.70983816e-01 -4.03109367e-04 9.85273755e-01 6.58548120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697552017999996 meters Centerline goodness : 0.986297 Centerline is valid? [True, True] Translation: X:51.72, Y:14.59, Z:6.59 [[ 7.77376475e-01 -6.12424815e-01 -1.43602445e-01 5.17226635e+01] [ 6.05511120e-01 7.90392004e-01 -9.29341889e-02 1.45906764e+01] [ 1.70417427e-01 -1.47080250e-02 9.85262186e-01 6.58622151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727552018 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:51.75, Y:14.61, Z:6.59 [[ 7.73558144e-01 -6.16219403e-01 -1.47923778e-01 5.17454858e+01] [ 6.09967530e-01 7.87303965e-01 -8.99559858e-02 1.46055295e+01] [ 1.71893600e-01 -2.06425157e-02 9.84899222e-01 6.59241382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.757552018 meters Centerline goodness : 0.986686 Centerline is valid? [True, True] Translation: X:51.77, Y:14.62, Z:6.60 [[ 7.70672790e-01 -6.18270388e-01 -1.54289269e-01 5.17665454e+01] [ 6.13106170e-01 7.85424379e-01 -8.49079995e-02 1.46182469e+01] [ 1.73678655e-01 -2.91594178e-02 9.84370587e-01 6.59874315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.787552018 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:51.78, Y:14.65, Z:6.61 [[ 7.67511004e-01 -6.27077335e-01 -1.33044636e-01 5.17831887e+01] [ 6.17764890e-01 7.78956877e-01 -1.07669513e-01 1.46455953e+01] [ 1.71153145e-01 4.47230968e-04 9.85244336e-01 6.60681690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81755201799999 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:51.81, Y:14.66, Z:6.61 [[ 7.67208415e-01 -6.25155271e-01 -1.43429895e-01 5.18109805e+01] [ 6.18480162e-01 7.80303628e-01 -9.27822049e-02 1.46556372e+01] [ 1.69922152e-01 -1.75252561e-02 9.85301643e-01 6.60808354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.847552017999995 meters Centerline goodness : 0.986955 Centerline is valid? [True, True] Translation: X:51.83, Y:14.67, Z:6.61 [[ 7.65283774e-01 -6.26789168e-01 -1.46547207e-01 5.18338752e+01] [ 6.20871365e-01 7.78851494e-01 -8.89331110e-02 1.46696142e+01] [ 1.69880822e-01 -2.29278975e-02 9.85197857e-01 6.61383539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877552017999996 meters Centerline goodness : 0.985824 Centerline is valid? [True, True] Translation: X:51.85, Y:14.69, Z:6.62 [[ 7.63254656e-01 -6.30071239e-01 -1.43012458e-01 5.18536838e+01] [ 6.23224784e-01 7.76346459e-01 -9.42180646e-02 1.46886602e+01] [ 1.70391308e-01 -1.72165319e-02 9.85226062e-01 6.62023574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907552018 meters Centerline goodness : 0.986471 Centerline is valid? [True, True] Translation: X:51.87, Y:14.70, Z:6.63 [[ 7.62205715e-01 -6.31175690e-01 -1.43734812e-01 5.18745697e+01] [ 6.24495334e-01 7.75418347e-01 -9.34449855e-02 1.47045542e+01] [ 1.70434813e-01 -1.85374172e-02 9.85194569e-01 6.62548405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.937552018 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:51.90, Y:14.73, Z:6.63 [[ 7.62070639e-01 -6.32989561e-01 -1.36281167e-01 5.18959514e+01] [ 6.24632289e-01 7.74130241e-01 -1.02746652e-01 1.47266443e+01] [ 1.70536931e-01 -6.82541061e-03 9.85327645e-01 6.63005406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967552018 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:51.92, Y:14.74, Z:6.63 [[ 7.62034711e-01 -6.32111405e-01 -1.40492957e-01 5.19192869e+01] [ 6.25270506e-01 7.74709982e-01 -9.41341541e-02 1.47409162e+01] [ 1.68344568e-01 -1.61126090e-02 9.85596515e-01 6.63161311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99755201799999 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:51.94, Y:14.76, Z:6.64 [[ 7.60663706e-01 -6.32164880e-01 -1.47506918e-01 5.19421781e+01] [ 6.26590525e-01 7.74405467e-01 -8.76383869e-02 1.47560216e+01] [ 1.69632074e-01 -2.57630969e-02 9.85170656e-01 6.63753693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.027552017999994 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:51.96, Y:14.78, Z:6.64 [[ 7.61349294e-01 -6.32792394e-01 -1.41141909e-01 5.19590302e+01] [ 6.25722059e-01 7.74165733e-01 -9.55998037e-02 1.47773129e+01] [ 1.69762058e-01 -1.55307631e-02 9.85362694e-01 6.64367739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057552017999996 meters Centerline goodness : 0.987767 Centerline is valid? [True, True] Translation: X:51.98, Y:14.80, Z:6.65 [[ 7.61226600e-01 -6.33584257e-01 -1.38221029e-01 5.19819414e+01] [ 6.25737127e-01 7.73603736e-01 -9.99515273e-02 1.47969139e+01] [ 1.70256019e-01 -1.04042684e-02 9.85344934e-01 6.64890349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087552018 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:52.00, Y:14.80, Z:6.65 [[ 7.57075271e-01 -6.33583146e-01 -1.59403361e-01 5.19985318e+01] [ 6.30025336e-01 7.72590199e-01 -7.85650106e-02 1.48049592e+01] [ 1.72930941e-01 -4.09485292e-02 9.84082368e-01 6.65069551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.117552018 meters Centerline goodness : 0.988234 Centerline is valid? [True, True] Translation: X:52.01, Y:14.83, Z:6.66 [[ 7.56890385e-01 -6.37348942e-01 -1.44579641e-01 5.20117297e+01] [ 6.29592944e-01 7.70426802e-01 -1.00275957e-01 1.48303282e+01] [ 1.75298805e-01 -1.51284140e-02 9.84399035e-01 6.66097148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147552018 meters Centerline goodness : 0.989329 Centerline is valid? [True, True] Translation: X:52.03, Y:14.85, Z:6.67 [[ 7.56555971e-01 -6.37693472e-01 -1.44810563e-01 5.20312824e+01] [ 6.29913143e-01 7.70140070e-01 -1.00467433e-01 1.48506708e+01] [ 1.75591843e-01 -1.52088405e-02 9.84345567e-01 6.66666276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17755201799999 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:52.06, Y:14.88, Z:6.67 [[ 7.61599331e-01 -6.36715909e-01 -1.20661969e-01 5.20590856e+01] [ 6.24978722e-01 7.70880998e-01 -1.23061304e-01 1.48779606e+01] [ 1.71371109e-01 1.83122434e-02 9.85036347e-01 6.67370578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.207552017999994 meters Centerline goodness : 0.987790 Centerline is valid? [True, True] Translation: X:52.09, Y:14.88, Z:6.67 [[ 7.61483787e-01 -6.30710257e-01 -1.49489176e-01 5.20917175e+01] [ 6.25839988e-01 7.75445700e-01 -8.37154403e-02 1.48789901e+01] [ 1.68720926e-01 -2.98083535e-02 9.85213028e-01 6.66982707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237552017999995 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:52.11, Y:14.91, Z:6.68 [[ 7.59972992e-01 -6.34800078e-01 -1.39534624e-01 5.21080030e+01] [ 6.27062420e-01 7.72585354e-01 -9.95218213e-02 1.49052372e+01] [ 1.70978867e-01 -1.18630227e-02 9.85203276e-01 6.67709622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267552017999996 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:52.13, Y:14.92, Z:6.68 [[ 7.59461480e-01 -6.34201419e-01 -1.44937297e-01 5.21330914e+01] [ 6.27451842e-01 7.72926051e-01 -9.42841762e-02 1.49203932e+01] [ 1.71820971e-01 -1.93359738e-02 9.84938411e-01 6.68062989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297552018 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:52.15, Y:14.94, Z:6.69 [[ 7.58575792e-01 -6.34528577e-01 -1.48108926e-01 5.21531095e+01] [ 6.28338417e-01 7.72537879e-01 -9.15208127e-02 1.49362769e+01] [ 1.72492326e-01 -2.36370548e-02 9.84727215e-01 6.68511787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327552018 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:52.17, Y:14.96, Z:6.69 [[ 7.57504531e-01 -6.35936013e-01 -1.47554305e-01 5.21731782e+01] [ 6.29247477e-01 7.71447287e-01 -9.44282596e-02 1.49559359e+01] [ 1.73880700e-01 -2.13183400e-02 9.84535947e-01 6.69169285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35755201799999 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:52.19, Y:14.97, Z:6.70 [[ 7.53692193e-01 -6.36675744e-01 -1.63070765e-01 5.21850999e+01] [ 6.32763775e-01 7.70012289e-01 -8.17990241e-02 1.49702911e+01] [ 1.77645947e-01 -4.15339868e-02 9.83217598e-01 6.69758351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.387552017999994 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:52.20, Y:15.00, Z:6.71 [[ 7.53530914e-01 -6.40498886e-01 -1.48163217e-01 5.21987946e+01] [ 6.32232012e-01 7.67802606e-01 -1.03739300e-01 1.49956158e+01] [ 1.80205010e-01 -1.55027593e-02 9.83506898e-01 6.70808432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417552017999995 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:52.23, Y:15.02, Z:6.71 [[ 7.58199103e-01 -6.38884189e-01 -1.30234836e-01 5.22290363e+01] [ 6.27502634e-01 7.69243103e-01 -1.20438752e-01 1.50199851e+01] [ 1.77128664e-01 9.59385123e-03 9.84140942e-01 6.71300671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447552017999996 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:52.26, Y:15.03, Z:6.71 [[ 7.57267681e-01 -6.34234609e-01 -1.55859297e-01 5.22570384e+01] [ 6.28532777e-01 7.72564320e-01 -8.99495372e-02 1.50257763e+01] [ 1.77460441e-01 -2.98467994e-02 9.83675231e-01 6.71081400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477552018 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:52.27, Y:15.05, Z:6.72 [[ 7.56289397e-01 -6.38058944e-01 -1.44592986e-01 5.22737391e+01] [ 6.29466808e-01 7.69900069e-01 -1.05002001e-01 1.50518809e+01] [ 1.78319616e-01 -1.16045857e-02 9.83904186e-01 6.71986405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507552018 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:52.30, Y:15.07, Z:6.72 [[ 7.55268029e-01 -6.37267724e-01 -1.53166746e-01 5.22970187e+01] [ 6.30509369e-01 7.70259450e-01 -9.56990848e-02 1.50655564e+01] [ 1.78964072e-01 -2.42946093e-02 9.83555608e-01 6.72435644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.537552018 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:52.32, Y:15.08, Z:6.73 [[ 7.53096426e-01 -6.39564032e-01 -1.54284224e-01 5.23166345e+01] [ 6.33140770e-01 7.68274432e-01 -9.42717424e-02 1.50841503e+01] [ 1.78825440e-01 -2.66879199e-02 9.83518793e-01 6.73107331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56755201799999 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:52.34, Y:15.11, Z:6.74 [[ 7.53104459e-01 -6.41586744e-01 -1.45602625e-01 5.23374627e+01] [ 6.33311478e-01 7.66920346e-01 -1.03681025e-01 1.51053388e+01] [ 1.78185986e-01 -1.41291713e-02 9.83895381e-01 6.73867642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.597552017999995 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:52.36, Y:15.12, Z:6.74 [[ 7.52918260e-01 -6.42541056e-01 -1.42320365e-01 5.23607789e+01] [ 6.33898787e-01 7.66176180e-01 -1.05576458e-01 1.51240581e+01] [ 1.76879682e-01 -1.07262643e-02 9.84174032e-01 6.74307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627552017999996 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:52.38, Y:15.14, Z:6.75 [[ 7.53231890e-01 -6.41567316e-01 -1.45027926e-01 5.23833387e+01] [ 6.33738132e-01 7.66905661e-01 -1.01151800e-01 1.51408088e+01] [ 1.76118426e-01 -1.57189656e-02 9.84243473e-01 6.74614718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657552018 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:52.41, Y:15.15, Z:6.75 [[ 7.51048778e-01 -6.39617896e-01 -1.63751887e-01 5.24060148e+01] [ 6.35827263e-01 7.67500742e-01 -8.16474314e-02 1.51497257e+01] [ 1.77902853e-01 -4.27967104e-02 9.83116990e-01 6.75019047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687552018 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:52.42, Y:15.18, Z:6.76 [[ 7.51668136e-01 -6.43527406e-01 -1.44455846e-01 5.24183903e+01] [ 6.34667713e-01 7.65340446e-01 -1.07008860e-01 1.51774296e+01] [ 1.79421036e-01 -1.12463109e-02 9.83708093e-01 6.76173342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.717552018 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:52.44, Y:15.19, Z:6.76 [[ 7.50653645e-01 -6.42843874e-01 -1.52547892e-01 5.24407440e+01] [ 6.35434501e-01 7.65680322e-01 -9.97829607e-02 1.51943190e+01] [ 1.80947784e-01 -2.20317502e-02 9.83245901e-01 6.76490546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74755201799999 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:52.46, Y:15.21, Z:6.77 [[ 7.50392270e-01 -6.43936495e-01 -1.49188579e-01 5.24627851e+01] [ 6.35351121e-01 7.64925729e-01 -1.05913088e-01 1.52141428e+01] [ 1.82319485e-01 -1.53107687e-02 9.83120128e-01 6.77054020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.777552017999994 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:52.49, Y:15.23, Z:6.77 [[ 7.49811787e-01 -6.43862915e-01 -1.52390392e-01 5.24859033e+01] [ 6.36038244e-01 7.64870114e-01 -1.02122770e-01 1.52292910e+01] [ 1.82311921e-01 -2.03532607e-02 9.83030065e-01 6.77330236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807552017999996 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:52.51, Y:15.24, Z:6.78 [[ 7.49127871e-01 -6.43832143e-01 -1.55844808e-01 5.25060233e+01] [ 6.36657919e-01 7.64757794e-01 -9.90566076e-02 1.52444560e+01] [ 1.82959360e-01 -2.50137658e-02 9.82802210e-01 6.77818001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837552018 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:52.52, Y:15.27, Z:6.79 [[ 7.48920385e-01 -6.44419310e-01 -1.54408577e-01 5.25219067e+01] [ 6.36661462e-01 7.64359521e-01 -1.02062259e-01 1.52668321e+01] [ 1.83794557e-01 -2.18694840e-02 9.82721368e-01 6.78717279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867552018 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:52.53, Y:15.28, Z:6.79 [[ 7.46522121e-01 -6.46193511e-01 -1.58551790e-01 5.25337616e+01] [ 6.38919224e-01 7.62714503e-01 -1.00243762e-01 1.52846056e+01] [ 1.85706618e-01 -2.64676004e-02 9.82248705e-01 6.79220051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.897552018 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:52.56, Y:15.31, Z:6.80 [[ 7.50613972e-01 -6.45047127e-01 -1.43153306e-01 5.25575080e+01] [ 6.34593144e-01 7.64132444e-01 -1.15728781e-01 1.53092698e+01] [ 1.84038603e-01 -3.97646677e-03 9.82910973e-01 6.80130562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92755201799999 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:52.58, Y:15.32, Z:6.80 [[ 7.51596607e-01 -6.42568486e-01 -1.49024430e-01 5.25817478e+01] [ 6.34354033e-01 7.66049318e-01 -1.03746824e-01 1.53219579e+01] [ 1.80824503e-01 -1.65584868e-02 9.83375979e-01 6.80022802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.957552017999994 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:52.60, Y:15.34, Z:6.81 [[ 7.50711922e-01 -6.42885720e-01 -1.52084062e-01 5.26038477e+01] [ 6.35010762e-01 7.65705849e-01 -1.02254019e-01 1.53397324e+01] [ 1.82189304e-01 -1.98117056e-02 9.83063860e-01 6.80568399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987552017999995 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:52.62, Y:15.36, Z:6.81 [[ 7.51415637e-01 -6.42319344e-01 -1.50998015e-01 5.26219315e+01] [ 6.34170293e-01 7.66227044e-01 -1.03557504e-01 1.53602571e+01] [ 1.82215751e-01 -1.79437280e-02 9.83094829e-01 6.81096674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017552017999996 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:52.64, Y:15.38, Z:6.82 [[ 7.50858692e-01 -6.42728152e-01 -1.52025482e-01 5.26434412e+01] [ 6.34558095e-01 7.65870543e-01 -1.03818758e-01 1.53791945e+01] [ 1.83159077e-01 -1.85157835e-02 9.82908906e-01 6.81699455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047552018 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:52.66, Y:15.40, Z:6.82 [[ 7.49802521e-01 -6.43826757e-01 -1.52588618e-01 5.26629626e+01] [ 6.35758274e-01 7.64924278e-01 -1.03451757e-01 1.53978183e+01] [ 1.83323748e-01 -1.94410884e-02 9.82860340e-01 6.82276101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.077552018 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:52.68, Y:15.42, Z:6.83 [[ 7.49396411e-01 -6.44624784e-01 -1.51208155e-01 5.26823746e+01] [ 6.36240163e-01 7.64299930e-01 -1.05090779e-01 1.54153663e+01] [ 1.83312503e-01 -1.74500487e-02 9.82899803e-01 6.82778903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:52.70, Y:15.43, Z:6.83 [[ 7.48122648e-01 -6.46039284e-01 -1.51478536e-01 5.27023680e+01] [ 6.37945047e-01 7.63066470e-01 -1.03709594e-01 1.54318281e+01] [ 1.82588664e-01 -1.90474856e-02 9.83004869e-01 6.83005919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.137552017999994 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:52.72, Y:15.45, Z:6.84 [[ 7.44696623e-01 -6.49737981e-01 -1.52536868e-01 5.27238845e+01] [ 6.41084910e-01 7.59946120e-01 -1.07200902e-01 1.54513139e+01] [ 1.85572298e-01 -1.79569346e-02 9.82466524e-01 6.83708426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167552017999995 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:52.74, Y:15.47, Z:6.84 [[ 7.42623891e-01 -6.52132243e-01 -1.52424714e-01 5.27447412e+01] [ 6.43400956e-01 7.57892262e-01 -1.07863475e-01 1.54696016e+01] [ 1.85862761e-01 -1.79682138e-02 9.82411409e-01 6.84225566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197552017999996 meters Centerline goodness : 0.990575 Centerline is valid? [True, True] Translation: X:52.76, Y:15.49, Z:6.85 [[ 7.40216651e-01 -6.55838870e-01 -1.48171136e-01 5.27642259e+01] [ 6.46531870e-01 7.54777015e-01 -1.10942320e-01 1.54923317e+01] [ 1.84596453e-01 -1.36760086e-02 9.82719246e-01 6.84833512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227552018 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:52.79, Y:15.51, Z:6.85 [[ 7.39149233e-01 -6.55720213e-01 -1.53913655e-01 5.27889986e+01] [ 6.47867428e-01 7.54652968e-01 -1.03762675e-01 1.55077674e+01] [ 1.84190680e-01 -2.30195419e-02 9.82620931e-01 6.85170287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.257552018 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:52.81, Y:15.52, Z:6.86 [[ 7.39844566e-01 -6.54822179e-01 -1.54395376e-01 5.28094638e+01] [ 6.47558970e-01 7.55350088e-01 -1.00566518e-01 1.55225865e+01] [ 1.82475748e-01 -2.55765189e-02 9.82877634e-01 6.85538031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.287552018 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:52.83, Y:15.55, Z:6.86 [[ 7.39333202e-01 -6.57064363e-01 -1.47149037e-01 5.28282470e+01] [ 6.47704410e-01 7.53721717e-01 -1.11277004e-01 1.55472390e+01] [ 1.84025579e-01 -1.30382961e-02 9.82834976e-01 6.86438760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31755201799999 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:52.85, Y:15.56, Z:6.87 [[ 7.39889764e-01 -6.55544439e-01 -1.51078211e-01 5.28519763e+01] [ 6.47168800e-01 7.54912647e-01 -1.06204709e-01 1.55643712e+01] [ 1.83672758e-01 -1.91933279e-02 9.82800048e-01 6.86727372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.347552017999995 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:52.87, Y:15.58, Z:6.87 [[ 7.40094205e-01 -6.55097846e-01 -1.52011113e-01 5.28726676e+01] [ 6.46558429e-01 7.55305126e-01 -1.07127791e-01 1.55835538e+01] [ 1.84993959e-01 -1.89994093e-02 9.82555982e-01 6.87337224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377552017999996 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:52.89, Y:15.60, Z:6.88 [[ 7.43190558e-01 -6.51860132e-01 -1.50818310e-01 5.28907483e+01] [ 6.43039571e-01 7.58157449e-01 -1.08154484e-01 1.56048881e+01] [ 1.84845622e-01 -1.66027498e-02 9.82627317e-01 6.87835170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407552018 meters Centerline goodness : 0.990575 Centerline is valid? [True, True] Translation: X:52.91, Y:15.62, Z:6.88 [[ 7.44653313e-01 -6.49771214e-01 -1.52606727e-01 5.29127234e+01] [ 6.41370606e-01 7.59891351e-01 -1.05871998e-01 1.56226320e+01] [ 1.84757109e-01 -1.90395349e-02 9.82599769e-01 6.88238440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.437552018 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:52.93, Y:15.64, Z:6.89 [[ 7.45580227e-01 -6.48107542e-01 -1.55134580e-01 5.29344987e+01] [ 6.40131107e-01 7.61231766e-01 -1.03722539e-01 1.56390895e+01] [ 1.85316730e-01 -2.19729965e-02 9.82433151e-01 6.88736602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467552018 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:52.96, Y:15.66, Z:6.89 [[ 7.46445922e-01 -6.48590213e-01 -1.48826143e-01 5.29550802e+01] [ 6.39094887e-01 7.61041862e-01 -1.11234029e-01 1.56612209e+01] [ 1.85408228e-01 -1.20838403e-02 9.82587284e-01 6.89439445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49755201799999 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:52.98, Y:15.68, Z:6.90 [[ 7.48592393e-01 -6.44073346e-01 -1.57413323e-01 5.29766622e+01] [ 6.36504151e-01 7.64578181e-01 -1.01403502e-01 1.56763315e+01] [ 1.85666085e-01 -2.42843431e-02 9.82312769e-01 6.89652628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.527552017999994 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:53.00, Y:15.70, Z:6.91 [[ 7.48385212e-01 -6.44461383e-01 -1.56809124e-01 5.29956716e+01] [ 6.36034032e-01 7.64362150e-01 -1.05883023e-01 1.56971352e+01] [ 1.88096478e-01 -2.04946510e-02 9.81936701e-01 6.90531935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557552017999996 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:53.01, Y:15.72, Z:6.91 [[ 7.49082610e-01 -6.44652820e-01 -1.52636776e-01 5.30149602e+01] [ 6.35167474e-01 7.64351373e-01 -1.11037191e-01 1.57187597e+01] [ 1.88248568e-01 -1.37738871e-02 9.82024825e-01 6.91184999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587552018 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:53.04, Y:15.73, Z:6.91 [[ 7.51201583e-01 -6.40286993e-01 -1.60401834e-01 5.30352189e+01] [ 6.32734664e-01 7.67715612e-01 -1.01289610e-01 1.57340524e+01] [ 1.87997412e-01 -2.54028855e-02 9.81840958e-01 6.91327989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.617552018 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:53.05, Y:15.76, Z:6.92 [[ 7.51909800e-01 -6.40991642e-01 -1.54147224e-01 5.30531490e+01] [ 6.31847943e-01 7.67392297e-01 -1.08982750e-01 1.57553741e+01] [ 1.88148424e-01 -1.54524087e-02 9.82019039e-01 6.92131560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647552018 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:53.07, Y:15.77, Z:6.93 [[ 7.51782974e-01 -6.40997143e-01 -1.54741792e-01 5.30749610e+01] [ 6.31595983e-01 7.67401342e-01 -1.10370711e-01 1.57746270e+01] [ 1.89496370e-01 -1.47594724e-02 9.81770484e-01 6.92756280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67755201799999 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:53.09, Y:15.79, Z:6.93 [[ 7.52647432e-01 -6.38040839e-01 -1.62559929e-01 5.30942781e+01] [ 6.29981562e-01 7.69622834e-01 -1.03941935e-01 1.57912204e+01] [ 1.91429033e-01 -2.41781272e-02 9.81208614e-01 6.93031349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.707552017999994 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:53.11, Y:15.81, Z:6.94 [[ 7.52057509e-01 -6.38848156e-01 -1.62118898e-01 5.31119093e+01] [ 6.29913975e-01 7.69057795e-01 -1.08436582e-01 1.58115301e+01] [ 1.93953312e-01 -2.05704137e-02 9.80795071e-01 6.93893375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.737552017999995 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:53.13, Y:15.83, Z:6.95 [[ 7.51577957e-01 -6.40190128e-01 -1.59019416e-01 5.31323431e+01] [ 6.30312018e-01 7.68064983e-01 -1.13061670e-01 1.58300514e+01] [ 1.94518210e-01 -1.52571900e-02 9.80780242e-01 6.94637228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767552017999996 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:53.15, Y:15.85, Z:6.95 [[ 7.50283928e-01 -6.41922033e-01 -1.58145918e-01 5.31526267e+01] [ 6.31622822e-01 7.66653229e-01 -1.15305838e-01 1.58532625e+01] [ 1.95260437e-01 -1.33764539e-02 9.80660202e-01 6.95401735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797552018 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:53.17, Y:15.87, Z:6.96 [[ 7.49336154e-01 -6.42207343e-01 -1.61446763e-01 5.31740356e+01] [ 6.32935213e-01 7.66284996e-01 -1.10455062e-01 1.58684571e+01] [ 1.94649284e-01 -1.94173698e-02 9.80680693e-01 6.95748881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827552018 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:53.20, Y:15.89, Z:6.96 [[ 7.48571251e-01 -6.44643523e-01 -1.55163818e-01 5.31952039e+01] [ 6.34349330e-01 7.64388164e-01 -1.15376178e-01 1.58890271e+01] [ 1.92981892e-01 -1.20607746e-02 9.81128191e-01 6.96483239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85755201799999 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:53.22, Y:15.90, Z:6.97 [[ 7.46222256e-01 -6.45501314e-01 -1.62727988e-01 5.32178182e+01] [ 6.36872493e-01 7.63405304e-01 -1.07730075e-01 1.59043290e+01] [ 1.93767314e-01 -2.32463994e-02 9.80772060e-01 6.96873286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.887552017999994 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:53.23, Y:15.92, Z:6.98 [[ 7.45021810e-01 -6.48301877e-01 -1.56994198e-01 5.32345276e+01] [ 6.38187664e-01 7.61244899e-01 -1.14990037e-01 1.59246346e+01] [ 1.94059289e-01 -1.45216744e-02 9.80882314e-01 6.97654413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.917552017999995 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:53.26, Y:15.94, Z:6.98 [[ 7.43554551e-01 -6.49397577e-01 -1.59403313e-01 5.32566221e+01] [ 6.39675587e-01 7.60243198e-01 -1.13337652e-01 1.59426103e+01] [ 1.94786481e-01 -1.76936804e-02 9.80686066e-01 6.98145305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.947552017999996 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:53.28, Y:15.96, Z:6.99 [[ 7.42695814e-01 -6.50076818e-01 -1.60633303e-01 5.32772448e+01] [ 6.40570944e-01 7.59621246e-01 -1.12447446e-01 1.59594196e+01] [ 1.95119948e-01 -1.93827787e-02 9.80587841e-01 6.98586730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.977552018 meters Centerline goodness : 0.990950 Centerline is valid? [True, True] Translation: X:53.30, Y:15.98, Z:6.99 [[ 7.40928171e-01 -6.52110541e-01 -1.60553065e-01 5.32972025e+01] [ 6.42046761e-01 7.57921120e-01 -1.15462254e-01 1.59785684e+01] [ 1.96980712e-01 -1.75333386e-02 9.80250571e-01 6.99210791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007552018 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:53.32, Y:16.00, Z:7.00 [[ 7.40636493e-01 -6.52507488e-01 -1.60285883e-01 5.33178951e+01] [ 6.42372538e-01 7.57587737e-01 -1.15837574e-01 1.59960474e+01] [ 1.97015504e-01 -1.71697146e-02 9.80250015e-01 6.99732697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.037552018 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:53.34, Y:16.01, Z:7.00 [[ 7.40186438e-01 -6.52895151e-01 -1.60785443e-01 5.33391922e+01] [ 6.42815358e-01 7.57240276e-01 -1.15652846e-01 1.60146718e+01] [ 1.97262395e-01 -1.77506842e-02 9.80190012e-01 7.00369644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06755201799999 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:53.36, Y:16.03, Z:7.01 [[ 7.40753201e-01 -6.52936506e-01 -1.57982958e-01 5.33583318e+01] [ 6.42379078e-01 7.57279108e-01 -1.17802686e-01 1.60331346e+01] [ 1.96554868e-01 -1.42222304e-02 9.80389674e-01 7.00947636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.097552017999995 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:53.38, Y:16.05, Z:7.01 [[ 7.41479164e-01 -6.51926702e-01 -1.58745786e-01 5.33786695e+01] [ 6.41729093e-01 7.58115360e-01 -1.15952024e-01 1.60522116e+01] [ 1.95939840e-01 -1.58957793e-02 9.80487075e-01 7.01477213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127552017999996 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:53.40, Y:16.07, Z:7.02 [[ 7.41269656e-01 -6.51739733e-01 -1.60482451e-01 5.33986608e+01] [ 6.41906603e-01 7.58221524e-01 -1.14263004e-01 1.60687234e+01] [ 1.96150988e-01 -1.83150474e-02 9.80402646e-01 7.01962032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.157552018 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:53.42, Y:16.09, Z:7.03 [[ 7.41338450e-01 -6.52734171e-01 -1.56062184e-01 5.34194878e+01] [ 6.42056374e-01 7.57483259e-01 -1.18248569e-01 1.60886761e+01] [ 1.95399373e-01 -1.25385094e-02 9.80643600e-01 7.02606740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187552018 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:53.44, Y:16.11, Z:7.03 [[ 7.40747476e-01 -6.53128165e-01 -1.57215700e-01 5.34425844e+01] [ 6.42965353e-01 7.57092485e-01 -1.15786545e-01 1.61062622e+01] [ 1.94650279e-01 -1.53156576e-02 9.80753129e-01 7.02899637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.217552018 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:53.47, Y:16.12, Z:7.03 [[ 7.39673377e-01 -6.53781817e-01 -1.59538811e-01 5.34656330e+01] [ 6.44111320e-01 7.56450978e-01 -1.13589285e-01 1.61229251e+01] [ 1.94945899e-01 -1.87417840e-02 9.80634918e-01 7.03309348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24755201799999 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:53.48, Y:16.14, Z:7.04 [[ 7.38368013e-01 -6.55100711e-01 -1.60174080e-01 5.34849295e+01] [ 6.45293219e-01 7.55307044e-01 -1.14489869e-01 1.61408876e+01] [ 1.95983006e-01 -1.88235907e-02 9.80426608e-01 7.03895572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.277552017999994 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:53.51, Y:16.16, Z:7.04 [[ 7.37379600e-01 -6.55708385e-01 -1.62227739e-01 5.35053187e+01] [ 6.46248491e-01 7.54708462e-01 -1.13039931e-01 1.61577205e+01] [ 1.96555878e-01 -2.14860920e-02 9.80257178e-01 7.04453077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307552017999996 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:53.53, Y:16.18, Z:7.05 [[ 7.35770681e-01 -6.57951055e-01 -1.60442868e-01 5.35251398e+01] [ 6.47611458e-01 7.52858277e-01 -1.17489635e-01 1.61772168e+01] [ 1.98093170e-01 -1.74592111e-02 9.80027689e-01 7.05279842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.337552018 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:53.55, Y:16.19, Z:7.06 [[ 7.34171505e-01 -6.58349009e-01 -1.66038502e-01 5.35472308e+01] [ 6.48976181e-01 7.52313442e-01 -1.13377253e-01 1.61925078e+01] [ 1.99554799e-01 -2.45166845e-02 9.79579917e-01 7.05768403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.367552018 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:53.56, Y:16.21, Z:7.07 [[ 7.33032085e-01 -6.61561166e-01 -1.58116371e-01 5.35640884e+01] [ 6.50269156e-01 7.49777004e-01 -1.22411070e-01 1.62128198e+01] [ 1.99534429e-01 -1.30869576e-02 9.79803421e-01 7.06595698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.397552018 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:53.59, Y:16.23, Z:7.07 [[ 7.32435860e-01 -6.61567097e-01 -1.60831238e-01 5.35863939e+01] [ 6.51454132e-01 7.49639905e-01 -1.16822628e-01 1.62276723e+01] [ 1.97851521e-01 -1.92090928e-02 9.80043768e-01 7.06794967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42755201799999 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:53.61, Y:16.25, Z:7.07 [[ 7.30658760e-01 -6.64025700e-01 -1.58769163e-01 5.36068794e+01] [ 6.53071438e-01 7.47554789e-01 -1.21076566e-01 1.62477562e+01] [ 1.99086600e-01 -1.52219520e-02 9.79863673e-01 7.07480463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.457552017999994 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:53.63, Y:16.27, Z:7.08 [[ 7.29614507e-01 -6.64763549e-01 -1.60474591e-01 5.36283937e+01] [ 6.54170609e-01 7.46842503e-01 -1.19528619e-01 1.62656116e+01] [ 1.99307514e-01 -1.77679463e-02 9.79775900e-01 7.07965960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487552017999995 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:53.65, Y:16.28, Z:7.08 [[ 7.29319954e-01 -6.64297407e-01 -1.63711210e-01 5.36496817e+01] [ 6.54452945e-01 7.47131288e-01 -1.16130020e-01 1.62814311e+01] [ 1.99458639e-01 -2.24453425e-02 9.79649150e-01 7.08397391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517552017999996 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:53.67, Y:16.30, Z:7.09 [[ 7.28314421e-01 -6.65750042e-01 -1.62280575e-01 5.36697046e+01] [ 6.55338579e-01 7.45913891e-01 -1.18927769e-01 1.63007718e+01] [ 2.00223502e-01 -1.97319116e-02 9.79551530e-01 7.09148852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547552018 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:53.69, Y:16.31, Z:7.09 [[ 7.29387058e-01 -6.64401854e-01 -1.62986800e-01 5.36915369e+01] [ 6.55409841e-01 7.46948643e-01 -1.11828733e-01 1.63145733e+01] [ 1.96041986e-01 -2.52567220e-02 9.80270186e-01 7.09285878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.577552018 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:53.71, Y:16.34, Z:7.10 [[ 7.27745449e-01 -6.67943014e-01 -1.55687802e-01 5.37099368e+01] [ 6.56402746e-01 7.44118616e-01 -1.24189051e-01 1.63361661e+01] [ 1.98801401e-01 -1.18158836e-02 9.79968565e-01 7.10442424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60755201799999 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:53.73, Y:16.35, Z:7.11 [[ 7.27299883e-01 -6.68329563e-01 -1.56110457e-01 5.37341065e+01] [ 6.57170173e-01 7.43741234e-01 -1.22377862e-01 1.63533465e+01] [ 1.97894527e-01 -1.35857316e-02 9.80129167e-01 7.10849508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.637552017999994 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:53.76, Y:16.37, Z:7.11 [[ 7.27203897e-01 -6.66641808e-01 -1.63594595e-01 5.37560798e+01] [ 6.57346677e-01 7.44963400e-01 -1.13687635e-01 1.63683349e+01] [ 1.97660916e-01 -2.48642726e-02 9.79955065e-01 7.11145541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667552017999995 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:53.77, Y:16.39, Z:7.12 [[ 7.27171731e-01 -6.67720446e-01 -1.59281758e-01 5.37742418e+01] [ 6.57166776e-01 7.44201005e-01 -1.19568777e-01 1.63884570e+01] [ 1.98376162e-01 -1.77276442e-02 9.79965627e-01 7.12046352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697552017999996 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:53.80, Y:16.40, Z:7.12 [[ 7.30201315e-01 -6.63547476e-01 -1.62821330e-01 5.37976552e+01] [ 6.55920655e-01 7.47521063e-01 -1.04787191e-01 1.64005974e+01] [ 1.91243650e-01 -3.02821282e-02 9.81075359e-01 7.11837130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727552018 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:53.81, Y:16.43, Z:7.14 [[ 7.28203088e-01 -6.68496265e-01 -1.51105944e-01 5.38115120e+01] [ 6.55701239e-01 7.43703396e-01 -1.30234959e-01 1.64266696e+01] [ 1.99439587e-01 -4.24285573e-03 9.79900938e-01 7.13533592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.757552018 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:53.84, Y:16.44, Z:7.14 [[ 7.28111609e-01 -6.67043418e-01 -1.57818132e-01 5.38375620e+01] [ 6.55851101e-01 7.44881626e-01 -1.22518145e-01 1.64427936e+01] [ 1.99280749e-01 -1.42983121e-02 9.79838120e-01 7.13594848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787552018 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:53.86, Y:16.46, Z:7.14 [[ 7.27617833e-01 -6.66876445e-01 -1.60773434e-01 5.38607054e+01] [ 6.56410429e-01 7.44930695e-01 -1.19178892e-01 1.64588013e+01] [ 1.99242662e-01 -1.88166722e-02 9.79769511e-01 7.13980676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81755201799999 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:53.88, Y:16.47, Z:7.14 [[ 7.27200118e-01 -6.66634103e-01 -1.63642785e-01 5.38831936e+01] [ 6.56664520e-01 7.45049547e-01 -1.17016586e-01 1.64748804e+01] [ 1.99929230e-01 -2.23639356e-02 9.79555081e-01 7.14422594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.847552017999995 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:53.90, Y:16.49, Z:7.15 [[ 7.26828626e-01 -6.67967475e-01 -1.59811141e-01 5.39034154e+01] [ 6.56924249e-01 7.44012482e-01 -1.22049000e-01 1.64941766e+01] [ 2.00426247e-01 -1.62751070e-02 9.79573601e-01 7.15124025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877552017999996 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:53.92, Y:16.51, Z:7.16 [[ 7.26600098e-01 -6.67686209e-01 -1.62010564e-01 5.39246908e+01] [ 6.57107863e-01 7.44192446e-01 -1.19945235e-01 1.65106162e+01] [ 2.00652817e-01 -1.93061958e-02 9.79472163e-01 7.15605540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907552018 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:53.95, Y:16.53, Z:7.16 [[ 7.25805972e-01 -6.67996873e-01 -1.64273757e-01 5.39453018e+01] [ 6.57583463e-01 7.43857687e-01 -1.19414109e-01 1.65284192e+01] [ 2.01964548e-01 -2.13522329e-02 9.79160050e-01 7.16280155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.937552018 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:53.97, Y:16.55, Z:7.17 [[ 7.25635339e-01 -6.69151956e-01 -1.60277930e-01 5.39657440e+01] [ 6.57642681e-01 7.42972747e-01 -1.24489364e-01 1.65476640e+01] [ 2.02384435e-01 -1.50717262e-02 9.79190167e-01 7.16921867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967552018 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:53.99, Y:16.56, Z:7.17 [[ 7.26147658e-01 -6.68220406e-01 -1.61836547e-01 5.39892944e+01] [ 6.56986003e-01 7.43771866e-01 -1.23177933e-01 1.65629842e+01] [ 2.02679479e-01 -1.68789785e-02 9.79099652e-01 7.17250550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99755201799999 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:54.01, Y:16.58, Z:7.18 [[ 7.25157294e-01 -6.68636772e-01 -1.64534998e-01 5.40118753e+01] [ 6.58081690e-01 7.43289472e-01 -1.20205037e-01 1.65800448e+01] [ 2.02670640e-01 -2.11099099e-02 9.79019399e-01 7.17705328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.027552017999994 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:54.03, Y:16.60, Z:7.19 [[ 7.25677950e-01 -6.69541988e-01 -1.58445697e-01 5.40307576e+01] [ 6.57547731e-01 7.42673952e-01 -1.26753237e-01 1.66020492e+01] [ 2.02540106e-01 -1.22035791e-02 9.79197926e-01 7.18619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057552017999996 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:54.05, Y:16.62, Z:7.19 [[ 7.25454448e-01 -6.68440306e-01 -1.64022564e-01 5.40544673e+01] [ 6.57746106e-01 7.43490064e-01 -1.20799767e-01 1.66178479e+01] [ 2.02696580e-01 -2.02504744e-02 9.79032183e-01 7.18961719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087552018 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:54.07, Y:16.64, Z:7.20 [[ 7.25212394e-01 -6.68910507e-01 -1.63173887e-01 5.40742340e+01] [ 6.58167746e-01 7.43083410e-01 -1.21005226e-01 1.66356233e+01] [ 2.02193475e-01 -1.96412998e-02 9.79148619e-01 7.19509523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.117552018 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:54.09, Y:16.65, Z:7.20 [[ 7.25255354e-01 -6.69780972e-01 -1.59367879e-01 5.40947049e+01] [ 6.58073738e-01 7.42428789e-01 -1.25452975e-01 1.66545558e+01] [ 2.02345317e-01 -1.38903743e-02 9.79215722e-01 7.20159286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.147552018 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:54.12, Y:16.67, Z:7.20 [[ 7.24446371e-01 -6.69545485e-01 -1.63970423e-01 5.41184155e+01] [ 6.59034087e-01 7.42471377e-01 -1.20043020e-01 1.66686963e+01] [ 2.02117607e-01 -2.10973678e-02 9.79133992e-01 7.20285158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17755201799999 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:54.14, Y:16.69, Z:7.21 [[ 7.23114706e-01 -6.71268520e-01 -1.62799556e-01 5.41397584e+01] [ 6.60140553e-01 7.40984656e-01 -1.23110482e-01 1.66872771e+01] [ 2.03272164e-01 -1.84475886e-02 9.78948474e-01 7.21031504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.207552017999994 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:54.16, Y:16.70, Z:7.21 [[ 7.22160110e-01 -6.71031323e-01 -1.67933732e-01 5.41608409e+01] [ 6.61062477e-01 7.40981918e-01 -1.18077089e-01 1.67026596e+01] [ 2.03669284e-01 -2.57441250e-02 9.78701212e-01 7.21498704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237552017999995 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:54.18, Y:16.72, Z:7.22 [[ 7.21913813e-01 -6.72554317e-01 -1.62822411e-01 5.41787318e+01] [ 6.61333864e-01 7.39819693e-01 -1.23710716e-01 1.67225485e+01] [ 2.03661403e-01 -1.83714993e-02 9.78869001e-01 7.22366301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267552017999996 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:54.20, Y:16.74, Z:7.23 [[ 7.21467772e-01 -6.72277700e-01 -1.65912468e-01 5.42004876e+01] [ 6.61565713e-01 7.39970131e-01 -1.21552507e-01 1.67391337e+01] [ 2.04487311e-01 -2.20657838e-02 9.78620478e-01 7.22877912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297552018 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:54.22, Y:16.76, Z:7.23 [[ 7.21355832e-01 -6.72313494e-01 -1.66253810e-01 5.42210152e+01] [ 6.61506453e-01 7.39941428e-01 -1.22048745e-01 1.67565056e+01] [ 2.05073100e-01 -2.19373940e-02 9.78500779e-01 7.23484368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327552018 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:54.24, Y:16.77, Z:7.24 [[ 7.22083677e-01 -6.71651327e-01 -1.65769895e-01 5.42416806e+01] [ 6.60652137e-01 7.40574763e-01 -1.22832301e-01 1.67733597e+01] [ 2.05265479e-01 -2.08210364e-02 9.78484833e-01 7.24093670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35755201799999 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:54.26, Y:16.79, Z:7.25 [[ 7.22024281e-01 -6.71757476e-01 -1.65598401e-01 5.42617403e+01] [ 6.60602307e-01 7.40496396e-01 -1.23570545e-01 1.67912656e+01] [ 2.05634456e-01 -2.01737520e-02 9.78420917e-01 7.24795442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.387552017999994 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:54.28, Y:16.81, Z:7.26 [[ 7.22982996e-01 -6.72465233e-01 -1.58385914e-01 5.42815501e+01] [ 6.59816148e-01 7.40056299e-01 -1.30227973e-01 1.68122167e+01] [ 2.04788278e-01 -1.03529739e-02 9.78751540e-01 7.25599143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417552017999995 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:54.31, Y:16.82, Z:7.26 [[ 7.23816545e-01 -6.69348645e-01 -1.67517164e-01 5.43060795e+01] [ 6.58780415e-01 7.42592266e-01 -1.20685917e-01 1.68244299e+01] [ 2.05177905e-01 -2.30025635e-02 9.78454347e-01 7.25671088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447552017999996 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:54.33, Y:16.84, Z:7.26 [[ 7.24473789e-01 -6.67651196e-01 -1.71404811e-01 5.43261264e+01] [ 6.57499579e-01 7.44002272e-01 -1.18974463e-01 1.68413942e+01] [ 2.06959011e-01 -2.65047113e-02 9.77990526e-01 7.26297446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477552018 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:54.34, Y:16.86, Z:7.27 [[ 7.25036322e-01 -6.68605229e-01 -1.65194976e-01 5.43427991e+01] [ 6.56683484e-01 7.43433160e-01 -1.26783034e-01 1.68611797e+01] [ 2.07579223e-01 -1.65585082e-02 9.78078055e-01 7.27293365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.507552018 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:54.36, Y:16.88, Z:7.28 [[ 7.24818145e-01 -6.68828163e-01 -1.65249946e-01 5.43630909e+01] [ 6.56733885e-01 7.43244413e-01 -1.27625810e-01 1.68793554e+01] [ 2.08180835e-01 -1.60197364e-02 9.77959154e-01 7.27920088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.537552018 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:54.38, Y:16.90, Z:7.28 [[ 7.24782020e-01 -6.68039918e-01 -1.68563610e-01 5.43849405e+01] [ 6.56261440e-01 7.43881445e-01 -1.26338108e-01 1.68954049e+01] [ 2.09790241e-01 -1.90542080e-02 9.77560736e-01 7.28414518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56755201799999 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:54.41, Y:16.91, Z:7.29 [[ 7.24611804e-01 -6.68621013e-01 -1.66984057e-01 5.44057307e+01] [ 6.56204413e-01 7.43432794e-01 -1.29241826e-01 1.69123820e+01] [ 2.10555225e-01 -1.59255225e-02 9.77452237e-01 7.29045355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.597552017999995 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:54.43, Y:16.93, Z:7.30 [[ 7.24252092e-01 -6.68676639e-01 -1.68316546e-01 5.44270284e+01] [ 6.56283709e-01 7.43362215e-01 -1.29245155e-01 1.69271553e+01] [ 2.11543376e-01 -1.68573332e-02 9.77223224e-01 7.29540671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627552017999996 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:54.45, Y:16.95, Z:7.30 [[ 7.23896386e-01 -6.69389003e-01 -1.67010136e-01 5.44477572e+01] [ 6.56654449e-01 7.42761117e-01 -1.30808472e-01 1.69452627e+01] [ 2.11610388e-01 -1.49761687e-02 9.77239356e-01 7.30188087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657552018 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:54.47, Y:16.96, Z:7.31 [[ 7.23664706e-01 -6.69641250e-01 -1.67002959e-01 5.44684820e+01] [ 6.57062761e-01 7.42521484e-01 -1.30116767e-01 1.69620148e+01] [ 2.11134840e-01 -1.55705139e-02 9.77332921e-01 7.30838525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.687552018 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:54.49, Y:16.98, Z:7.32 [[ 7.23846275e-01 -6.70826202e-01 -1.61365352e-01 5.44886913e+01] [ 6.57441977e-01 7.41555792e-01 -1.33660224e-01 1.69820395e+01] [ 2.09324191e-01 -9.33890091e-03 9.77801702e-01 7.31640722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.717552018 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:54.51, Y:17.00, Z:7.32 [[ 7.23916962e-01 -6.68857745e-01 -1.69037125e-01 5.45102716e+01] [ 6.57505008e-01 7.43093264e-01 -1.24497253e-01 1.69957188e+01] [ 2.08881301e-01 -2.10170834e-02 9.77715135e-01 7.32015271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74755201799999 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:54.53, Y:17.02, Z:7.33 [[ 7.24657105e-01 -6.70626097e-01 -1.58533022e-01 5.45292417e+01] [ 6.57056380e-01 7.41764616e-01 -1.34395564e-01 1.70168645e+01] [ 2.07723359e-01 -6.77443312e-03 9.78164155e-01 7.32915150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.777552017999994 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:54.55, Y:17.03, Z:7.33 [[ 7.24897934e-01 -6.68959277e-01 -1.64366879e-01 5.45530721e+01] [ 6.56964710e-01 7.43130109e-01 -1.27102365e-01 1.70304056e+01] [ 2.07172283e-01 -1.58469966e-02 9.78176118e-01 7.33052929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807552017999996 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:54.57, Y:17.05, Z:7.34 [[ 7.25110514e-01 -6.69185223e-01 -1.62498862e-01 5.45745518e+01] [ 6.56657550e-01 7.42985475e-01 -1.29512338e-01 1.70474940e+01] [ 2.07402037e-01 -1.27953468e-02 9.78172109e-01 7.33674483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837552018 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:54.60, Y:17.06, Z:7.34 [[ 7.26071945e-01 -6.67523339e-01 -1.65021581e-01 5.45961700e+01] [ 6.55557601e-01 7.44415204e-01 -1.26847291e-01 1.70621495e+01] [ 2.07518101e-01 -1.60808929e-02 9.78098994e-01 7.34124139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867552018 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:54.61, Y:17.08, Z:7.35 [[ 7.27105228e-01 -6.68700693e-01 -1.55426412e-01 5.46149142e+01] [ 6.54822091e-01 7.43524793e-01 -1.35568842e-01 1.70843813e+01] [ 2.06218369e-01 -3.20383442e-03 9.78500751e-01 7.35047873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.897552018 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:54.64, Y:17.10, Z:7.35 [[ 7.26876150e-01 -6.65649169e-01 -1.69003688e-01 5.46400509e+01] [ 6.54931036e-01 7.45920878e-01 -1.21108969e-01 1.70958442e+01] [ 2.06679463e-01 -2.26545393e-02 9.78146396e-01 7.35117923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92755201799999 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:54.66, Y:17.11, Z:7.36 [[ 7.29520561e-01 -6.65221275e-01 -1.58998134e-01 5.46559568e+01] [ 6.52335614e-01 7.46598289e-01 -1.30572747e-01 1.71147249e+01] [ 2.05567504e-01 -8.46464179e-03 9.78606331e-01 7.36009028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.957552017999994 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:54.68, Y:17.13, Z:7.37 [[ 7.29887302e-01 -6.65614030e-01 -1.55635761e-01 5.46802082e+01] [ 6.52423631e-01 7.46277862e-01 -1.31957411e-01 1.71333900e+01] [ 2.03980227e-01 -5.22640960e-03 9.78961057e-01 7.36526534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987552017999995 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:54.70, Y:17.15, Z:7.37 [[ 7.28795803e-01 -6.64439955e-01 -1.65457616e-01 5.47046895e+01] [ 6.52981065e-01 7.47134765e-01 -1.24118374e-01 1.71463788e+01] [ 2.06088344e-01 -1.75837406e-02 9.78375391e-01 7.36804806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017552017999996 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:54.72, Y:17.17, Z:7.38 [[ 7.30034938e-01 -6.65452292e-01 -1.55634944e-01 5.47238631e+01] [ 6.52127341e-01 7.46425574e-01 -1.32585043e-01 1.71674591e+01] [ 2.04398923e-01 -4.70208868e-03 9.78876382e-01 7.37771803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047552018 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:54.75, Y:17.18, Z:7.38 [[ 7.28998235e-01 -6.63196178e-01 -1.69506348e-01 5.47486893e+01] [ 6.52852746e-01 7.48065516e-01 -1.19085164e-01 1.71795084e+01] [ 2.05778679e-01 -2.38498098e-02 9.78307887e-01 7.38001001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.077552018 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:54.77, Y:17.20, Z:7.39 [[ 7.28979541e-01 -6.65944205e-01 -1.58452341e-01 5.47664902e+01] [ 6.52993456e-01 7.45958492e-01 -1.30940727e-01 1.72009831e+01] [ 2.05398088e-01 -8.01523104e-03 9.78645687e-01 7.39166790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10755201799999 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:54.79, Y:17.22, Z:7.39 [[ 7.28960184e-01 -6.65372950e-01 -1.60921994e-01 5.47892312e+01] [ 6.53022694e-01 7.46419741e-01 -1.28136378e-01 1.72157060e+01] [ 2.05373833e-01 -1.16793967e-02 9.78613908e-01 7.39479565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.137552017999994 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:54.81, Y:17.23, Z:7.40 [[ 7.28709088e-01 -6.66215610e-01 -1.58555436e-01 5.48102617e+01] [ 6.53354482e-01 7.45711181e-01 -1.30547908e-01 1.72328368e+01] [ 2.05209616e-01 -8.46145775e-03 9.78681469e-01 7.40050654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167552017999995 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:54.83, Y:17.25, Z:7.41 [[ 7.27638393e-01 -6.66747135e-01 -1.61216089e-01 5.48334496e+01] [ 6.54175372e-01 7.45197823e-01 -1.29363001e-01 1.72494715e+01] [ 2.06390289e-01 -1.13341088e-02 9.78404102e-01 7.40587664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197552017999996 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:54.85, Y:17.26, Z:7.41 [[ 7.26609174e-01 -6.67770669e-01 -1.61621291e-01 5.48544866e+01] [ 6.55277828e-01 7.44269045e-01 -1.29129998e-01 1.72647652e+01] [ 2.06518949e-01 -1.20798070e-02 9.78368030e-01 7.41118912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227552018 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:54.88, Y:17.28, Z:7.42 [[ 7.25970604e-01 -6.68608132e-01 -1.61027475e-01 5.48754806e+01] [ 6.55977900e-01 7.43528023e-01 -1.29842498e-01 1.72819778e+01] [ 2.06542190e-01 -1.13686285e-02 9.78371646e-01 7.41721066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.257552018 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:54.90, Y:17.30, Z:7.42 [[ 7.25175304e-01 -6.70413455e-01 -1.57055971e-01 5.48970261e+01] [ 6.56788324e-01 7.41966963e-01 -1.34588721e-01 1.73020942e+01] [ 2.06760431e-01 -5.55211135e-03 9.78375847e-01 7.42451023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287552018 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:54.92, Y:17.32, Z:7.43 [[ 7.23287399e-01 -6.71388346e-01 -1.61533365e-01 5.49213668e+01] [ 6.58614736e-01 7.41012844e-01 -1.30868618e-01 1.73166478e+01] [ 2.07561963e-01 -1.17326322e-02 9.78151510e-01 7.42612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31755201799999 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:54.94, Y:17.33, Z:7.43 [[ 7.21527788e-01 -6.72007222e-01 -1.66745150e-01 5.49437205e+01] [ 6.60205043e-01 7.40310456e-01 -1.26766435e-01 1.73321295e+01] [ 2.08631138e-01 -1.86204832e-02 9.77817123e-01 7.43053477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.347552017999995 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:54.96, Y:17.35, Z:7.44 [[ 7.20526424e-01 -6.73654326e-01 -1.64412655e-01 5.49641077e+01] [ 6.60981318e-01 7.38906383e-01 -1.30847448e-01 1.73517477e+01] [ 2.09631509e-01 -1.43946497e-02 9.77674498e-01 7.43869764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377552017999996 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:54.99, Y:17.37, Z:7.45 [[ 7.20109011e-01 -6.74697849e-01 -1.61943894e-01 5.49852162e+01] [ 6.61482105e-01 7.38010606e-01 -1.33348302e-01 1.73709598e+01] [ 2.09486124e-01 -1.10976746e-02 9.77748641e-01 7.44588857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407552018 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:55.01, Y:17.39, Z:7.45 [[ 7.19159933e-01 -6.74711230e-01 -1.66053446e-01 5.50071172e+01] [ 6.62349173e-01 7.37891814e-01 -1.29650469e-01 1.73871595e+01] [ 2.10006106e-01 -1.67459403e-02 9.77556653e-01 7.45105313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.437552018 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:55.03, Y:17.40, Z:7.46 [[ 7.19661617e-01 -6.74689624e-01 -1.63954467e-01 5.50267870e+01] [ 6.61974231e-01 7.37965722e-01 -1.31136229e-01 1.74049544e+01] [ 2.09469030e-01 -1.41599213e-02 9.77712750e-01 7.45678402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467552018 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:55.05, Y:17.43, Z:7.46 [[ 7.19173311e-01 -6.75627796e-01 -1.62224629e-01 5.50477324e+01] [ 6.61967080e-01 7.37176263e-01 -1.35538709e-01 1.74250296e+01] [ 2.11161864e-01 -9.91154196e-03 9.77400853e-01 7.46439293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49755201799999 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:55.07, Y:17.44, Z:7.47 [[ 7.19268872e-01 -6.74616265e-01 -1.65967420e-01 5.50698958e+01] [ 6.61698568e-01 7.38021683e-01 -1.32208170e-01 1.74413801e+01] [ 2.11677336e-01 -1.47271826e-02 9.77228640e-01 7.46838038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.527552017999994 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:55.09, Y:17.46, Z:7.47 [[ 7.19091526e-01 -6.74654210e-01 -1.66580534e-01 5.50899806e+01] [ 6.61778801e-01 7.37975868e-01 -1.32062244e-01 1.74589815e+01] [ 2.12028763e-01 -1.52746258e-02 9.77144047e-01 7.47480098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557552017999996 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:55.11, Y:17.48, Z:7.48 [[ 7.20450945e-01 -6.74700942e-01 -1.60402851e-01 5.51087855e+01] [ 6.60736278e-01 7.38053593e-01 -1.36764267e-01 1.74793472e+01] [ 2.10660881e-01 -7.45203769e-03 9.77530798e-01 7.48270245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587552018 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:55.13, Y:17.50, Z:7.49 [[ 7.20450438e-01 -6.72821750e-01 -1.68113234e-01 5.51322241e+01] [ 6.60544774e-01 7.39586481e-01 -1.29199221e-01 1.74950840e+01] [ 2.11262321e-01 -1.79646833e-02 9.77264295e-01 7.48563762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.617552018 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:55.15, Y:17.51, Z:7.49 [[ 7.21076834e-01 -6.71807433e-01 -1.69478533e-01 5.51514456e+01] [ 6.59729944e-01 7.40474012e-01 -1.28275635e-01 1.75119606e+01] [ 2.11670974e-01 -1.93134747e-02 9.77150136e-01 7.49213338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647552018 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:55.17, Y:17.53, Z:7.50 [[ 7.24699365e-01 -6.69614761e-01 -1.62563536e-01 5.51709306e+01] [ 6.57921624e-01 7.42537795e-01 -1.25605568e-01 1.75300309e+01] [ 2.04816912e-01 -1.59277902e-02 9.78670700e-01 7.49708570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67755201799999 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:55.19, Y:17.56, Z:7.51 [[ 7.22845525e-01 -6.73850737e-01 -1.53034412e-01 5.51868083e+01] [ 6.57806925e-01 7.38850227e-01 -1.46254541e-01 1.75564122e+01] [ 2.11623240e-01 5.05234462e-03 9.77338262e-01 7.51269911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.707552017999994 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:55.21, Y:17.57, Z:7.51 [[ 7.22505229e-01 -6.71220915e-01 -1.65676424e-01 5.52143708e+01] [ 6.58246654e-01 7.41131596e-01 -1.32042800e-01 1.75702854e+01] [ 2.11417921e-01 -1.36543382e-02 9.77300374e-01 7.51222076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737552017999995 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:55.24, Y:17.58, Z:7.51 [[ 7.25352301e-01 -6.67071351e-01 -1.69940733e-01 5.52361991e+01] [ 6.57682680e-01 7.44455842e-01 -1.15060816e-01 1.75804470e+01] [ 2.03267145e-01 -2.83074492e-02 9.78714032e-01 7.51075836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767552017999996 meters Centerline goodness : 0.990475 Centerline is valid? [True, True] Translation: X:55.25, Y:17.60, Z:7.52 [[ 7.24241105e-01 -6.71149399e-01 -1.58219169e-01 5.52502650e+01] [ 6.58435606e-01 7.41257999e-01 -1.30380721e-01 1.76019889e+01] [ 2.04786167e-01 -9.75005639e-03 9.78758173e-01 7.52358461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797552018 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:55.27, Y:17.63, Z:7.54 [[ 7.19471460e-01 -6.76919966e-01 -1.55371099e-01 5.52711877e+01] [ 6.61151093e-01 7.36054444e-01 -1.45269019e-01 1.76257878e+01] [ 2.12697087e-01 1.79314066e-03 9.77116541e-01 7.53523067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.827552018 meters Centerline goodness : 0.990535 Centerline is valid? [True, True] Translation: X:55.30, Y:17.63, Z:7.53 [[ 7.21573784e-01 -6.70190319e-01 -1.73713013e-01 5.53008991e+01] [ 6.60974045e-01 7.41512445e-01 -1.15206796e-01 1.76311717e+01] [ 2.06020841e-01 -3.16895891e-02 9.78034347e-01 7.52703256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85755201799999 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:55.32, Y:17.65, Z:7.53 [[ 7.18623701e-01 -6.73560633e-01 -1.72904745e-01 5.53186183e+01] [ 6.63734616e-01 7.38536175e-01 -1.18408939e-01 1.76486858e+01] [ 2.07452009e-01 -2.96713948e-02 9.77795108e-01 7.53493043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.887552017999994 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:55.33, Y:17.68, Z:7.56 [[ 7.16287656e-01 -6.81046352e-01 -1.52012697e-01 5.53292420e+01] [ 6.65262646e-01 7.32232808e-01 -1.45810589e-01 1.76782217e+01] [ 2.10612454e-01 3.31395625e-03 9.77564019e-01 7.55640506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917552017999995 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:55.35, Y:17.70, Z:7.56 [[ 7.11995058e-01 -6.83990786e-01 -1.58806932e-01 5.53527703e+01] [ 6.67442662e-01 7.29490489e-01 -1.49545710e-01 1.76982868e+01] [ 2.18136034e-01 4.81284555e-04 9.75918254e-01 7.56398220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947552017999996 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:55.38, Y:17.71, Z:7.56 [[ 7.10802685e-01 -6.81734616e-01 -1.73197735e-01 5.53793348e+01] [ 6.68799603e-01 7.31305586e-01 -1.33788008e-01 1.77097523e+01] [ 2.17868388e-01 -2.07377011e-02 9.75757815e-01 7.56205689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977552018 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:55.40, Y:17.72, Z:7.56 [[ 7.11963101e-01 -6.81247154e-01 -1.70325741e-01 5.54023167e+01] [ 6.69864422e-01 7.31655223e-01 -1.26341960e-01 1.77224453e+01] [ 2.10689819e-01 -2.41443406e-02 9.77254752e-01 7.56280000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.007552018 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:55.42, Y:17.75, Z:7.58 [[ 7.07197650e-01 -6.88256505e-01 -1.61785251e-01 5.54192563e+01] [ 6.72747385e-01 7.25442554e-01 -1.45409960e-01 1.77469601e+01] [ 2.17445257e-01 -6.00702271e-03 9.76054033e-01 7.57765967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.037552018 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:55.45, Y:17.75, Z:7.57 [[ 7.08267856e-01 -6.82606582e-01 -1.80013605e-01 5.54477275e+01] [ 6.73647131e-01 7.29768361e-01 -1.16780489e-01 1.77520545e+01] [ 2.11083364e-01 -3.85537823e-02 9.76707438e-01 7.56941027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06755201799999 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:55.46, Y:17.78, Z:7.59 [[ 7.05146063e-01 -6.91473114e-01 -1.56952100e-01 5.54551676e+01] [ 6.74799814e-01 7.22402010e-01 -1.50932259e-01 1.77837846e+01] [ 2.17748112e-01 5.18040348e-04 9.76004862e-01 7.59375948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.097552017999995 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:55.48, Y:17.80, Z:7.59 [[ 7.05586292e-01 -6.89243199e-01 -1.64595861e-01 5.54817812e+01] [ 6.75742557e-01 7.24377496e-01 -1.36562223e-01 1.77980084e+01] [ 2.13354121e-01 -1.48679951e-02 9.76861793e-01 7.59288055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127552017999996 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:55.50, Y:17.82, Z:7.61 [[ 7.02853145e-01 -6.93957522e-01 -1.56270324e-01 5.55001111e+01] [ 6.76495440e-01 7.20009552e-01 -1.54726095e-01 1.78246186e+01] [ 2.19889464e-01 3.03356107e-03 9.75520077e-01 7.60771621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157552018 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:55.53, Y:17.84, Z:7.60 [[ 7.02914975e-01 -6.89268910e-01 -1.75553148e-01 5.55289229e+01] [ 6.76591560e-01 7.24085439e-01 -1.33881061e-01 1.78351312e+01] [ 2.19395531e-01 -2.46707754e-02 9.75324025e-01 7.60453586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.187552018 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:55.55, Y:17.86, Z:7.61 [[ 7.03044092e-01 -6.90602790e-01 -1.69696173e-01 5.55473708e+01] [ 6.76447906e-01 7.23050050e-01 -1.40060187e-01 1.78562346e+01] [ 2.19424782e-01 -1.63221339e-02 9.75492877e-01 7.61394678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.217552018 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:55.57, Y:17.87, Z:7.62 [[ 7.04440689e-01 -6.88567982e-01 -1.72155309e-01 5.55678701e+01] [ 6.75521606e-01 7.24863405e-01 -1.35068886e-01 1.78712216e+01] [ 2.17793194e-01 -2.11466121e-02 9.75765825e-01 7.61784079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24755201799999 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:55.59, Y:17.89, Z:7.63 [[ 7.04481688e-01 -6.89846682e-01 -1.66784611e-01 5.55866747e+01] [ 6.75595033e-01 7.23821714e-01 -1.40190862e-01 1.78943640e+01] [ 2.17432524e-01 -1.39169593e-02 9.75976135e-01 7.62824133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.277552017999994 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:55.61, Y:17.91, Z:7.63 [[ 7.05302638e-01 -6.87666771e-01 -1.72228340e-01 5.56086157e+01] [ 6.75085228e-01 7.25675998e-01 -1.32869412e-01 1.79093387e+01] [ 2.16351852e-01 -2.25556613e-02 9.76054875e-01 7.63040217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.307552017999996 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:55.63, Y:17.93, Z:7.64 [[ 7.04764066e-01 -6.89867986e-01 -1.65498559e-01 5.56272149e+01] [ 6.75013213e-01 7.23850704e-01 -1.42819192e-01 1.79317942e+01] [ 2.18322636e-01 -1.10598796e-02 9.75813971e-01 7.64137650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337552018 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:55.65, Y:17.95, Z:7.64 [[ 7.05638328e-01 -6.88155344e-01 -1.68869098e-01 5.56504935e+01] [ 6.73844807e-01 7.25413836e-01 -1.40384978e-01 1.79498450e+01] [ 2.19106654e-01 -1.47305435e-02 9.75589712e-01 7.64381416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.367552018 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:55.67, Y:17.97, Z:7.65 [[ 7.05819402e-01 -6.87850937e-01 -1.69351885e-01 5.56723826e+01] [ 6.73454374e-01 7.25703153e-01 -1.40762706e-01 1.79684408e+01] [ 2.19722956e-01 -1.46977189e-02 9.75451588e-01 7.64939429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.397552018 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:55.70, Y:17.98, Z:7.65 [[ 7.07867019e-01 -6.82561092e-01 -1.81754339e-01 5.56958678e+01] [ 6.72877820e-01 7.29888108e-01 -1.20410920e-01 1.79770412e+01] [ 2.14848139e-01 -3.70635443e-02 9.75943938e-01 7.64580948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42755201799999 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:55.71, Y:18.01, Z:7.67 [[ 7.04427842e-01 -6.91293134e-01 -1.60919914e-01 5.57074493e+01] [ 6.73999726e-01 7.22574394e-01 -1.53657458e-01 1.80091735e+01] [ 2.22498955e-01 -2.19386795e-04 9.74932904e-01 7.66984879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.457552017999994 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:55.73, Y:18.02, Z:7.67 [[ 7.04541128e-01 -6.89079840e-01 -1.69678439e-01 5.57327596e+01] [ 6.74567355e-01 7.24534286e-01 -1.41452999e-01 1.80235286e+01] [ 2.20410257e-01 -1.48000806e-02 9.75294969e-01 7.67004982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487552017999995 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:55.75, Y:18.04, Z:7.68 [[ 7.02602138e-01 -6.89190310e-01 -1.77107176e-01 5.57545123e+01] [ 6.76135644e-01 7.24169632e-01 -1.35716374e-01 1.80393499e+01] [ 2.21790048e-01 -2.43938597e-02 9.74789266e-01 7.67528928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517552017999996 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:55.77, Y:18.06, Z:7.68 [[ 7.02731215e-01 -6.90614399e-01 -1.70940315e-01 5.57719381e+01] [ 6.76294271e-01 7.23032668e-01 -1.40889392e-01 1.80578487e+01] [ 2.20895675e-01 -1.65985821e-02 9.75156186e-01 7.68352132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547552018 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:55.79, Y:18.08, Z:7.69 [[ 7.02211064e-01 -6.90846332e-01 -1.72136476e-01 5.57937380e+01] [ 6.76689272e-01 7.22778384e-01 -1.40296249e-01 1.80763989e+01] [ 2.21339672e-01 -1.79653282e-02 9.75031280e-01 7.68974702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.577552018 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:55.82, Y:18.09, Z:7.70 [[ 6.99413855e-01 -6.93175426e-01 -1.74149616e-01 5.58154271e+01] [ 6.78996395e-01 7.20499121e-01 -1.40871967e-01 1.80940546e+01] [ 2.23123631e-01 -1.97191562e-02 9.74590683e-01 7.69599803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60755201799999 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:55.84, Y:18.11, Z:7.70 [[ 6.99140275e-01 -6.93886081e-01 -1.72409344e-01 5.58351706e+01] [ 6.79590687e-01 7.19850575e-01 -1.41321082e-01 1.81116190e+01] [ 2.22169697e-01 -1.83645249e-02 9.74835048e-01 7.70156050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.637552017999994 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:55.85, Y:18.13, Z:7.71 [[ 6.97036550e-01 -6.96858998e-01 -1.68901111e-01 5.58547876e+01] [ 6.81165171e-01 7.17104519e-01 -1.47563950e-01 1.81335468e+01] [ 2.23951016e-01 -1.21920872e-02 9.74524138e-01 7.71027216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667552017999995 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:55.88, Y:18.14, Z:7.71 [[ 6.96822571e-01 -6.92886980e-01 -1.85326573e-01 5.58797303e+01] [ 6.81964156e-01 7.20088270e-01 -1.28053793e-01 1.81422418e+01] [ 2.22178297e-01 -3.71553063e-02 9.74297843e-01 7.70811482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697552017999996 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:55.89, Y:18.17, Z:7.72 [[ 6.95571756e-01 -6.97625834e-01 -1.71750193e-01 5.58927602e+01] [ 6.82590300e-01 7.16274848e-01 -1.44985597e-01 1.81663702e+01] [ 2.24166042e-01 -1.63871293e-02 9.74413181e-01 7.72309098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727552018 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:55.91, Y:18.19, Z:7.73 [[ 6.92913374e-01 -7.01151569e-01 -1.68099773e-01 5.59123434e+01] [ 6.83965223e-01 7.12968217e-01 -1.54492380e-01 1.81887186e+01] [ 2.28172370e-01 -7.92456240e-03 9.73588502e-01 7.73433205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.757552018 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:55.94, Y:18.20, Z:7.73 [[ 6.94616109e-01 -6.96594235e-01 -1.79624424e-01 5.59366911e+01] [ 6.82935257e-01 7.17005968e-01 -1.39649122e-01 1.81985223e+01] [ 2.26070557e-01 -2.56693221e-02 9.73772658e-01 7.73130869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552018 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:55.96, Y:18.22, Z:7.75 [[ 6.92382162e-01 -7.01178971e-01 -1.70161667e-01 5.59552266e+01] [ 6.84455368e-01 7.12903443e-01 -1.52609075e-01 1.82235966e+01] [ 2.28315113e-01 -1.08042654e-02 9.73527338e-01 7.74559237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81755201799999 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:55.98, Y:18.24, Z:7.75 [[ 6.92301385e-01 -6.99058866e-01 -1.78984619e-01 5.59781884e+01] [ 6.84753057e-01 7.14668845e-01 -1.42694402e-01 1.82383589e+01] [ 2.27666518e-01 -2.37727336e-02 9.73448927e-01 7.74766135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.847552017999995 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:56.00, Y:18.26, Z:7.76 [[ 6.93337982e-01 -7.00686923e-01 -1.68286300e-01 5.59959297e+01] [ 6.83825560e-01 7.13412595e-01 -1.53052520e-01 1.82620769e+01] [ 2.27299465e-01 -8.96134832e-03 9.73783676e-01 7.75888272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877552017999996 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:56.02, Y:18.28, Z:7.76 [[ 6.94106745e-01 -6.96849561e-01 -1.80600431e-01 5.60209536e+01] [ 6.83063069e-01 7.16747875e-01 -1.40347168e-01 1.82766350e+01] [ 2.27245838e-01 -2.59455681e-02 9.73491734e-01 7.76065673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907552018 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:56.04, Y:18.30, Z:7.77 [[ 6.94605679e-01 -6.96630689e-01 -1.79523353e-01 5.60396585e+01] [ 6.82268586e-01 7.17048444e-01 -1.42657300e-01 1.82954072e+01] [ 2.28106394e-01 -2.33925736e-02 9.73355157e-01 7.76909569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.937552018 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:56.06, Y:18.32, Z:7.78 [[ 6.96083427e-01 -6.97091531e-01 -1.71846618e-01 5.60579322e+01] [ 6.81021938e-01 7.16863432e-01 -1.49385208e-01 1.83166260e+01] [ 2.27325720e-01 -1.30467488e-02 9.73731380e-01 7.77878721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.967552018 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:56.08, Y:18.33, Z:7.78 [[ 6.98940380e-01 -6.92694981e-01 -1.77921354e-01 5.60802364e+01] [ 6.78294930e-01 7.20914597e-01 -1.42120131e-01 1.83327502e+01] [ 2.26712003e-01 -2.13496544e-02 9.73727816e-01 7.78339859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99755201799999 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:56.10, Y:18.35, Z:7.79 [[ 6.99950081e-01 -6.91954549e-01 -1.76829823e-01 5.60984263e+01] [ 6.76859950e-01 7.21709909e-01 -1.44897948e-01 1.83521608e+01] [ 2.27882630e-01 -1.82676948e-02 9.73517231e-01 7.79238425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:56.12, Y:18.37, Z:7.80 [[ 7.01323435e-01 -6.91521764e-01 -1.73040715e-01 5.61169229e+01] [ 6.75485951e-01 7.22244490e-01 -1.48598877e-01 1.83722109e+01] [ 2.27737061e-01 -1.26706968e-02 9.73640223e-01 7.80024008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.057552018 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:56.14, Y:18.39, Z:7.80 [[ 7.03915138e-01 -6.88025925e-01 -1.76419401e-01 5.61393078e+01] [ 6.72486606e-01 7.25516359e-01 -1.46245608e-01 1.83884260e+01] [ 2.28615931e-01 -1.56951865e-02 9.73390167e-01 7.80413159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.087552018 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:56.16, Y:18.40, Z:7.81 [[ 7.04392204e-01 -6.86437337e-01 -1.80652719e-01 5.61605359e+01] [ 6.71369708e-01 7.26925000e-01 -1.44370220e-01 1.84039331e+01] [ 2.30422087e-01 -1.95915052e-02 9.72893537e-01 7.80955042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.117552018 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:56.18, Y:18.42, Z:7.82 [[ 7.04199882e-01 -6.88008220e-01 -1.75348841e-01 5.61782022e+01] [ 6.70941479e-01 7.25631682e-01 -1.52630907e-01 1.84246416e+01] [ 2.32249993e-01 -1.01661440e-02 9.72602997e-01 7.81950810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.147552018 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:56.20, Y:18.44, Z:7.82 [[ 7.06930297e-01 -6.85623547e-01 -1.73694867e-01 5.62000144e+01] [ 6.68216063e-01 7.27918523e-01 -1.53694234e-01 1.84422141e+01] [ 2.31812097e-01 -7.41459000e-03 9.72732325e-01 7.82390588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.177552018 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:56.22, Y:18.46, Z:7.83 [[ 7.08466056e-01 -6.83022151e-01 -1.77641744e-01 5.62216596e+01] [ 6.66935198e-01 7.30270540e-01 -1.47994528e-01 1.84569933e+01] [ 2.30810073e-01 -1.36264320e-02 9.72903402e-01 7.82693578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.207552018 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:56.24, Y:18.48, Z:7.84 [[ 7.08720080e-01 -6.83323280e-01 -1.75456955e-01 5.62408948e+01] [ 6.66277458e-01 7.30057848e-01 -1.51953568e-01 1.84771613e+01] [ 2.31927137e-01 -9.21046873e-03 9.72689555e-01 7.83611159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.237552018 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:56.26, Y:18.50, Z:7.85 [[ 7.08877186e-01 -6.84385058e-01 -1.70617192e-01 5.62621701e+01] [ 6.66206915e-01 7.29116207e-01 -1.56709614e-01 1.84983846e+01] [ 2.31649479e-01 -2.57848286e-03 9.72795904e-01 7.84568743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:56.29, Y:18.51, Z:7.85 [[ 7.07139760e-01 -6.83111121e-01 -1.82517276e-01 5.62876729e+01] [ 6.67335568e-01 7.30097000e-01 -1.47042884e-01 1.85124296e+01] [ 2.33701945e-01 -1.78204007e-02 9.72144966e-01 7.84808060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29755201799999 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:56.31, Y:18.53, Z:7.86 [[ 7.06379244e-01 -6.85378673e-01 -1.76874074e-01 5.63071809e+01] [ 6.68230220e-01 7.28113640e-01 -1.52705273e-01 1.85317523e+01] [ 2.33445364e-01 -1.03247659e-02 9.72315104e-01 7.85672537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:56.33, Y:18.55, Z:7.86 [[ 7.04585519e-01 -6.85675130e-01 -1.82780914e-01 5.63303777e+01] [ 6.69783666e-01 7.27679616e-01 -1.47892587e-01 1.85466077e+01] [ 2.34412214e-01 -1.82206954e-02 9.71966522e-01 7.86153648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35755201799999 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:56.35, Y:18.56, Z:7.87 [[ 7.01982818e-01 -6.90237806e-01 -1.75476193e-01 5.63495745e+01] [ 6.72952670e-01 7.23512125e-01 -1.53834031e-01 1.85645525e+01] [ 2.33141218e-01 -1.00983260e-02 9.72390455e-01 7.87063645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:56.37, Y:18.58, Z:7.88 [[ 6.99967712e-01 -6.92704487e-01 -1.73797858e-01 5.63718606e+01] [ 6.75320798e-01 7.21162431e-01 -1.54488084e-01 1.85824809e+01] [ 2.32351075e-01 -9.23263764e-03 9.72588164e-01 7.87727710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.417552018 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:56.40, Y:18.60, Z:7.88 [[ 6.97653318e-01 -6.94411423e-01 -1.76274281e-01 5.63954226e+01] [ 6.77736245e-01 7.19451223e-01 -1.51866780e-01 1.85985517e+01] [ 2.32278774e-01 -1.35171064e-02 9.72555324e-01 7.88271082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.447552018 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:56.42, Y:18.61, Z:7.89 [[ 6.93526519e-01 -6.97365023e-01 -1.80839688e-01 5.64183396e+01] [ 6.81964466e-01 7.16403000e-01 -1.47279354e-01 1.86112671e+01] [ 2.32261565e-01 -2.11841031e-02 9.72422644e-01 7.88797701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.477552018 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:56.44, Y:18.63, Z:7.90 [[ 6.92146634e-01 -7.01275663e-01 -1.70720476e-01 5.64368246e+01] [ 6.83497906e-01 7.12845889e-01 -1.57102996e-01 1.86333640e+01] [ 2.31869897e-01 -7.94877807e-03 9.72714330e-01 7.89896295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.507552018 meters Centerline goodness : 0.990260 Centerline is valid? [True, True] Translation: X:56.46, Y:18.65, Z:7.90 [[ 6.89884465e-01 -7.02230966e-01 -1.75872383e-01 5.64600858e+01] [ 6.85590772e-01 7.11786639e-01 -1.52725486e-01 1.86497385e+01] [ 2.32432178e-01 -1.52135429e-02 9.72493615e-01 7.90365746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.537552018 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:56.48, Y:18.67, Z:7.91 [[ 6.87447618e-01 -7.04023569e-01 -1.78231833e-01 5.64837702e+01] [ 6.88016517e-01 7.09917923e-01 -1.50498559e-01 1.86657541e+01] [ 2.32484505e-01 -1.91665685e-02 9.72411229e-01 7.90940324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.567552018 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:56.50, Y:18.68, Z:7.91 [[ 6.86280039e-01 -7.04597225e-01 -1.80450711e-01 5.65047954e+01] [ 6.89205404e-01 7.09245769e-01 -1.48210495e-01 1.86813054e+01] [ 2.32412607e-01 -2.26537007e-02 9.72353429e-01 7.91479399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.597552018 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:56.52, Y:18.70, Z:7.92 [[ 6.82712759e-01 -7.09359175e-01 -1.75250816e-01 5.65245140e+01] [ 6.91792004e-01 7.04713683e-01 -1.57487934e-01 1.87016202e+01] [ 2.35217159e-01 -1.37180914e-02 9.71846028e-01 7.92485088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.627552018 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:56.55, Y:18.72, Z:7.93 [[ 6.81239726e-01 -7.09167461e-01 -1.81642363e-01 5.65473607e+01] [ 6.93140464e-01 7.04677152e-01 -1.51612693e-01 1.87167055e+01] [ 2.35518012e-01 -2.26190818e-02 9.71606733e-01 7.92781084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65755201799999 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:56.57, Y:18.73, Z:7.93 [[ 6.80883872e-01 -7.09758117e-01 -1.80667011e-01 5.65669475e+01] [ 6.93504118e-01 7.04119357e-01 -1.52538420e-01 1.87331012e+01] [ 2.35476521e-01 -2.14323661e-02 9.71643691e-01 7.93437097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:56.59, Y:18.75, Z:7.94 [[ 6.79832528e-01 -7.11894492e-01 -1.76164603e-01 5.65855534e+01] [ 6.94398168e-01 7.02122113e-01 -1.57593539e-01 1.87542454e+01] [ 2.35879036e-01 -1.51911630e-02 9.71663681e-01 7.94362341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71755201799999 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:56.61, Y:18.77, Z:7.95 [[ 6.80237881e-01 -7.10205009e-01 -1.81342965e-01 5.66068665e+01] [ 6.94314602e-01 7.03616473e-01 -1.51165777e-01 1.87700995e+01] [ 2.34954589e-01 -2.30803802e-02 9.71732287e-01 7.94918994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters Centerline goodness : 0.990714 Centerline is valid? [True, True] Translation: X:56.62, Y:18.79, Z:7.96 [[ 6.80558106e-01 -7.11834057e-01 -1.73588420e-01 5.66247905e+01] [ 6.94092101e-01 7.02233635e-01 -1.58442663e-01 1.87924319e+01] [ 2.34684511e-01 -1.26569124e-02 9.71989189e-01 7.95930368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.777552018 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:56.65, Y:18.81, Z:7.97 [[ 6.81938159e-01 -7.12032157e-01 -1.67243997e-01 5.66468014e+01] [ 6.93388173e-01 7.02125204e-01 -1.61966166e-01 1.88148321e+01] [ 2.32751345e-01 -5.51410068e-03 9.72520646e-01 7.96575954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:56.67, Y:18.81, Z:7.96 [[ 0.67505178 -0.70501015 -0.21740696 56.67073154] [ 0.69806541 0.70572882 -0.12104344 18.81363759] [ 0.23876721 -0.07005368 0.96854669 7.95928811] [ 0. 0. 0. 1. ]] SLAMing on 64.837552018 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:56.67, Y:18.85, Z:7.99 [[ 6.81413069e-01 -7.15462827e-01 -1.54237388e-01 5.66724789e+01] [ 6.92277655e-01 6.98447204e-01 -1.81447378e-01 1.88514534e+01] [ 2.37545527e-01 1.68655179e-02 9.71229982e-01 7.98904319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.867552018 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:56.71, Y:18.87, Z:7.99 [[ 6.77932696e-01 -7.14936919e-01 -1.71091966e-01 5.67055711e+01] [ 6.95391928e-01 6.99160224e-01 -1.66147669e-01 1.88709335e+01] [ 2.38405800e-01 -6.33903493e-03 9.71144938e-01 7.98963498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.897552018 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:56.73, Y:18.88, Z:7.99 [[ 6.76896823e-01 -7.12819370e-01 -1.83573517e-01 5.67302961e+01] [ 6.96544983e-01 7.00934636e-01 -1.53348370e-01 1.88847286e+01] [ 2.37982724e-01 -2.40661875e-02 9.70971185e-01 7.99044985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.927552018 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:56.75, Y:18.91, Z:8.00 [[ 6.73195223e-01 -7.17855687e-01 -1.77458178e-01 5.67484870e+01] [ 6.99459931e-01 6.96031217e-01 -1.62161495e-01 1.89077210e+01] [ 2.39924983e-01 -1.49585409e-02 9.70676179e-01 8.00023375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.957552018 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:56.77, Y:18.92, Z:8.00 [[ 6.71698757e-01 -7.17940992e-01 -1.82706081e-01 5.67727542e+01] [ 7.00820948e-01 6.95746864e-01 -1.57436651e-01 1.89240385e+01] [ 2.40147408e-01 -2.22942463e-02 9.70480391e-01 8.00381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.987552018 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:56.79, Y:18.94, Z:8.01 [[ 6.69674783e-01 -7.18281999e-01 -1.88697258e-01 5.67938074e+01] [ 7.02362983e-01 6.95111045e-01 -1.53319519e-01 1.89393112e+01] [ 2.41292199e-01 -2.98597538e-02 9.69993026e-01 8.00843711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01755201799999 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:56.81, Y:18.96, Z:8.02 [[ 6.66086612e-01 -7.21890911e-01 -1.87622328e-01 5.68101951e+01] [ 7.05032513e-01 6.91465243e-01 -1.57495947e-01 1.89600014e+01] [ 2.43429211e-01 -2.73738990e-02 9.69532304e-01 8.01838281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:56.83, Y:18.98, Z:8.03 [[ 6.64533504e-01 -7.24157106e-01 -1.84368404e-01 5.68273712e+01] [ 7.06184634e-01 6.89264687e-01 -1.61918044e-01 1.89819178e+01] [ 2.44332732e-01 -2.25981688e-02 9.69428099e-01 8.02847192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07755201799999 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:56.85, Y:19.00, Z:8.04 [[ 6.62749084e-01 -7.24719321e-01 -1.88535298e-01 5.68468026e+01] [ 7.07397467e-01 6.88498583e-01 -1.59870341e-01 1.90006202e+01] [ 2.45667410e-01 -2.74154706e-02 9.68966416e-01 8.03628882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:56.86, Y:19.02, Z:8.04 [[ 6.61808156e-01 -7.25814330e-01 -1.87626016e-01 5.68639256e+01] [ 7.09144173e-01 6.87282397e-01 -1.57345000e-01 1.90194083e+01] [ 2.43155314e-01 -2.89216912e-02 9.69556099e-01 8.04392366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.137552018 meters Centerline goodness : 0.991288 Centerline is valid? [True, True] Translation: X:56.88, Y:19.04, Z:8.05 [[ 6.61383291e-01 -7.27478521e-01 -1.82612001e-01 5.68811611e+01] [ 7.09856202e-01 6.85736393e-01 -1.60840827e-01 1.90388795e+01] [ 2.42231942e-01 -2.32508265e-02 9.69939733e-01 8.05235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:56.90, Y:19.06, Z:8.06 [[ 6.60830580e-01 -7.28766930e-01 -1.79448339e-01 5.69004034e+01] [ 7.10495518e-01 6.84482483e-01 -1.63339672e-01 1.90594052e+01] [ 2.41865796e-01 -1.95573909e-02 9.70112594e-01 8.05994225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.197552018 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:56.92, Y:19.08, Z:8.07 [[ 6.58106707e-01 -7.29740158e-01 -1.85404594e-01 5.69212810e+01] [ 7.12615798e-01 6.83184894e-01 -1.59490204e-01 1.90779122e+01] [ 2.43052025e-01 -2.71606697e-02 9.69632926e-01 8.06598147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.227552018 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:56.94, Y:19.10, Z:8.07 [[ 6.57163030e-01 -7.30892530e-01 -1.84208745e-01 5.69391706e+01] [ 7.13566863e-01 6.81994062e-01 -1.60332255e-01 1.90971676e+01] [ 2.42814917e-01 -2.60808257e-02 9.69721974e-01 8.07267746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.257552018 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:56.96, Y:19.12, Z:8.08 [[ 6.55086392e-01 -7.32005680e-01 -1.87161703e-01 5.69579255e+01] [ 7.14693323e-01 6.80705066e-01 -1.60791999e-01 1.91156748e+01] [ 2.45102577e-01 -2.84305690e-02 9.69080198e-01 8.08016645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.287552018 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:56.98, Y:19.14, Z:8.09 [[ 6.53110593e-01 -7.34645093e-01 -1.83693062e-01 5.69767070e+01] [ 7.16293307e-01 6.78031566e-01 -1.64915411e-01 1.91372744e+01] [ 2.45703992e-01 -2.38701088e-02 9.69050962e-01 8.08912866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.317552018 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:57.00, Y:19.16, Z:8.09 [[ 6.52527624e-01 -7.34909582e-01 -1.84704105e-01 5.69980469e+01] [ 7.17103471e-01 6.77660710e-01 -1.62906642e-01 1.91552312e+01] [ 2.44888367e-01 -2.61508703e-02 9.69198545e-01 8.09390416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.347552018 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:57.02, Y:19.17, Z:8.10 [[ 6.51983876e-01 -7.34725749e-01 -1.87336860e-01 5.70181587e+01] [ 7.17287204e-01 6.77747241e-01 -1.61733561e-01 1.91717913e+01] [ 2.45796852e-01 -2.89266581e-02 9.68889651e-01 8.09920358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.377552018 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:57.04, Y:19.19, Z:8.11 [[ 6.50418704e-01 -7.37167788e-01 -1.83137004e-01 5.70364607e+01] [ 7.18349970e-01 6.75321967e-01 -1.67073523e-01 1.91932761e+01] [ 2.46837661e-01 -2.28887173e-02 9.68786497e-01 8.10837873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:57.06, Y:19.21, Z:8.11 [[ 6.49152444e-01 -7.36304821e-01 -1.90935369e-01 5.70578674e+01] [ 7.18957816e-01 6.75890261e-01 -1.62086442e-01 1.92104351e+01] [ 2.48396385e-01 -3.20556656e-02 9.68127920e-01 8.11323006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43755201799999 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:57.08, Y:19.23, Z:8.12 [[ 6.48418079e-01 -7.37885959e-01 -1.87292036e-01 5.70754963e+01] [ 7.19326673e-01 6.74397313e-01 -1.66605527e-01 1.92308975e+01] [ 2.49245125e-01 -2.66941215e-02 9.68072462e-01 8.12266173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:57.09, Y:19.25, Z:8.13 [[ 6.47828835e-01 -7.38764530e-01 -1.85862235e-01 5.70939932e+01] [ 7.19880592e-01 6.73497501e-01 -1.67848294e-01 1.92517880e+01] [ 2.49178117e-01 -2.50616510e-02 9.68133348e-01 8.13074641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.497552018 meters Centerline goodness : 0.991851 Centerline is valid? [True, True] Translation: X:57.11, Y:19.27, Z:8.14 [[ 6.47376411e-01 -7.39078169e-01 -1.86191412e-01 5.71131233e+01] [ 7.20112655e-01 6.73149667e-01 -1.68247704e-01 1.92718222e+01] [ 2.49682893e-01 -2.51591972e-02 9.68000758e-01 8.13843430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:57.13, Y:19.29, Z:8.14 [[ 6.48429522e-01 -7.36056151e-01 -1.94320608e-01 5.71348737e+01] [ 7.19277391e-01 6.75972293e-01 -1.60316855e-01 1.92867292e+01] [ 2.49357554e-01 -3.58162379e-02 9.67748938e-01 8.14199516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.557552018 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:57.15, Y:19.31, Z:8.15 [[ 6.48822666e-01 -7.37612843e-01 -1.86966420e-01 5.71508494e+01] [ 7.18549937e-01 6.74759747e-01 -1.68479294e-01 1.93084897e+01] [ 2.50429905e-01 -2.50315248e-02 9.67811079e-01 8.15296083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.587552018 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:57.17, Y:19.33, Z:8.16 [[ 6.48958179e-01 -7.37299566e-01 -1.87730211e-01 5.71702725e+01] [ 7.18384545e-01 6.75070191e-01 -1.67940114e-01 1.93273218e+01] [ 2.50553243e-01 -2.58763713e-02 9.67756935e-01 8.15955806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.617552018 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:57.19, Y:19.35, Z:8.17 [[ 6.47695094e-01 -7.37782681e-01 -1.90178287e-01 5.71876499e+01] [ 7.18855805e-01 6.74470457e-01 -1.68332808e-01 1.93470863e+01] [ 2.52462667e-01 -2.76824317e-02 9.67210569e-01 8.16795176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.647552018 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:57.21, Y:19.37, Z:8.18 [[ 6.47422286e-01 -7.38284466e-01 -1.89157161e-01 5.72051609e+01] [ 7.19026452e-01 6.73979338e-01 -1.69566549e-01 1.93665590e+01] [ 2.52676367e-01 -2.62278396e-02 9.67195303e-01 8.17585796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.677552018 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:57.22, Y:19.39, Z:8.18 [[ 6.46612621e-01 -7.39390140e-01 -1.87601544e-01 5.72237465e+01] [ 7.19623447e-01 6.72846002e-01 -1.71523623e-01 1.93873634e+01] [ 2.53049824e-01 -2.40931305e-02 9.67153198e-01 8.18448905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.707552018 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:57.24, Y:19.41, Z:8.19 [[ 6.46434541e-01 -7.39354959e-01 -1.88352407e-01 5.72424760e+01] [ 7.19932360e-01 6.72831787e-01 -1.70278546e-01 1.94053189e+01] [ 2.52625774e-01 -2.55270592e-02 9.67227268e-01 8.19084726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.737552018 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:57.26, Y:19.42, Z:8.20 [[ 6.46416545e-01 -7.39558897e-01 -1.87612067e-01 5.72614127e+01] [ 7.19660896e-01 6.72670955e-01 -1.72052261e-01 1.94236085e+01] [ 2.53443969e-01 -2.37996404e-02 9.67057254e-01 8.19830781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:57.28, Y:19.44, Z:8.20 [[ 6.46361709e-01 -7.39602166e-01 -1.87630427e-01 5.72796550e+01] [ 7.19870140e-01 6.72606726e-01 -1.71426873e-01 1.94421522e+01] [ 2.52989174e-01 -2.42657747e-02 9.67164748e-01 8.20441776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79755201799999 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:57.30, Y:19.46, Z:8.21 [[ 6.45840669e-01 -7.40833138e-01 -1.84542927e-01 5.72981067e+01] [ 7.20587186e-01 6.71358935e-01 -1.73295377e-01 1.94641102e+01] [ 2.52277501e-01 -2.10580664e-02 9.67425770e-01 8.21289929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:57.32, Y:19.48, Z:8.22 [[ 6.45767012e-01 -7.40522237e-01 -1.86042420e-01 5.73164057e+01] [ 7.20698476e-01 6.71632654e-01 -1.71765201e-01 1.94846160e+01] [ 2.52148116e-01 -2.31601881e-02 9.67411460e-01 8.21956078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85755201799999 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:57.34, Y:19.50, Z:8.23 [[ 6.45168896e-01 -7.41001882e-01 -1.86207697e-01 5.73360790e+01] [ 7.21067491e-01 6.71104837e-01 -1.72278757e-01 1.95044613e+01] [ 2.52623769e-01 -2.31194215e-02 9.67288335e-01 8.22612354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:57.36, Y:19.52, Z:8.23 [[ 6.45251784e-01 -7.41325385e-01 -1.84626135e-01 5.73550743e+01] [ 7.21241485e-01 6.70795238e-01 -1.72755517e-01 1.95237004e+01] [ 2.51914382e-01 -2.16892225e-02 9.67506445e-01 8.23247315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.917552018 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:57.38, Y:19.54, Z:8.24 [[ 6.44513628e-01 -7.40613155e-01 -1.89985098e-01 5.73760809e+01] [ 7.21913042e-01 6.71307933e-01 -1.67890497e-01 1.95409410e+01] [ 2.51880414e-01 -2.89450068e-02 9.67325407e-01 8.23776648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.947552018 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:57.39, Y:19.56, Z:8.25 [[ 6.43693033e-01 -7.41736930e-01 -1.88376237e-01 5.73928533e+01] [ 7.22455891e-01 6.70163512e-01 -1.70112763e-01 1.95616855e+01] [ 2.52421799e-01 -2.65931216e-02 9.67251798e-01 8.24699205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.977552018 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:57.41, Y:19.58, Z:8.25 [[ 6.44624257e-01 -7.40605029e-01 -1.89641130e-01 5.74103954e+01] [ 7.22012647e-01 6.71314894e-01 -1.67433720e-01 1.95790053e+01] [ 2.51311170e-01 -2.89914574e-02 9.67472062e-01 8.25257175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.007552018 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:57.43, Y:19.60, Z:8.26 [[ 6.43263347e-01 -7.44055831e-01 -1.80535829e-01 5.74259834e+01] [ 7.23017813e-01 6.67901305e-01 -1.76502373e-01 1.96036198e+01] [ 2.51907736e-01 -1.69931132e-02 9.67602050e-01 8.26482647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.037552018 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:57.45, Y:19.62, Z:8.27 [[ 6.42462753e-01 -7.43830910e-01 -1.84274762e-01 5.74473327e+01] [ 7.23647676e-01 6.68009247e-01 -1.73486851e-01 1.96235008e+01] [ 2.52142127e-01 -2.18911634e-02 9.67442569e-01 8.27105858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.067552018 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:57.46, Y:19.64, Z:8.28 [[ 6.42150001e-01 -7.43358628e-01 -1.87246701e-01 5.74646640e+01] [ 7.23807058e-01 6.68405260e-01 -1.71282665e-01 1.96426076e+01] [ 2.52481127e-01 -2.55413205e-02 9.67264660e-01 8.27673766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.097552018 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:57.48, Y:19.66, Z:8.28 [[ 6.41376091e-01 -7.43295288e-01 -1.90128444e-01 5.74832845e+01] [ 7.24026441e-01 6.68364765e-01 -1.70511743e-01 1.96615759e+01] [ 2.53815727e-01 -2.82958655e-02 9.66838622e-01 8.28370656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.127552018 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:57.50, Y:19.68, Z:8.29 [[ 6.40870058e-01 -7.43780408e-01 -1.89937551e-01 5.75009250e+01] [ 7.24355235e-01 6.67841965e-01 -1.71162506e-01 1.96807481e+01] [ 2.54155586e-01 -2.78893343e-02 9.66761151e-01 8.29047066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15755201799999 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:57.52, Y:19.70, Z:8.30 [[ 6.38251225e-01 -7.46001902e-01 -1.90043512e-01 5.75183403e+01] [ 7.26010971e-01 6.65391124e-01 -1.73674185e-01 1.97014141e+01] [ 2.56014539e-01 -2.71259136e-02 9.66292265e-01 8.29944954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:57.54, Y:19.72, Z:8.31 [[ 6.37592965e-01 -7.47979818e-01 -1.84394692e-01 5.75357054e+01] [ 7.26793337e-01 6.63403126e-01 -1.77954315e-01 1.97232366e+01] [ 2.55434251e-01 -2.05544140e-02 9.66607914e-01 8.30852579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21755201799999 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:57.56, Y:19.74, Z:8.31 [[ 6.35197714e-01 -7.48342874e-01 -1.91067544e-01 5.75565263e+01] [ 7.28932650e-01 6.62631734e-01 -1.71977837e-01 1.97411585e+01] [ 2.55305807e-01 -3.00354419e-02 9.66393718e-01 8.31303015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:57.57, Y:19.76, Z:8.32 [[ 6.34966079e-01 -7.49115230e-01 -1.88797380e-01 5.75734462e+01] [ 7.29010210e-01 6.61895172e-01 -1.74467458e-01 1.97602456e+01] [ 2.55660305e-01 -2.68543002e-02 9.66393634e-01 8.32057058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.277552018 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:57.59, Y:19.78, Z:8.33 [[ 6.34753818e-01 -7.49429162e-01 -1.88264499e-01 5.75928271e+01] [ 7.28881302e-01 6.61596285e-01 -1.76131775e-01 1.97803986e+01] [ 2.56553382e-01 -2.54221567e-02 9.66195672e-01 8.32844787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.307552018 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:57.61, Y:19.80, Z:8.34 [[ 6.34520905e-01 -7.50028949e-01 -1.86654219e-01 5.76112120e+01] [ 7.28868748e-01 6.61009637e-01 -1.78372105e-01 1.98008399e+01] [ 2.57164480e-01 -2.28655976e-02 9.66097094e-01 8.33623819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.337552018 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:57.63, Y:19.82, Z:8.34 [[ 6.35153663e-01 -7.47229738e-01 -1.95518651e-01 5.76297957e+01] [ 7.27922916e-01 6.63741411e-01 -1.71975484e-01 1.98178425e+01] [ 2.58279021e-01 -3.30916479e-02 9.65503439e-01 8.34052090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.367552018 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:57.64, Y:19.84, Z:8.35 [[ 6.35646842e-01 -7.49251770e-01 -1.85943209e-01 5.76445618e+01] [ 7.27325295e-01 6.61978616e-01 -1.81058632e-01 1.98415720e+01] [ 2.58748929e-01 -2.01518515e-02 9.65734381e-01 8.35245789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.397552018 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:57.67, Y:19.86, Z:8.36 [[ 6.35638802e-01 -7.46837469e-01 -1.95440802e-01 5.76660841e+01] [ 7.27292244e-01 6.64221198e-01 -1.72789444e-01 1.98576935e+01] [ 2.58861555e-01 -3.23109044e-02 9.65373866e-01 8.35622391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.427552018 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:57.68, Y:19.88, Z:8.37 [[ 6.37150550e-01 -7.46018617e-01 -1.93637290e-01 5.76826092e+01] [ 7.25610001e-01 6.65310980e-01 -1.75645741e-01 1.98774034e+01] [ 2.59864007e-01 -2.85923737e-02 9.65221826e-01 8.36585090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.457552018 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:57.70, Y:19.90, Z:8.38 [[ 6.37665980e-01 -7.46448310e-01 -1.90255142e-01 5.76993124e+01] [ 7.24888304e-01 6.65032983e-01 -1.79633176e-01 1.98976382e+01] [ 2.60612825e-01 -2.33677619e-02 9.65160558e-01 8.37544508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.487552018 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:57.72, Y:19.92, Z:8.38 [[ 6.38299827e-01 -7.45736714e-01 -1.90919053e-01 5.77182981e+01] [ 7.24100005e-01 6.65828430e-01 -1.79865740e-01 1.99169107e+01] [ 2.61251819e-01 -2.34362167e-02 9.64986130e-01 8.38317592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51755201799999 meters Centerline goodness : 0.991261 Centerline is valid? [True, True] Translation: X:57.74, Y:19.94, Z:8.39 [[ 6.41037695e-01 -7.45435985e-01 -1.82745358e-01 5.77361686e+01] [ 7.22008664e-01 6.66454248e-01 -1.85855386e-01 1.99392168e+01] [ 2.60334713e-01 -1.28034238e-02 9.65433535e-01 8.39243553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:57.76, Y:19.95, Z:8.40 [[ 6.41405354e-01 -7.42872743e-01 -1.91674881e-01 5.77583015e+01] [ 7.21823573e-01 6.68979387e-01 -1.77305692e-01 1.99546576e+01] [ 2.59942110e-01 -2.46306278e-02 9.65310018e-01 8.39509137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57755201799999 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:57.78, Y:19.98, Z:8.40 [[ 6.41813664e-01 -7.43611294e-01 -1.87396541e-01 5.77767699e+01] [ 7.21677995e-01 6.68327711e-01 -1.80330094e-01 1.99755635e+01] [ 2.59337796e-01 -1.95016418e-02 9.65589765e-01 8.40389273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:57.80, Y:20.00, Z:8.41 [[ 6.41306085e-01 -7.44057202e-01 -1.87364309e-01 5.77970299e+01] [ 7.21976871e-01 6.67839038e-01 -1.80943132e-01 1.99951628e+01] [ 2.59761241e-01 -1.92327664e-02 9.65481330e-01 8.41089664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.637552018 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:57.82, Y:20.01, Z:8.42 [[ 6.40978249e-01 -7.44292700e-01 -1.87550690e-01 5.78187425e+01] [ 7.22365547e-01 6.67559036e-01 -1.80424361e-01 2.00131422e+01] [ 2.59489693e-01 -1.98320661e-02 9.65542225e-01 8.41653699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:57.84, Y:20.03, Z:8.42 [[ 6.39512635e-01 -7.42468357e-01 -1.99409951e-01 5.78423026e+01] [ 7.22772986e-01 6.69047554e-01 -1.73131685e-01 2.00283715e+01] [ 2.61959538e-01 -3.34082257e-02 9.64500436e-01 8.42159391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.697552018 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:57.86, Y:20.05, Z:8.44 [[ 6.39340911e-01 -7.47133887e-01 -1.81753001e-01 5.78556770e+01] [ 7.23037236e-01 6.64584556e-01 -1.88532553e-01 2.00532127e+01] [ 2.61649297e-01 -1.08776134e-02 9.65101716e-01 8.43544563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.727552018 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:57.88, Y:20.07, Z:8.44 [[ 6.36463960e-01 -7.44805255e-01 -2.00446398e-01 5.78804361e+01] [ 7.24853217e-01 6.66406973e-01 -1.74612598e-01 2.00653053e+01] [ 2.63631259e-01 -3.41595908e-02 9.64018507e-01 8.43688597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.757552018 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:57.89, Y:20.09, Z:8.45 [[ 6.35596492e-01 -7.48941705e-01 -1.87359072e-01 5.78942949e+01] [ 7.25240002e-01 6.62427825e-01 -1.87660107e-01 2.00875554e+01] [ 2.64658343e-01 -1.66041884e-02 9.64199286e-01 8.45042922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.787552018 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:57.92, Y:20.10, Z:8.46 [[ 6.34163646e-01 -7.49356737e-01 -1.90528085e-01 5.79152329e+01] [ 7.26594846e-01 6.61820282e-01 -1.84536837e-01 2.01049036e+01] [ 2.64379273e-01 -2.14101711e-02 9.64181106e-01 8.45507902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.817552018 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:57.94, Y:20.12, Z:8.46 [[ 6.31453197e-01 -7.50948852e-01 -1.93242546e-01 5.79376063e+01] [ 7.28722957e-01 6.59879112e-01 -1.83091261e-01 2.01213130e+01] [ 2.65008892e-01 -2.52067173e-02 9.63916443e-01 8.46145717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.847552018 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:57.96, Y:20.14, Z:8.47 [[ 6.30929257e-01 -7.52551245e-01 -1.88666097e-01 5.79555200e+01] [ 7.29350608e-01 6.58231695e-01 -1.86490553e-01 2.01399738e+01] [ 2.64529703e-01 -1.99413867e-02 9.64171342e-01 8.46944275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.877552018 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:57.98, Y:20.16, Z:8.48 [[ 6.29346885e-01 -7.52678637e-01 -1.93383990e-01 5.79772228e+01] [ 7.30872805e-01 6.57838884e-01 -1.81859686e-01 2.01571148e+01] [ 2.64097409e-01 -2.68862726e-02 9.64121199e-01 8.47522610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:58.00, Y:20.18, Z:8.48 [[ 6.28346692e-01 -7.54182030e-01 -1.90761369e-01 5.79952279e+01] [ 7.31662596e-01 6.56238461e-01 -1.84447629e-01 2.01764710e+01] [ 2.64292034e-01 -2.36759009e-02 9.64152048e-01 8.48459519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93755201799999 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:58.01, Y:20.19, Z:8.49 [[ 6.27902777e-01 -7.54028146e-01 -1.92820274e-01 5.80149405e+01] [ 7.32167293e-01 6.56296861e-01 -1.82223725e-01 2.01936149e+01] [ 2.63949158e-01 -2.67579153e-02 9.64165368e-01 8.49160976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:58.03, Y:20.21, Z:8.50 [[ 6.27368919e-01 -7.55981121e-01 -1.86817516e-01 5.80316969e+01] [ 7.32680992e-01 6.54305793e-01 -1.87249812e-01 2.02149456e+01] [ 2.63793106e-01 -1.94029304e-02 9.64384116e-01 8.50103899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.997552018 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:58.05, Y:20.23, Z:8.51 [[ 6.26312522e-01 -7.54829405e-01 -1.94846594e-01 5.80544375e+01] [ 7.33317022e-01 6.55265210e-01 -1.81310919e-01 2.02311052e+01] [ 2.64535007e-01 -2.93270250e-02 9.63930057e-01 8.50557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:58.07, Y:20.25, Z:8.51 [[ 6.25352106e-01 -7.56445710e-01 -1.91636715e-01 5.80734390e+01] [ 7.33752033e-01 6.53594079e-01 -1.85533646e-01 2.02489644e+01] [ 2.65598753e-01 -2.45899727e-02 9.63770012e-01 8.51349572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.057552018 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:58.09, Y:20.27, Z:8.52 [[ 6.24424002e-01 -7.56549732e-01 -1.94234827e-01 5.80935866e+01] [ 7.34307831e-01 6.53352553e-01 -1.84180483e-01 2.02667395e+01] [ 2.66245515e-01 -2.76214405e-02 9.63509409e-01 8.52011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.087552018 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:58.11, Y:20.29, Z:8.53 [[ 6.23486945e-01 -7.58095951e-01 -1.91192464e-01 5.81120039e+01] [ 7.35147054e-01 6.51695423e-01 -1.86686598e-01 2.02868900e+01] [ 2.66125608e-01 -2.41579205e-02 9.63635593e-01 8.52900384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.117552018 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:58.13, Y:20.31, Z:8.54 [[ 6.22344799e-01 -7.59055923e-01 -1.91104832e-01 5.81301860e+01] [ 7.35979314e-01 6.50579740e-01 -1.87297761e-01 2.03053342e+01] [ 2.66498406e-01 -2.40854162e-02 9.63534375e-01 8.53682580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.147552018 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:58.15, Y:20.33, Z:8.55 [[ 6.22110538e-01 -7.60285286e-01 -1.86935184e-01 5.81485915e+01] [ 7.36376008e-01 6.49300837e-01 -1.90154669e-01 2.03253965e+01] [ 2.65948968e-01 -1.93573618e-02 9.63792736e-01 8.54533324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.177552018 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:58.17, Y:20.34, Z:8.55 [[ 6.21455921e-01 -7.60073681e-01 -1.89948780e-01 5.81703411e+01] [ 7.37133274e-01 6.49397575e-01 -1.86861782e-01 2.03434906e+01] [ 2.65380999e-01 -2.38912051e-02 9.63847569e-01 8.55069300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.207552018 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:58.19, Y:20.36, Z:8.56 [[ 6.20190275e-01 -7.61364210e-01 -1.88914167e-01 5.81931725e+01] [ 7.38431159e-01 6.47896316e-01 -1.86948624e-01 2.03606543e+01] [ 2.64732784e-01 -2.35563888e-02 9.64034050e-01 8.55718391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.237552018 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:58.21, Y:20.38, Z:8.56 [[ 6.19054201e-01 -7.62313373e-01 -1.88812654e-01 5.82147451e+01] [ 7.39557552e-01 6.46754883e-01 -1.86447708e-01 2.03792611e+01] [ 2.64247088e-01 -2.42165875e-02 9.64150939e-01 8.56387722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:58.23, Y:20.40, Z:8.57 [[ 6.17428151e-01 -7.63093755e-01 -1.90972248e-01 5.82344945e+01] [ 7.40775753e-01 6.45718527e-01 -1.85199535e-01 2.03954980e+01] [ 2.64638927e-01 -2.71202042e-02 9.63966147e-01 8.57074832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29755201799999 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:58.25, Y:20.42, Z:8.58 [[ 6.14233719e-01 -7.66650664e-01 -1.86985824e-01 5.82541076e+01] [ 7.43116195e-01 6.41675036e-01 -1.89819571e-01 2.04150967e+01] [ 2.65509435e-01 -2.23586130e-02 9.63848968e-01 8.57964052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:58.28, Y:20.43, Z:8.58 [[ 6.12587713e-01 -7.66203701e-01 -1.94082927e-01 5.82765994e+01] [ 7.44440223e-01 6.41814314e-01 -1.84073738e-01 2.04298903e+01] [ 2.65603180e-01 -3.17218273e-02 9.63560417e-01 8.58346207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35755201799999 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:58.29, Y:20.45, Z:8.59 [[ 6.12056028e-01 -7.67464406e-01 -1.90750632e-01 5.82937463e+01] [ 7.44702567e-01 6.40510899e-01 -1.87520330e-01 2.04506500e+01] [ 2.66093038e-01 -2.72795366e-02 9.63561271e-01 8.59269653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:58.31, Y:20.47, Z:8.60 [[ 6.10131622e-01 -7.69774226e-01 -1.87582100e-01 5.83142402e+01] [ 7.46143682e-01 6.37880135e-01 -1.90731589e-01 2.04700332e+01] [ 2.66475157e-01 -2.35918247e-02 9.63553017e-01 8.60039934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.417552018 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:58.34, Y:20.49, Z:8.60 [[ 6.08098431e-01 -7.70009239e-01 -1.93137442e-01 5.83370931e+01] [ 7.47886187e-01 6.37260199e-01 -1.85918504e-01 2.04855444e+01] [ 2.66237770e-01 -3.13880740e-02 9.63396200e-01 8.60480480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.447552018 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:58.35, Y:20.50, Z:8.61 [[ 6.02613275e-01 -7.72801532e-01 -1.99085492e-01 5.83534388e+01] [ 7.51433383e-01 6.33484442e-01 -1.84513772e-01 2.04990714e+01] [ 2.68710087e-01 -3.84090367e-02 9.62455004e-01 8.61108729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.477552018 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:58.37, Y:20.52, Z:8.63 [[ 6.03880562e-01 -7.75785882e-01 -1.82987795e-01 5.83738076e+01] [ 7.50454217e-01 6.30737068e-01 -1.97456879e-01 2.05219953e+01] [ 2.68601444e-01 -1.80835911e-02 9.63081641e-01 8.62501659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.507552018 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:58.40, Y:20.54, Z:8.63 [[ 6.02317186e-01 -7.75375536e-01 -1.89754541e-01 5.83973270e+01] [ 7.52074445e-01 6.30886128e-01 -1.90700609e-01 2.05386509e+01] [ 2.67578095e-01 -2.78472868e-02 9.63133683e-01 8.62921961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.537552018 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:58.42, Y:20.56, Z:8.64 [[ 6.01085120e-01 -7.76475815e-01 -1.89161272e-01 5.84187432e+01] [ 7.53212909e-01 6.29530874e-01 -1.90686109e-01 2.05567083e+01] [ 2.67146012e-01 -2.78601291e-02 9.63253249e-01 8.63800570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.567552018 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:58.44, Y:20.57, Z:8.64 [[ 6.00422048e-01 -7.76165279e-01 -1.92511878e-01 5.84399243e+01] [ 7.53888568e-01 6.29687706e-01 -1.87471117e-01 2.05742757e+01] [ 2.66730935e-01 -3.25707118e-02 9.63220513e-01 8.64444647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.597552018 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:58.46, Y:20.59, Z:8.65 [[ 6.00552968e-01 -7.76827598e-01 -1.89407008e-01 5.84594581e+01] [ 7.53879848e-01 6.29049642e-01 -1.89635761e-01 2.05941118e+01] [ 2.66460704e-01 -2.89038074e-02 9.63412302e-01 8.65330559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.627552018 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:58.48, Y:20.61, Z:8.66 [[ 6.01359453e-01 -7.76632425e-01 -1.87640307e-01 5.84793002e+01] [ 7.53384591e-01 6.29383296e-01 -1.90494945e-01 2.06139207e+01] [ 2.66042226e-01 -2.68093803e-02 9.63588497e-01 8.66107943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65755201799999 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:58.50, Y:20.63, Z:8.67 [[ 6.05370415e-01 -7.72264802e-01 -1.92701159e-01 5.85004153e+01] [ 7.50115453e-01 6.34507588e-01 -1.86351623e-01 2.06302909e+01] [ 2.66183147e-01 -3.17363579e-02 9.63399884e-01 8.66716519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:58.52, Y:20.65, Z:8.68 [[ 6.07260054e-01 -7.72127776e-01 -1.87226931e-01 5.85170983e+01] [ 7.48199195e-01 6.35036677e-01 -1.92162385e-01 2.06525499e+01] [ 2.67269884e-01 -2.33904987e-02 9.63337788e-01 8.67715835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71755201799999 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:58.54, Y:20.67, Z:8.68 [[ 6.08985463e-01 -7.70000557e-01 -1.90357158e-01 5.85371405e+01] [ 7.46705126e-01 6.37491191e-01 -1.89832654e-01 2.06722516e+01] [ 2.67522261e-01 -2.65353395e-02 9.63186231e-01 8.68373324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:58.56, Y:20.69, Z:8.69 [[ 6.13493964e-01 -7.66631212e-01 -1.89477548e-01 5.85551278e+01] [ 7.42788646e-01 6.41658559e-01 -1.91152612e-01 2.06931557e+01] [ 2.68123449e-01 -2.34707975e-02 9.63098613e-01 8.69187786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.777552018 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:58.57, Y:20.71, Z:8.70 [[ 6.15864754e-01 -7.64306752e-01 -1.91169541e-01 5.85738097e+01] [ 7.41253893e-01 6.44333749e-01 -1.88086910e-01 2.07115993e+01] [ 2.66933082e-01 -2.58690683e-02 9.63367801e-01 8.69782005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.807552018 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:58.59, Y:20.73, Z:8.71 [[ 6.17212282e-01 -7.63801376e-01 -1.88829174e-01 5.85910426e+01] [ 7.39797859e-01 6.45087230e-01 -1.91210861e-01 2.07330766e+01] [ 2.67858408e-01 -2.16777270e-02 9.63214384e-01 8.70784564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.837552018 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:58.61, Y:20.76, Z:8.72 [[ 6.19781575e-01 -7.62562037e-01 -1.85391311e-01 5.86093824e+01] [ 7.38094030e-01 6.46676305e-01 -1.92423906e-01 2.07552924e+01] [ 2.66623334e-01 -1.75754278e-02 9.63640546e-01 8.71572199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.867552018 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:58.63, Y:20.77, Z:8.72 [[ 6.24252284e-01 -7.57059671e-01 -1.92794556e-01 5.86297941e+01] [ 7.34268213e-01 6.52852281e-01 -1.86102368e-01 2.07729535e+01] [ 2.66756963e-01 -2.53880853e-02 9.63429379e-01 8.72003886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.897552018 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:58.65, Y:20.80, Z:8.73 [[ 6.26063702e-01 -7.57298230e-01 -1.85859171e-01 5.86460567e+01] [ 7.32619814e-01 6.52880156e-01 -1.92394673e-01 2.07951433e+01] [ 2.67043910e-01 -1.57127895e-02 9.63556256e-01 8.72962537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.927552018 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:58.67, Y:20.81, Z:8.73 [[ 6.27427564e-01 -7.54451445e-01 -1.92711361e-01 5.86656517e+01] [ 7.31285680e-01 6.55931852e-01 -1.87015132e-01 2.08125381e+01] [ 2.67499357e-01 -2.35886099e-02 9.63269262e-01 8.73384353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.957552018 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:58.68, Y:20.83, Z:8.74 [[ 6.27095833e-01 -7.55173695e-01 -1.90954200e-01 5.86822484e+01] [ 7.31296032e-01 6.55195164e-01 -1.89539997e-01 2.08339003e+01] [ 2.68247888e-01 -2.07843064e-02 9.63125684e-01 8.74318250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.987552018 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:58.70, Y:20.85, Z:8.75 [[ 6.22296970e-01 -7.52549852e-01 -2.15441874e-01 5.86978987e+01] [ 7.33535415e-01 6.56705097e-01 -1.75111997e-01 2.08455171e+01] [ 2.73262284e-01 -4.90625796e-02 9.60687560e-01 8.74765252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01755201799999 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:58.71, Y:20.88, Z:8.77 [[ 6.27153878e-01 -7.59199026e-01 -1.74054164e-01 5.87078340e+01] [ 7.30158149e-01 6.50849865e-01 -2.07998871e-01 2.08776492e+01] [ 2.71195669e-01 3.36023240e-03 9.62518373e-01 8.76955751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:58.73, Y:20.89, Z:8.77 [[ 6.27556129e-01 -7.55564750e-01 -1.87870203e-01 5.87341914e+01] [ 7.30808371e-01 6.54866830e-01 -1.92531970e-01 2.08929150e+01] [ 2.68500334e-01 -1.64724993e-02 9.63138737e-01 8.76808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07755201799999 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:58.75, Y:20.90, Z:8.77 [[ 6.22037104e-01 -7.53935464e-01 -2.11308204e-01 5.87498149e+01] [ 7.34075508e-01 6.55430226e-01 -1.77607343e-01 2.09041026e+01] [ 2.72402259e-01 -4.46378199e-02 9.61147478e-01 8.77142318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:58.76, Y:20.94, Z:8.79 [[ 6.25610222e-01 -7.61041569e-01 -1.71544693e-01 5.87603619e+01] [ 7.31902454e-01 6.48684083e-01 -2.08633069e-01 2.09369347e+01] [ 2.70056750e-01 4.96899891e-03 9.62831585e-01 8.79355975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.137552018 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:58.79, Y:20.95, Z:8.79 [[ 6.24539684e-01 -7.58151992e-01 -1.87498641e-01 5.87860317e+01] [ 7.33763200e-01 6.51831509e-01 -1.91591362e-01 2.09521325e+01] [ 2.67472894e-01 -1.79231940e-02 9.63398677e-01 8.79244765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:58.81, Y:20.97, Z:8.80 [[ 6.24294192e-01 -7.56855430e-01 -1.93459607e-01 5.88056849e+01] [ 7.34063667e-01 6.53072593e-01 -1.86136295e-01 2.09679321e+01] [ 2.67221433e-01 -2.58078608e-02 9.63289500e-01 8.79739912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.197552018 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:58.82, Y:20.99, Z:8.81 [[ 6.20776455e-01 -7.61249250e-01 -1.87446453e-01 5.88229489e+01] [ 7.36690108e-01 6.48196220e-01 -1.92689763e-01 2.09915502e+01] [ 2.68187020e-01 -1.84726794e-02 9.63189744e-01 8.80838503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.227552018 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:58.84, Y:21.01, Z:8.81 [[ 6.19662298e-01 -7.62284109e-01 -1.86926651e-01 5.88438795e+01] [ 7.37672505e-01 6.46984014e-01 -1.93005079e-01 2.10113119e+01] [ 2.68063260e-01 -1.82926802e-02 9.63227630e-01 8.81484340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.257552018 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:58.86, Y:21.03, Z:8.82 [[ 6.16156135e-01 -7.63826915e-01 -1.92145939e-01 5.88649755e+01] [ 7.39993855e-01 6.44953648e-01 -1.90902821e-01 2.10302729e+01] [ 2.69741937e-01 -2.45608697e-02 9.62619370e-01 8.82179982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.287552018 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:58.88, Y:21.05, Z:8.83 [[ 6.12891022e-01 -7.66841217e-01 -1.90575822e-01 5.88841062e+01] [ 7.42498329e-01 6.41418594e-01 -1.93076201e-01 2.10503999e+01] [ 2.70297664e-01 -2.31675594e-02 9.62498019e-01 8.83053741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.317552018 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:58.90, Y:21.07, Z:8.84 [[ 6.11118399e-01 -7.67783551e-01 -1.92464858e-01 5.89034689e+01] [ 7.44013682e-01 6.40171581e-01 -1.91373948e-01 2.10699963e+01] [ 2.70144302e-01 -2.62443470e-02 9.62462098e-01 8.83777523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.347552018 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:58.92, Y:21.09, Z:8.85 [[ 6.09794164e-01 -7.68920840e-01 -1.92124487e-01 5.89212693e+01] [ 7.44772331e-01 6.38836357e-01 -1.92878938e-01 2.10892503e+01] [ 2.71044743e-01 -2.54725511e-02 9.62229649e-01 8.84599832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.377552018 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:58.94, Y:21.11, Z:8.85 [[ 6.09720380e-01 -7.68478843e-01 -1.94116786e-01 5.89401049e+01] [ 7.44940409e-01 6.39251540e-01 -1.90843540e-01 2.11070924e+01] [ 2.70748677e-01 -2.82442425e-02 9.62235635e-01 8.85208819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:58.96, Y:21.13, Z:8.86 [[ 6.09110641e-01 -7.70226210e-01 -1.89039183e-01 5.89563465e+01] [ 7.44594060e-01 6.37453673e-01 -1.98071959e-01 2.11289708e+01] [ 2.73063936e-01 -2.01097141e-02 9.61785676e-01 8.86222481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43755201799999 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:58.98, Y:21.15, Z:8.87 [[ 6.08642908e-01 -7.69392271e-01 -1.93879712e-01 5.89773584e+01] [ 7.45013560e-01 6.38230917e-01 -1.93948682e-01 2.11484447e+01] [ 2.72962644e-01 -2.63975250e-02 9.61662397e-01 8.86871398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:59.00, Y:21.17, Z:8.88 [[ 6.08773992e-01 -7.68960670e-01 -1.95176114e-01 5.89953760e+01] [ 7.44681711e-01 6.38706473e-01 -1.93657407e-01 2.11677772e+01] [ 2.73575176e-01 -2.74504896e-02 9.61458836e-01 8.87762623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.497552018 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:59.01, Y:21.19, Z:8.89 [[ 6.08654164e-01 -7.70165877e-01 -1.90747557e-01 5.90127635e+01] [ 7.44766503e-01 6.37466687e-01 -1.97380544e-01 2.11885467e+01] [ 2.73610973e-01 -2.19259004e-02 9.61590500e-01 8.88675559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:59.03, Y:21.21, Z:8.89 [[ 6.09082458e-01 -7.69359626e-01 -1.92624829e-01 5.90330430e+01] [ 7.44748888e-01 6.38330173e-01 -1.94637317e-01 2.12074544e+01] [ 2.72704333e-01 -2.49069517e-02 9.61775437e-01 8.89283016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.557552018 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:59.05, Y:21.23, Z:8.90 [[ 6.10255204e-01 -7.68551083e-01 -1.92140101e-01 5.90512375e+01] [ 7.44121998e-01 6.39311440e-01 -1.93812629e-01 2.12264376e+01] [ 2.71792270e-01 -2.47005110e-02 9.62038901e-01 8.89974362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.587552018 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:59.07, Y:21.25, Z:8.91 [[ 6.09638539e-01 -7.68345649e-01 -1.94899502e-01 5.90684121e+01] [ 7.44333635e-01 6.39436956e-01 -1.92581983e-01 2.12474134e+01] [ 2.72595473e-01 -2.76648553e-02 9.61730921e-01 8.90864950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.617552018 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:59.09, Y:21.27, Z:8.92 [[ 6.09127632e-01 -7.67896286e-01 -1.98239307e-01 5.90864855e+01] [ 7.44111089e-01 6.39847127e-01 -1.92078996e-01 2.12668048e+01] [ 2.74339598e-01 -3.05114429e-02 9.61148707e-01 8.91650013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.647552018 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:59.10, Y:21.29, Z:8.93 [[ 6.09475009e-01 -7.68893726e-01 -1.93242468e-01 5.91013582e+01] [ 7.43469225e-01 6.38951320e-01 -1.97470816e-01 2.12871839e+01] [ 2.75306601e-01 -2.33163010e-02 9.61073684e-01 8.92549300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.677552018 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:59.12, Y:21.31, Z:8.93 [[ 6.07650511e-01 -7.69903000e-01 -1.94962118e-01 5.91213912e+01] [ 7.44267538e-01 6.37691772e-01 -1.98532201e-01 2.13073871e+01] [ 2.77176276e-01 -2.44657821e-02 9.60507542e-01 8.93230160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.707552018 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:59.14, Y:21.33, Z:8.94 [[ 6.06925821e-01 -7.70224966e-01 -1.95945271e-01 5.91387564e+01] [ 7.44795098e-01 6.37250777e-01 -1.97968961e-01 2.13261233e+01] [ 2.77346913e-01 -2.57866032e-02 9.60423730e-01 8.93919843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.737552018 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:59.16, Y:21.35, Z:8.95 [[ 6.05109979e-01 -7.72282904e-01 -1.93445161e-01 5.91556288e+01] [ 7.45532101e-01 6.34911756e-01 -2.02654751e-01 2.13492468e+01] [ 2.79327407e-01 -2.15911649e-02 9.59953135e-01 8.95023223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:59.18, Y:21.37, Z:8.96 [[ 6.03162969e-01 -7.72046509e-01 -2.00346252e-01 5.91751298e+01] [ 7.46732634e-01 6.34859238e-01 -1.98353525e-01 2.13678700e+01] [ 2.80329816e-01 -2.99655834e-02 9.59435906e-01 8.95682022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79755201799999 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:59.19, Y:21.39, Z:8.97 [[ 6.00980161e-01 -7.74457191e-01 -1.97582655e-01 5.91914881e+01] [ 7.48130948e-01 6.32073141e-01 -2.01949569e-01 2.13892097e+01] [ 2.81287985e-01 -2.64500141e-02 9.59258811e-01 8.96666236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:59.21, Y:21.41, Z:8.97 [[ 6.01325559e-01 -7.73377048e-01 -2.00737423e-01 5.92111814e+01] [ 7.48255785e-01 6.33180417e-01 -1.97979393e-01 2.14051946e+01] [ 2.80215724e-01 -3.11528692e-02 9.59431419e-01 8.97200328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85755201799999 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:59.23, Y:21.43, Z:8.98 [[ 5.98923720e-01 -7.77162688e-01 -1.93154170e-01 5.92266754e+01] [ 7.50194163e-01 6.28893872e-01 -2.04208754e-01 2.14287535e+01] [ 2.80176898e-01 -2.25976642e-02 9.59682370e-01 8.98375353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:59.25, Y:21.45, Z:8.99 [[ 5.97232067e-01 -7.77582855e-01 -1.96669170e-01 5.92467799e+01] [ 7.51592739e-01 6.28173773e-01 -2.01261188e-01 2.14478552e+01] [ 2.80039664e-01 -2.76154854e-02 9.59591148e-01 8.99087687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.917552018 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:59.26, Y:21.47, Z:9.00 [[ 5.94877618e-01 -7.78389064e-01 -2.00576877e-01 5.92631147e+01] [ 7.52685541e-01 6.26992229e-01 -2.00861199e-01 2.14670258e+01] [ 2.82108304e-01 -3.14834835e-02 9.58865838e-01 8.99926360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.947552018 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:59.28, Y:21.49, Z:9.01 [[ 5.93788773e-01 -7.79497292e-01 -1.99496530e-01 5.92795380e+01] [ 7.53031911e-01 6.25716359e-01 -2.03523904e-01 2.14884355e+01] [ 2.83474574e-01 -2.93770439e-02 9.58529684e-01 9.00879300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.977552018 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:59.29, Y:21.51, Z:9.02 [[ 5.94514798e-01 -7.80188889e-01 -1.94569918e-01 5.92949862e+01] [ 7.52983770e-01 6.25074257e-01 -2.05663841e-01 2.15089782e+01] [ 2.82077291e-01 -2.42377936e-02 9.59085466e-01 9.01660336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.007552018 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:59.31, Y:21.53, Z:9.02 [[ 5.94385099e-01 -7.80286176e-01 -1.94576045e-01 5.93134748e+01] [ 7.53313777e-01 6.24931000e-01 -2.04889234e-01 2.15301410e+01] [ 2.81468840e-01 -2.47937075e-02 9.59250001e-01 9.02442581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.037552018 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:59.33, Y:21.55, Z:9.03 [[ 5.93602620e-01 -7.80234214e-01 -1.97156031e-01 5.93320871e+01] [ 7.53595103e-01 6.24883431e-01 -2.03997840e-01 2.15508079e+01] [ 2.82365631e-01 -2.74821672e-02 9.58913125e-01 9.03306298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.067552018 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:59.35, Y:21.57, Z:9.04 [[ 5.93802176e-01 -7.79453432e-01 -1.99627963e-01 5.93485365e+01] [ 7.53382332e-01 6.25725413e-01 -2.02194881e-01 2.15707659e+01] [ 2.82513784e-01 -3.03324202e-02 9.58783556e-01 9.04090019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.097552018 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:59.36, Y:21.59, Z:9.05 [[ 5.92498485e-01 -7.81984414e-01 -1.93509489e-01 5.93629074e+01] [ 7.53653094e-01 6.22923822e-01 -2.09697227e-01 2.15947283e+01] [ 2.84521634e-01 -2.15937361e-02 9.58426393e-01 9.05217814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.127552018 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:59.38, Y:21.61, Z:9.06 [[ 5.91402986e-01 -7.81393867e-01 -1.99163585e-01 5.93822598e+01] [ 7.54372711e-01 6.23383002e-01 -2.05707186e-01 2.16140899e+01] [ 2.84893527e-01 -2.85877292e-02 9.58132778e-01 9.05772097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15755201799999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:59.40, Y:21.63, Z:9.06 [[ 5.89996298e-01 -7.80622815e-01 -2.06233823e-01 5.94012137e+01] [ 7.54767483e-01 6.23954180e-01 -2.02502415e-01 2.16307470e+01] [ 2.86758461e-01 -3.61829078e-02 9.57319373e-01 9.06331156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:59.42, Y:21.65, Z:9.07 [[ 5.88792453e-01 -7.82365256e-01 -2.03046924e-01 5.94164770e+01] [ 7.55232830e-01 6.22015153e-01 -2.06689433e-01 2.16513142e+01] [ 2.88004894e-01 -3.16505250e-02 9.57105754e-01 9.07301721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21755201799999 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:59.43, Y:21.68, Z:9.09 [[ 5.87230532e-01 -7.85986393e-01 -1.93353803e-01 5.94307146e+01] [ 7.56057259e-01 6.17935804e-01 -2.15714541e-01 2.16754465e+01] [ 2.89028931e-01 -1.95123818e-02 9.57121489e-01 9.08527532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:59.45, Y:21.69, Z:9.09 [[ 5.86673305e-01 -7.84834409e-01 -1.99623101e-01 5.94518569e+01] [ 7.56590795e-01 6.19092415e-01 -2.10463654e-01 2.16940858e+01] [ 2.88764266e-01 -2.75595936e-02 9.57003484e-01 9.09059173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.277552018 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:59.47, Y:21.71, Z:9.10 [[ 5.85243282e-01 -7.84731752e-01 -2.04172423e-01 5.94686815e+01] [ 7.57598237e-01 6.18936353e-01 -2.07274463e-01 2.17132531e+01] [ 2.89024588e-01 -3.33746809e-02 9.56739734e-01 9.09823259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.307552018 meters Centerline goodness : 0.990983 Centerline is valid? [True, True] Translation: X:59.48, Y:21.74, Z:9.11 [[ 5.83882354e-01 -7.87604793e-01 -1.96875816e-01 5.94829289e+01] [ 7.58356712e-01 6.15700040e-01 -2.14029339e-01 2.17364079e+01] [ 2.89786981e-01 -2.43341419e-02 9.56781770e-01 9.11033268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.337552018 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:59.50, Y:21.76, Z:9.12 [[ 5.82814497e-01 -7.87919342e-01 -1.98772162e-01 5.95024921e+01] [ 7.59321357e-01 6.15172687e-01 -2.12117047e-01 2.17565176e+01] [ 2.89410329e-01 -2.73070578e-02 9.56815544e-01 9.11837466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.367552018 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:59.52, Y:21.77, Z:9.12 [[ 5.83657997e-01 -7.85607017e-01 -2.05341074e-01 5.95217890e+01] [ 7.59367189e-01 6.17648401e-01 -2.04626305e-01 2.17714229e+01] [ 2.87584447e-01 -3.64974951e-02 9.57059621e-01 9.12218042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.397552018 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:59.53, Y:21.80, Z:9.14 [[ 5.79588943e-01 -7.92400354e-01 -1.90206036e-01 5.95346706e+01] [ 7.61570629e-01 6.09747825e-01 -2.19585441e-01 2.17981333e+01] [ 2.89977298e-01 -1.75860363e-02 9.56871934e-01 9.13768817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.427552018 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:59.56, Y:21.81, Z:9.14 [[ 5.79200037e-01 -7.89961275e-01 -2.01217544e-01 5.95574121e+01] [ 7.62021638e-01 6.12354146e-01 -2.10583532e-01 2.18142960e+01] [ 2.89569233e-01 -3.13621331e-02 9.56643129e-01 9.14081164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.457552018 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:59.58, Y:21.83, Z:9.15 [[ 5.79799128e-01 -7.87935310e-01 -2.07342514e-01 5.95751638e+01] [ 7.62277336e-01 6.14450654e-01 -2.03429734e-01 2.18289050e+01] [ 2.87691214e-01 -4.01041172e-02 9.56883183e-01 9.14538229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.487552018 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:59.58, Y:21.86, Z:9.16 [[ 5.76647339e-01 -7.95007211e-01 -1.88258816e-01 5.95844811e+01] [ 7.62765050e-01 6.06435895e-01 -2.24555079e-01 2.18582508e+01] [ 2.92689811e-01 -1.41081561e-02 9.56103360e-01 9.16496485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51755201799999 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:59.61, Y:21.87, Z:9.17 [[ 5.76242082e-01 -7.91911181e-01 -2.02043916e-01 5.96082271e+01] [ 7.63427309e-01 6.09818162e-01 -2.12839267e-01 2.18735597e+01] [ 2.91759845e-01 -3.15989007e-02 9.55969509e-01 9.16626858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:59.63, Y:21.89, Z:9.17 [[ 5.78001577e-01 -7.89869718e-01 -2.04987818e-01 5.96267227e+01] [ 7.62383517e-01 6.12265324e-01 -2.09529345e-01 2.18890148e+01] [ 2.91007817e-01 -3.51710420e-02 9.56073976e-01 9.17107157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57755201799999 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:59.64, Y:21.91, Z:9.19 [[ 5.76429396e-01 -7.93799450e-01 -1.93937063e-01 5.96406396e+01] [ 7.62805283e-01 6.07825190e-01 -2.20627827e-01 2.19144782e+01] [ 2.93014080e-01 -2.07598513e-02 9.55882722e-01 9.18601097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:59.66, Y:21.93, Z:9.19 [[ 5.77570852e-01 -7.92337825e-01 -1.96501098e-01 5.96602065e+01] [ 7.62442933e-01 6.09590467e-01 -2.16979805e-01 2.19349796e+01] [ 2.91706503e-01 -2.44996624e-02 9.56194061e-01 9.19254092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.637552018 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:59.68, Y:21.95, Z:9.20 [[ 5.78238239e-01 -7.90259558e-01 -2.02806236e-01 5.96790849e+01] [ 7.61868722e-01 6.11949266e-01 -2.12306729e-01 2.19547152e+01] [ 2.91884549e-01 -3.17478588e-02 9.55926505e-01 9.19994861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.667552018 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:59.69, Y:21.98, Z:9.21 [[ 5.81609145e-01 -7.89318372e-01 -1.96741735e-01 5.96928711e+01] [ 7.59476688e-01 6.13529229e-01 -2.16280017e-01 2.19778270e+01] [ 2.91420596e-01 -2.36303255e-02 9.56303113e-01 9.21100797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.697552018 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:59.71, Y:22.00, Z:9.22 [[ 5.82774456e-01 -7.88342605e-01 -1.97205150e-01 5.97119239e+01] [ 7.58866435e-01 6.14752892e-01 -2.14943284e-01 2.19985745e+01] [ 2.90681385e-01 -2.43889142e-02 9.56509024e-01 9.21797638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.727552018 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:59.73, Y:22.02, Z:9.22 [[ 5.84842762e-01 -7.86277274e-01 -1.99316314e-01 5.97319688e+01] [ 7.57204010e-01 6.17322465e-01 -2.13436318e-01 2.20188561e+01] [ 2.90862565e-01 -2.60964267e-02 9.56408880e-01 9.22458582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.757552018 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:59.75, Y:22.04, Z:9.23 [[ 5.85365221e-01 -7.86638485e-01 -1.96335053e-01 5.97495294e+01] [ 7.56493999e-01 6.17034456e-01 -2.16760951e-01 2.20416381e+01] [ 2.91657998e-01 -2.16419680e-02 9.56277803e-01 9.23416318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.787552018 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:59.77, Y:22.06, Z:9.24 [[ 5.84774634e-01 -7.84890732e-01 -2.04902820e-01 5.97691818e+01] [ 7.56417550e-01 6.18851143e-01 -2.11791769e-01 2.20603598e+01] [ 2.93037741e-01 -3.11416347e-02 9.55593575e-01 9.24022768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.817552018 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:59.78, Y:22.08, Z:9.25 [[ 5.85586519e-01 -7.85958715e-01 -1.98386814e-01 5.97829430e+01] [ 7.55931211e-01 6.17842335e-01 -2.16422858e-01 2.20822859e+01] [ 2.92671203e-01 -2.32324767e-02 9.55930865e-01 9.25015803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.847552018 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:59.80, Y:22.10, Z:9.26 [[ 5.85397136e-01 -7.84414144e-01 -2.04950344e-01 5.98016133e+01] [ 7.55761547e-01 6.19481179e-01 -2.12291196e-01 2.21016922e+01] [ 2.93487098e-01 -3.06189312e-02 9.55472556e-01 9.25742835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87755201799999 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:59.82, Y:22.12, Z:9.27 [[ 5.84634059e-01 -7.85961880e-01 -2.01163964e-01 5.98165422e+01] [ 7.56103891e-01 6.17738420e-01 -2.16116060e-01 2.21227406e+01] [ 2.94125694e-01 -2.57520468e-02 9.55419755e-01 9.26791416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:59.84, Y:22.14, Z:9.27 [[ 5.86207219e-01 -7.84554828e-01 -2.02076266e-01 5.98360057e+01] [ 7.56238802e-01 6.19372277e-01 -2.10904854e-01 2.21400017e+01] [ 2.90626859e-01 -2.91839650e-02 9.56391303e-01 9.27234168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93755201799999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:59.85, Y:22.17, Z:9.29 [[ 5.83218467e-01 -7.89859445e-01 -1.89679405e-01 5.98500871e+01] [ 7.57200191e-01 6.13163897e-01 -2.25117539e-01 2.21672910e+01] [ 2.94115778e-01 -1.23325758e-02 9.55690231e-01 9.28926866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:59.87, Y:22.18, Z:9.29 [[ 5.82248713e-01 -7.87447440e-01 -2.02269538e-01 5.98724107e+01] [ 7.58237027e-01 6.15720806e-01 -2.14393329e-01 2.21838318e+01] [ 2.93365041e-01 -2.85380134e-02 9.55574453e-01 9.29197276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.997552018 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:59.89, Y:22.21, Z:9.30 [[ 5.81255912e-01 -7.90034506e-01 -1.94902652e-01 5.98860002e+01] [ 7.58955434e-01 6.12740394e-01 -2.20308555e-01 2.22077708e+01] [ 2.93476088e-01 -1.98667765e-02 9.55759958e-01 9.30436613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:59.91, Y:22.23, Z:9.31 [[ 5.80978676e-01 -7.88497325e-01 -2.01830984e-01 5.99055527e+01] [ 7.59325237e-01 6.14369035e-01 -2.14419853e-01 2.22254868e+01] [ 2.93068187e-01 -2.86819973e-02 9.55661227e-01 9.30975339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.057552018 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:59.92, Y:22.24, Z:9.32 [[ 5.81013023e-01 -7.88742452e-01 -2.00771543e-01 5.99219673e+01] [ 7.59410186e-01 6.14103009e-01 -2.14880579e-01 2.22448380e+01] [ 2.92779844e-01 -2.76195398e-02 9.55780898e-01 9.31832692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.087552018 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:59.94, Y:22.27, Z:9.33 [[ 5.80862511e-01 -7.89788594e-01 -1.97060195e-01 5.99380775e+01] [ 7.59991691e-01 6.12903339e-01 -2.16245522e-01 2.22652173e+01] [ 2.91567098e-01 -2.41551939e-02 9.56245342e-01 9.32707139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.117552018 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:59.96, Y:22.29, Z:9.34 [[ 5.80563557e-01 -7.90697492e-01 -1.94276690e-01 5.99555557e+01] [ 7.60311852e-01 6.11843924e-01 -2.18112128e-01 2.22868953e+01] [ 2.91327725e-01 -2.10829176e-02 9.56390959e-01 9.33647342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.147552018 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:59.97, Y:22.31, Z:9.34 [[ 5.80933622e-01 -7.89912918e-01 -1.96350982e-01 5.99738342e+01] [ 7.60258662e-01 6.12751222e-01 -2.15737587e-01 2.23069222e+01] [ 2.90728211e-01 -2.39483165e-02 9.56505925e-01 9.34297908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.177552018 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:59.99, Y:22.33, Z:9.35 [[ 5.80729219e-01 -7.88953391e-01 -2.00763844e-01 5.99917646e+01] [ 7.60113029e-01 6.13781101e-01 -2.13309499e-01 2.23266181e+01] [ 2.91516305e-01 -2.87281551e-02 9.56134372e-01 9.35073615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.207552018 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:60.01, Y:22.35, Z:9.36 [[ 5.81239319e-01 -7.88729666e-01 -2.00165849e-01 6.00072182e+01] [ 7.59043717e-01 6.14172946e-01 -2.15972751e-01 2.23493363e+01] [ 2.93280565e-01 -2.64027752e-02 9.55661762e-01 9.36036869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.237552018 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:60.02, Y:22.37, Z:9.37 [[ 5.81663656e-01 -7.89153074e-01 -1.97243043e-01 6.00239320e+01] [ 7.58523955e-01 6.13791313e-01 -2.18864420e-01 2.23712955e+01] [ 2.93783596e-01 -2.23080947e-02 9.55611609e-01 9.36848727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:60.04, Y:22.39, Z:9.37 [[ 5.81726320e-01 -7.87639465e-01 -2.03023547e-01 6.00431939e+01] [ 7.58122185e-01 6.15474479e-01 -2.15503871e-01 2.23890296e+01] [ 2.94695166e-01 -2.85523808e-02 9.55164656e-01 9.37378076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29755201799999 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:60.06, Y:22.41, Z:9.38 [[ 5.80383382e-01 -7.89424720e-01 -1.99909335e-01 6.00582116e+01] [ 7.58456467e-01 6.13385672e-01 -2.20231252e-01 2.24106170e+01] [ 2.96477516e-01 -2.38039693e-02 9.54743135e-01 9.38367283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:60.07, Y:22.43, Z:9.39 [[ 5.79576482e-01 -7.89306034e-01 -2.02699496e-01 6.00745081e+01] [ 7.58657346e-01 6.13423464e-01 -2.19432642e-01 2.24298802e+01] [ 2.97540135e-01 -2.66014632e-02 9.54338635e-01 9.39125142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35755201799999 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:60.09, Y:22.45, Z:9.40 [[ 5.78202154e-01 -7.90830481e-01 -2.00672420e-01 6.00897223e+01] [ 7.59299202e-01 6.11572278e-01 -2.22360227e-01 2.24518566e+01] [ 2.98574934e-01 -2.38012457e-02 9.54089361e-01 9.40162617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:60.11, Y:22.47, Z:9.41 [[ 5.77065717e-01 -7.91290027e-01 -2.02126823e-01 6.01067365e+01] [ 7.60076930e-01 6.10897323e-01 -2.21557038e-01 2.24723569e+01] [ 2.98794609e-01 -2.57789643e-02 9.53969196e-01 9.41003141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.417552018 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:60.12, Y:22.49, Z:9.42 [[ 5.76037242e-01 -7.92122468e-01 -2.01799632e-01 6.01229045e+01] [ 7.61465506e-01 6.09765069e-01 -2.19901897e-01 2.24921683e+01] [ 2.97239600e-01 -2.69917769e-02 9.54421324e-01 9.41833194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.447552018 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:60.14, Y:22.51, Z:9.43 [[ 5.75768613e-01 -7.92162893e-01 -2.02406658e-01 6.01399906e+01] [ 7.62110698e-01 6.09633357e-01 -2.18023975e-01 2.25112341e+01] [ 2.96104353e-01 -2.87249170e-02 9.54723568e-01 9.42646606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.477552018 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:60.16, Y:22.53, Z:9.44 [[ 5.74343490e-01 -7.94103201e-01 -1.98820678e-01 6.01552259e+01] [ 7.63022793e-01 6.07286164e-01 -2.21358832e-01 2.25332724e+01] [ 2.96522804e-01 -2.45687052e-02 9.54709697e-01 9.43747559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.507552018 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:60.17, Y:22.56, Z:9.45 [[ 5.73192781e-01 -7.95822955e-01 -1.95232835e-01 6.01717684e+01] [ 7.64177850e-01 6.05156182e-01 -2.23199928e-01 2.25558856e+01] [ 2.95773983e-01 -2.12560210e-02 9.55021430e-01 9.44679027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.537552018 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:60.19, Y:22.57, Z:9.45 [[ 5.73091767e-01 -7.94696767e-01 -2.00057179e-01 6.01910721e+01] [ 7.64450307e-01 6.06383927e-01 -2.18893263e-01 2.25740691e+01] [ 2.95265227e-01 -2.74878446e-02 9.55019824e-01 9.45217893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.567552018 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:60.21, Y:22.59, Z:9.46 [[ 5.72903790e-01 -7.94885054e-01 -1.99847438e-01 6.02069717e+01] [ 7.64502981e-01 6.06153680e-01 -2.19346546e-01 2.25942530e+01] [ 2.95493551e-01 -2.71194948e-02 9.54959734e-01 9.46090746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.597552018 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:60.22, Y:22.62, Z:9.47 [[ 5.72232334e-01 -7.95893832e-01 -1.97745198e-01 6.02201172e+01] [ 7.64767200e-01 6.04946761e-01 -2.21744326e-01 2.26183688e+01] [ 2.96110259e-01 -2.43397686e-02 9.54843595e-01 9.47154529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:60.24, Y:22.64, Z:9.48 [[ 5.72149637e-01 -7.94100349e-01 -2.05059573e-01 6.02378286e+01] [ 7.64402098e-01 6.06928935e-01 -2.17547006e-01 2.26367885e+01] [ 2.97210742e-01 -3.22785272e-02 9.54266143e-01 9.47827374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65755201799999 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:60.25, Y:22.66, Z:9.49 [[ 5.71092589e-01 -7.96395962e-01 -1.99014387e-01 6.02512643e+01] [ 7.64404392e-01 6.04307373e-01 -2.24718770e-01 2.26607417e+01] [ 2.99230983e-01 -2.37922475e-02 9.53884033e-01 9.48856054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:60.27, Y:22.68, Z:9.49 [[ 5.70517465e-01 -7.95261985e-01 -2.05105333e-01 6.02699110e+01] [ 7.64454839e-01 6.05496879e-01 -2.21319517e-01 2.26788738e+01] [ 3.00197637e-01 -3.05271151e-02 9.53388417e-01 9.49436679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71755201799999 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:60.28, Y:22.70, Z:9.50 [[ 5.69219153e-01 -7.96993882e-01 -2.01966105e-01 6.02847385e+01] [ 7.65274098e-01 6.03387039e-01 -2.24231210e-01 2.27006911e+01] [ 3.00574633e-01 -2.69227295e-02 9.53378234e-01 9.50418739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:60.30, Y:22.72, Z:9.51 [[ 5.68314463e-01 -7.98313907e-01 -1.99282654e-01 6.02997503e+01] [ 7.65584303e-01 6.01790286e-01 -2.27440378e-01 2.27222328e+01] [ 3.01495183e-01 -2.33100156e-02 9.53182720e-01 9.51448897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.777552018 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:60.32, Y:22.74, Z:9.52 [[ 5.68832267e-01 -7.96892138e-01 -2.03452140e-01 6.03157288e+01] [ 7.65501499e-01 6.03438797e-01 -2.23313844e-01 2.27431599e+01] [ 3.00727961e-01 -2.87147979e-02 9.53277585e-01 9.52121656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.807552018 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:60.33, Y:22.77, Z:9.53 [[ 5.69390184e-01 -7.98084205e-01 -1.97120318e-01 6.03288735e+01] [ 7.65118216e-01 6.02179462e-01 -2.27978093e-01 2.27664776e+01] [ 3.00647522e-01 -2.10118579e-02 9.53503838e-01 9.53183091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.837552018 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:60.35, Y:22.79, Z:9.54 [[ 5.69868325e-01 -7.96921557e-01 -2.00414878e-01 6.03464418e+01] [ 7.64936518e-01 6.03559804e-01 -2.24917067e-01 2.27874432e+01] [ 3.00203623e-01 -2.51315464e-02 9.53544016e-01 9.53822435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.867552018 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:60.36, Y:22.81, Z:9.55 [[ 5.70965330e-01 -7.96205407e-01 -2.00138809e-01 6.03625754e+01] [ 7.64260371e-01 6.04521953e-01 -2.24631461e-01 2.28096158e+01] [ 2.99841088e-01 -2.47013840e-02 9.53669316e-01 9.54692397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.897552018 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:60.38, Y:22.83, Z:9.56 [[ 5.71820368e-01 -7.95232861e-01 -2.01559328e-01 6.03772230e+01] [ 7.64074766e-01 6.05701664e-01 -2.22070363e-01 2.28299072e+01] [ 2.98682471e-01 -2.70220395e-02 9.53969911e-01 9.55524389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.927552018 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:60.39, Y:22.85, Z:9.57 [[ 5.70979599e-01 -7.96601169e-01 -1.98516685e-01 6.03928561e+01] [ 7.64615070e-01 6.04048630e-01 -2.24697679e-01 2.28521515e+01] [ 2.98908165e-01 -2.34910581e-02 9.53992704e-01 9.56606129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.957552018 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:60.41, Y:22.87, Z:9.57 [[ 5.70431814e-01 -7.97419453e-01 -1.96798787e-01 6.04092058e+01] [ 7.65229462e-01 6.03022649e-01 -2.25360945e-01 2.28730703e+01] [ 2.98381327e-01 -2.20431771e-02 9.54192162e-01 9.57405921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.987552018 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:60.43, Y:22.89, Z:9.58 [[ 5.66742484e-01 -7.99550580e-01 -1.98800974e-01 6.04267657e+01] [ 7.67644690e-01 6.00074767e-01 -2.25015341e-01 2.28935962e+01] [ 2.99206594e-01 -2.50827589e-02 9.53858621e-01 9.58189207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01755201799999 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:60.44, Y:22.91, Z:9.59 [[ 5.65788129e-01 -7.99881866e-01 -2.00181900e-01 6.04417533e+01] [ 7.68095190e-01 5.99569670e-01 -2.24824354e-01 2.29107136e+01] [ 2.99855920e-01 -2.65558040e-02 9.53614816e-01 9.58935872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:60.46, Y:22.94, Z:9.60 [[ 5.60691633e-01 -8.05232280e-01 -1.92940063e-01 6.04580336e+01] [ 7.71600764e-01 5.92645296e-01 -2.31092652e-01 2.29355777e+01] [ 3.00428284e-01 -1.93009837e-02 9.53609101e-01 9.60015808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07755201799999 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:60.48, Y:22.95, Z:9.60 [[ 5.58957777e-01 -8.04579782e-01 -2.00543208e-01 6.04779109e+01] [ 7.72714213e-01 5.93153940e-01 -2.26011389e-01 2.29536005e+01] [ 3.00797188e-01 -2.86317636e-02 9.53258241e-01 9.60395483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:60.49, Y:22.98, Z:9.61 [[ 5.58046528e-01 -8.06722181e-01 -1.94379514e-01 6.04945228e+01] [ 7.73298085e-01 5.90539269e-01 -2.30810406e-01 2.29765055e+01] [ 3.00988611e-01 -2.15103602e-02 9.53385106e-01 9.61316506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.137552018 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:60.51, Y:23.00, Z:9.62 [[ 5.57946851e-01 -8.05767131e-01 -1.98581574e-01 6.05145104e+01] [ 7.73523163e-01 5.91625116e-01 -2.27247967e-01 2.29952320e+01] [ 3.00594789e-01 -2.68151602e-02 9.53374910e-01 9.61807407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.167552018 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:60.53, Y:23.02, Z:9.63 [[ 5.57396156e-01 -8.05838351e-01 -1.99835126e-01 6.05323004e+01] [ 7.73884849e-01 5.91453177e-01 -2.26462754e-01 2.30157930e+01] [ 3.00685492e-01 -2.84199082e-02 9.53299818e-01 9.62599400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.197552018 meters Centerline goodness : 0.991509 Centerline is valid? [True, True] Translation: X:60.55, Y:23.04, Z:9.64 [[ 5.58052309e-01 -8.06700088e-01 -1.94454595e-01 6.05475484e+01] [ 7.73596126e-01 5.90544273e-01 -2.29796640e-01 2.30390582e+01] [ 3.00211017e-01 -2.21907755e-02 9.53614657e-01 9.63639779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.227552018 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:60.57, Y:23.06, Z:9.64 [[ 5.59130466e-01 -8.04593500e-01 -2.00006052e-01 6.05665390e+01] [ 7.73013600e-01 5.93128462e-01 -2.25052444e-01 2.30594131e+01] [ 2.99705016e-01 -2.87737204e-02 9.53597911e-01 9.64324364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.257552018 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:60.58, Y:23.08, Z:9.65 [[ 5.63755761e-01 -8.03460886e-01 -1.91389775e-01 6.05804808e+01] [ 7.70383809e-01 5.95073201e-01 -2.28903196e-01 2.30839869e+01] [ 2.97805691e-01 -1.83980886e-02 9.54449203e-01 9.65440267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.287552018 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:60.60, Y:23.10, Z:9.66 [[ 5.67653994e-01 -7.98176723e-01 -2.01699931e-01 6.06018676e+01] [ 7.68667734e-01 6.01590660e-01 -2.17344409e-01 2.31002080e+01] [ 2.94820043e-01 -3.16638070e-02 9.55028034e-01 9.65517568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.317552018 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:60.61, Y:23.13, Z:9.67 [[ 5.66974650e-01 -8.01466281e-01 -1.90240761e-01 6.06137606e+01] [ 7.67957250e-01 5.97832048e-01 -2.29866277e-01 2.31268481e+01] [ 2.97962094e-01 -1.57684195e-02 9.54447457e-01 9.67164084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.347552018 meters Centerline goodness : 0.989380 Centerline is valid? [True, True] Translation: X:60.63, Y:23.14, Z:9.67 [[ 5.70384002e-01 -7.96156766e-01 -2.01981418e-01 6.06340835e+01] [ 7.66082230e-01 6.04349890e-01 -2.18813226e-01 2.31439901e+01] [ 2.96277079e-01 -2.99268115e-02 9.54633060e-01 9.67416152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37755201799999 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:60.65, Y:23.17, Z:9.69 [[ 5.70522433e-01 -7.98040525e-01 -1.93998643e-01 6.06473236e+01] [ 7.65552140e-01 6.02289790e-01 -2.26223184e-01 2.31682942e+01] [ 2.97378670e-01 -1.94506755e-02 9.54561469e-01 9.68757318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:60.67, Y:23.19, Z:9.69 [[ 5.69912325e-01 -7.94721729e-01 -2.08847589e-01 6.06692600e+01] [ 7.65564019e-01 6.05872187e-01 -2.16403850e-01 2.31860169e+01] [ 2.98515787e-01 -3.65549778e-02 9.53704387e-01 9.69145921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43755201799999 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:60.68, Y:23.21, Z:9.70 [[ 5.70855510e-01 -7.97610123e-01 -1.94787265e-01 6.06802615e+01] [ 7.65522049e-01 6.02817383e-01 -2.24915974e-01 2.32091103e+01] [ 2.96816407e-01 -2.07194228e-02 9.54709760e-01 9.70427124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:60.70, Y:23.23, Z:9.71 [[ 5.69937021e-01 -7.98589611e-01 -1.93459103e-01 6.06970970e+01] [ 7.65751314e-01 6.01590493e-01 -2.27406693e-01 2.32315665e+01] [ 2.97987780e-01 -1.85340692e-02 9.54389738e-01 9.71409189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.497552018 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:60.72, Y:23.25, Z:9.72 [[ 5.68368606e-01 -7.98103336e-01 -1.99970480e-01 6.07158451e+01] [ 7.66602493e-01 6.01949160e-01 -2.23557211e-01 2.32521894e+01] [ 2.98793818e-01 -2.62349679e-02 9.53957012e-01 9.72016348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:60.73, Y:23.27, Z:9.73 [[ 5.66345680e-01 -8.00335959e-01 -1.96761081e-01 6.07312476e+01] [ 7.67613747e-01 5.99142788e-01 -2.27589664e-01 2.32749436e+01] [ 3.00036174e-01 -2.21420877e-02 9.53670814e-01 9.72910439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.557552018 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:60.75, Y:23.29, Z:9.74 [[ 5.64734438e-01 -8.01148901e-01 -1.98079409e-01 6.07488771e+01] [ 7.68547992e-01 5.97992515e-01 -2.27461945e-01 2.32949988e+01] [ 3.00680891e-01 -2.37779383e-02 9.53428346e-01 9.73646213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.587552018 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:60.77, Y:23.32, Z:9.74 [[ 5.61999480e-01 -8.02309587e-01 -2.01136549e-01 6.07668339e+01] [ 7.70017456e-01 5.96282789e-01 -2.26980071e-01 2.33158990e+01] [ 3.02042549e-01 -2.73159716e-02 9.52903005e-01 9.74450958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.617552018 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:60.78, Y:23.34, Z:9.75 [[ 5.59390754e-01 -8.05055216e-01 -1.97403354e-01 6.07824810e+01] [ 7.71850337e-01 5.92727067e-01 -2.30047130e-01 2.33369466e+01] [ 3.02206953e-01 -2.36796079e-02 9.52948180e-01 9.75301802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.647552018 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:60.80, Y:23.36, Z:9.76 [[ 5.57280008e-01 -8.06375247e-01 -1.97984732e-01 6.08001342e+01] [ 7.73215210e-01 5.90884168e-01 -2.30204559e-01 2.33580557e+01] [ 3.02617302e-01 -2.47964080e-02 9.52789540e-01 9.76128436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.677552018 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:60.82, Y:23.38, Z:9.77 [[ 5.56954633e-01 -8.06998668e-01 -1.96353474e-01 6.08179340e+01] [ 7.73954466e-01 5.90066560e-01 -2.29817185e-01 2.33790554e+01] [ 3.01323781e-01 -2.39709021e-02 9.53220528e-01 9.76838265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.707552018 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:60.84, Y:23.40, Z:9.78 [[ 5.54197942e-01 -8.08523316e-01 -1.97875435e-01 6.08360647e+01] [ 7.75897985e-01 5.87859679e-01 -2.28917704e-01 2.34005429e+01] [ 3.01408291e-01 -2.66654313e-02 9.53122236e-01 9.77747897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.737552018 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:60.85, Y:23.42, Z:9.79 [[ 5.52702090e-01 -8.08797085e-01 -2.00917083e-01 6.08533023e+01] [ 7.76937687e-01 5.87285121e-01 -2.26856819e-01 2.34208719e+01] [ 3.01476748e-01 -3.07158154e-02 9.52978651e-01 9.78573018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:60.87, Y:23.44, Z:9.79 [[ 5.52626761e-01 -8.08463561e-01 -2.02460695e-01 6.08695281e+01] [ 7.76999469e-01 5.87643961e-01 -2.25713092e-01 2.34405817e+01] [ 3.01455615e-01 -3.25767574e-02 9.52923537e-01 9.79358270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79755201799999 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:60.89, Y:23.46, Z:9.80 [[ 5.53433161e-01 -8.08678303e-01 -1.99376878e-01 6.08853807e+01] [ 7.76390429e-01 5.87555644e-01 -2.28026902e-01 2.34626865e+01] [ 3.01545418e-01 -2.85966508e-02 9.53022871e-01 9.80347983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:60.90, Y:23.48, Z:9.81 [[ 5.54426514e-01 -8.06509478e-01 -2.05313671e-01 6.09039813e+01] [ 7.75715810e-01 5.90164719e-01 -2.23541018e-01 2.34807565e+01] [ 3.01456835e-01 -3.53279934e-02 9.52825120e-01 9.80945292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85755201799999 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:60.92, Y:23.50, Z:9.82 [[ 5.54210458e-01 -8.09219186e-01 -1.94974557e-01 6.09164153e+01] [ 7.75601553e-01 5.87068797e-01 -2.31932013e-01 2.35047954e+01] [ 3.02147313e-01 -2.26834219e-02 9.52991324e-01 9.82274859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:60.93, Y:23.53, Z:9.83 [[ 5.53266984e-01 -8.08496428e-01 -2.00572108e-01 6.09345487e+01] [ 7.75883584e-01 5.87793640e-01 -2.29135989e-01 2.35253133e+01] [ 3.03150638e-01 -2.88472279e-02 9.52505920e-01 9.83062460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.917552018 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:60.95, Y:23.55, Z:9.84 [[ 5.52378548e-01 -8.09065593e-01 -2.00725698e-01 6.09507238e+01] [ 7.76414739e-01 5.86995494e-01 -2.29382744e-01 2.35456653e+01] [ 3.03410766e-01 -2.91402832e-02 9.52414170e-01 9.83930888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.947552018 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:60.97, Y:23.57, Z:9.85 [[ 5.50940061e-01 -8.10020768e-01 -2.00826799e-01 6.09672715e+01] [ 7.76965809e-01 5.85690935e-01 -2.30846834e-01 2.35663929e+01] [ 3.04613166e-01 -2.88527876e-02 9.52039041e-01 9.84833657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.977552018 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:60.98, Y:23.59, Z:9.86 [[ 5.49775552e-01 -8.11103258e-01 -1.99645555e-01 6.09836914e+01] [ 7.77666534e-01 5.84249778e-01 -2.32135646e-01 2.35863341e+01] [ 3.04928850e-01 -2.76351638e-02 9.51974104e-01 9.85636967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.007552018 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:61.00, Y:23.60, Z:9.86 [[ 5.47198044e-01 -8.10017685e-01 -2.10821372e-01 6.10046450e+01] [ 7.79027921e-01 5.84986172e-01 -2.25625081e-01 2.36016273e+01] [ 3.06087893e-01 -4.07741323e-02 9.51129682e-01 9.86145025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.037552018 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:61.02, Y:23.62, Z:9.88 [[ 5.45432246e-01 -8.13664545e-01 -2.01130985e-01 6.10165317e+01] [ 7.79664174e-01 5.80616392e-01 -2.34538657e-01 2.36247648e+01] [ 3.07615736e-01 -2.88896767e-02 9.51071998e-01 9.87660037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.067552018 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:61.03, Y:23.65, Z:9.89 [[ 5.44447112e-01 -8.14566041e-01 -2.00148713e-01 6.10323587e+01] [ 7.80472021e-01 5.79379388e-01 -2.34910511e-01 2.36456811e+01] [ 3.07312164e-01 -2.83141216e-02 9.51187439e-01 9.88535710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.097552018 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:61.05, Y:23.66, Z:9.89 [[ 5.43638711e-01 -8.12327889e-01 -2.11140600e-01 6.10517589e+01] [ 7.80267943e-01 5.81827951e-01 -2.29473687e-01 2.36629903e+01] [ 3.09255378e-01 -3.99954623e-02 9.50137608e-01 9.89279641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:61.06, Y:23.69, Z:9.91 [[ 5.44718578e-01 -8.15227634e-01 -1.96686490e-01 6.10612133e+01] [ 7.79171965e-01 5.78719034e-01 -2.40780665e-01 2.36864817e+01] [ 3.10117267e-01 -2.20948972e-02 9.50441527e-01 9.90745800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15755201799999 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:61.08, Y:23.71, Z:9.91 [[ 5.45336704e-01 -8.14281643e-01 -1.98880075e-01 6.10791262e+01] [ 7.78823010e-01 5.79949000e-01 -2.38943250e-01 2.37070297e+01] [ 3.09907403e-01 -2.45878542e-02 9.50448757e-01 9.91441373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:61.10, Y:23.73, Z:9.92 [[ 5.45691122e-01 -8.12938414e-01 -2.03352734e-01 6.10970440e+01] [ 7.78138115e-01 5.81633700e-01 -2.37072378e-01 2.37264298e+01] [ 3.11002046e-01 -2.88682211e-02 9.49970712e-01 9.92177765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21755201799999 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:61.11, Y:23.75, Z:9.93 [[ 5.46621232e-01 -8.15980998e-01 -1.88096357e-01 6.11095106e+01] [ 7.77801377e-01 5.77967872e-01 -2.46937557e-01 2.37513376e+01] [ 3.10210006e-01 -1.13202941e-02 9.50600654e-01 9.93377589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:61.14, Y:23.77, Z:9.94 [[ 5.45442376e-01 -8.11945158e-01 -2.07936707e-01 6.11350130e+01] [ 7.78555447e-01 5.82697192e-01 -2.33056642e-01 2.37667176e+01] [ 3.10393348e-01 -3.47712869e-02 9.49972067e-01 9.93508179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.277552018 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:61.15, Y:23.79, Z:9.95 [[ 5.45971631e-01 -8.14603915e-01 -1.95794380e-01 6.11470368e+01] [ 7.78312539e-01 5.79650435e-01 -2.41319220e-01 2.37901474e+01] [ 3.10071879e-01 -2.06357726e-02 9.50489135e-01 9.94915142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.307552018 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:61.17, Y:23.81, Z:9.95 [[ 5.47341918e-01 -8.12891340e-01 -1.99059020e-01 6.11656412e+01] [ 7.78028739e-01 5.81868514e-01 -2.36855048e-01 2.38093970e+01] [ 3.08363594e-01 -2.52329414e-02 9.50933853e-01 9.95457556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.337552018 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:61.19, Y:23.82, Z:9.96 [[ 5.50038287e-01 -8.08689314e-01 -2.08517326e-01 6.11883873e+01] [ 7.79429489e-01 5.86752371e-01 -2.19570778e-01 2.38238058e+01] [ 2.99912577e-01 -4.17522183e-02 9.53052569e-01 9.95636325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.367552018 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:61.19, Y:23.85, Z:9.98 [[ 5.46061384e-01 -8.18121205e-01 -1.80262749e-01 6.11897977e+01] [ 7.77829843e-01 5.75043187e-01 -2.53586412e-01 2.38538948e+01] [ 3.11123287e-01 -1.73999893e-03 9.50367967e-01 9.98139017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.397552018 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:61.22, Y:23.87, Z:9.98 [[ 5.46387984e-01 -8.13262084e-01 -2.00162318e-01 6.12166281e+01] [ 7.78191074e-01 5.81320584e-01 -2.37665797e-01 2.38701534e+01] [ 3.09643057e-01 -2.59067937e-02 9.50499877e-01 9.97978159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.427552018 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:61.23, Y:23.89, Z:9.99 [[ 5.45927357e-01 -8.13992537e-01 -1.98442614e-01 6.12322586e+01] [ 7.78169571e-01 5.80403120e-01 -2.39967366e-01 2.38918878e+01] [ 3.10508357e-01 -2.34172542e-02 9.50282165e-01 9.98978663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.457552018 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:61.26, Y:23.90, Z:9.99 [[ 5.50729777e-01 -8.07561031e-01 -2.11049506e-01 6.12554945e+01] [ 7.78385157e-01 5.88183400e-01 -2.19446657e-01 2.39045742e+01] [ 3.01352385e-01 -4.34219946e-02 9.52523633e-01 9.98858173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.487552018 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:61.26, Y:23.93, Z:10.01 [[ 5.48610080e-01 -8.12910291e-01 -1.95458022e-01 6.12641150e+01] [ 7.79326887e-01 5.81863200e-01 -2.32561431e-01 2.39292077e+01] [ 3.02781411e-01 -2.47401468e-02 9.52738864e-01 1.00060567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51755201799999 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:61.28, Y:23.95, Z:10.01 [[ 5.46962580e-01 -8.13322263e-01 -1.98340193e-01 6.12835619e+01] [ 7.80220013e-01 5.81130416e-01 -2.31396134e-01 2.39468552e+01] [ 3.03461147e-01 -2.81839613e-02 9.52426898e-01 1.00126367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:61.30, Y:23.97, Z:10.03 [[ 5.41332883e-01 -8.18471297e-01 -1.92518691e-01 6.12953078e+01] [ 7.79377814e-01 5.74363894e-01 -2.50352431e-01 2.39714630e+01] [ 3.15482064e-01 -1.45207932e-02 9.48820433e-01 1.00301501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57755201799999 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:61.32, Y:23.98, Z:10.03 [[ 5.44503302e-01 -8.11956836e-01 -2.10338421e-01 6.13226777e+01] [ 7.81638252e-01 5.82167851e-01 -2.23879961e-01 2.39838117e+01] [ 3.04233131e-01 -4.25051780e-02 9.51648839e-01 1.00268164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:61.33, Y:24.01, Z:10.05 [[ 5.44235095e-01 -8.16041345e-01 -1.94639886e-01 6.13305795e+01] [ 7.81961786e-01 5.77474146e-01 -2.34647341e-01 2.40072140e+01] [ 3.03881434e-01 -2.44976349e-02 9.52394845e-01 1.00452987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.637552018 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:61.34, Y:24.03, Z:10.06 [[ 5.44277833e-01 -8.17783884e-01 -1.87059240e-01 6.13420926e+01] [ 7.81584124e-01 5.75330285e-01 -2.41083637e-01 2.40292180e+01] [ 3.04775159e-01 -1.49860531e-02 9.52306421e-01 1.00577926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.667552018 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:61.36, Y:24.05, Z:10.06 [[ 5.44627286e-01 -8.16011765e-01 -1.93664449e-01 6.13636975e+01] [ 7.82118125e-01 5.77535205e-01 -2.33975054e-01 2.40483277e+01] [ 3.02774434e-01 -2.40392765e-02 9.52759023e-01 1.00619992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.697552018 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:61.38, Y:24.07, Z:10.08 [[ 5.41660783e-01 -8.21323698e-01 -1.78972007e-01 6.13751420e+01] [ 7.79989773e-01 5.70462377e-01 -2.57271511e-01 2.40740777e+01] [ 3.13399985e-01 -2.42447372e-04 9.49621183e-01 1.00793633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.727552018 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:61.41, Y:24.08, Z:10.07 [[ 5.45385610e-01 -8.11358241e-01 -2.10362402e-01 6.14087569e+01] [ 7.81905364e-01 5.82895862e-01 -2.21034875e-01 2.40826177e+01] [ 3.01957841e-01 -4.39342499e-02 9.52308376e-01 1.00682389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.757552018 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:61.42, Y:24.11, Z:10.09 [[ 5.44399765e-01 -8.16205996e-01 -1.93485576e-01 6.14168479e+01] [ 7.81640107e-01 5.77314898e-01 -2.36106440e-01 2.41072460e+01] [ 3.04413598e-01 -2.26997960e-02 9.52269437e-01 1.00854372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.787552018 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:61.42, Y:24.14, Z:10.11 [[ 5.41877284e-01 -8.22855200e-01 -1.71109115e-01 6.14233639e+01] [ 7.79862409e-01 5.68181693e-01 -2.62648408e-01 2.41383639e+01] [ 3.13342675e-01 8.88163893e-03 9.49598591e-01 1.01068894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.817552018 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:61.45, Y:24.15, Z:10.10 [[ 5.42465800e-01 -8.16969845e-01 -1.95681193e-01 6.14532160e+01] [ 7.80440320e-01 5.76291486e-01 -2.42489239e-01 2.41544748e+01] [ 3.10875801e-01 -2.11753734e-02 9.50214628e-01 1.01029148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.847552018 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:61.48, Y:24.17, Z:10.10 [[ 5.46708900e-01 -8.10959786e-01 -2.08455283e-01 6.14782695e+01] [ 7.81349594e-01 5.83594780e-01 -2.21155928e-01 2.41651805e+01] [ 3.01001979e-01 -4.19685365e-02 9.52699560e-01 1.01001276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87755201799999 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:61.48, Y:24.20, Z:10.13 [[ 5.43354742e-01 -8.21222638e-01 -1.74238355e-01 6.14808829e+01] [ 7.79725171e-01 5.70592368e-01 -2.57784809e-01 2.41975236e+01] [ 3.11117796e-01 4.21056734e-03 9.50362030e-01 1.01259579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:61.51, Y:24.21, Z:10.12 [[ 5.42969240e-01 -8.15188950e-01 -2.01621875e-01 6.15108362e+01] [ 7.80531705e-01 5.78481899e-01 -2.36915492e-01 2.42109126e+01] [ 3.09765497e-01 -2.87344410e-02 9.50378698e-01 1.01218832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93755201799999 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:61.53, Y:24.23, Z:10.13 [[ 5.41677525e-01 -8.15754857e-01 -2.02804026e-01 6.15265790e+01] [ 7.81001996e-01 5.77630969e-01 -2.37441245e-01 2.42311225e+01] [ 3.10839735e-01 -2.97737636e-02 9.49995885e-01 1.01318426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:61.54, Y:24.25, Z:10.14 [[ 5.43749965e-01 -8.12008985e-01 -2.12078720e-01 6.15438504e+01] [ 7.82268748e-01 5.81907549e-01 -2.22349299e-01 2.42450821e+01] [ 3.03959837e-01 -4.50001317e-02 9.51621461e-01 1.01352650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.997552018 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:61.55, Y:24.27, Z:10.16 [[ 5.43532405e-01 -8.18734797e-01 -1.85056358e-01 6.15472906e+01] [ 7.81887943e-01 5.74035365e-01 -2.43176157e-01 2.42722774e+01] [ 3.05325676e-01 -1.25192134e-02 9.52165690e-01 1.01560817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.027552018 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:61.56, Y:24.30, Z:10.17 [[ 5.39417022e-01 -8.21485493e-01 -1.84907710e-01 6.15634595e+01] [ 7.81456264e-01 5.70176141e-01 -2.53427060e-01 2.42962333e+01] [ 3.13616618e-01 -7.79441794e-03 9.49517701e-01 1.01691328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.057552018 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:61.59, Y:24.32, Z:10.17 [[ 5.39023215e-01 -8.18946218e-01 -1.96929089e-01 6.15860025e+01] [ 7.82131296e-01 5.73425351e-01 -2.43831914e-01 2.43150684e+01] [ 3.12609356e-01 -2.25933419e-02 9.49613043e-01 1.01718370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.087552018 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:61.61, Y:24.33, Z:10.18 [[ 5.38691293e-01 -8.19491143e-01 -1.95565739e-01 6.16051577e+01] [ 7.82770013e-01 5.72673806e-01 -2.43548392e-01 2.43333690e+01] [ 3.11581126e-01 -2.18855979e-02 9.49967485e-01 1.01787298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.117552018 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:61.62, Y:24.35, Z:10.19 [[ 5.39782689e-01 -8.18891537e-01 -1.95067424e-01 6.16201101e+01] [ 7.81687050e-01 5.73589000e-01 -2.44869383e-01 2.43502581e+01] [ 3.12409994e-01 -2.03054254e-02 9.49730322e-01 1.01860722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.147552018 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:61.64, Y:24.37, Z:10.20 [[ 5.38139091e-01 -8.20920085e-01 -1.91040655e-01 6.16375458e+01] [ 7.83080421e-01 5.70798331e-01 -2.46929787e-01 2.43747684e+01] [ 3.11755308e-01 -1.67176253e-02 9.50015341e-01 1.01964205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.177552018 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:61.66, Y:24.39, Z:10.20 [[ 5.37383683e-01 -8.20042689e-01 -1.96847062e-01 6.16562279e+01] [ 7.83778181e-01 5.71797119e-01 -2.42362986e-01 2.43946245e+01] [ 3.11304578e-01 -2.40425178e-02 9.50006009e-01 1.02034797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.207552018 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:61.67, Y:24.42, Z:10.21 [[ 5.37163842e-01 -8.21400601e-01 -1.91718696e-01 6.16717912e+01] [ 7.84109463e-01 5.70051055e-01 -2.45385705e-01 2.44167642e+01] [ 3.10849411e-01 -1.85161154e-02 9.50278800e-01 1.02132079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.237552018 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:61.69, Y:24.43, Z:10.22 [[ 5.37588495e-01 -8.21394916e-01 -1.90549211e-01 6.16906972e+01] [ 7.84232647e-01 5.70082989e-01 -2.44917416e-01 2.44349331e+01] [ 3.09802785e-01 -1.77701268e-02 9.50634765e-01 1.02194114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:61.71, Y:24.45, Z:10.22 [[ 5.36181880e-01 -8.21198406e-01 -1.95300205e-01 6.17065310e+01] [ 7.85421655e-01 5.70129781e-01 -2.40966505e-01 2.44532340e+01] [ 3.09227773e-01 -2.41911370e-02 9.50680269e-01 1.02237763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29755201799999 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:61.72, Y:24.48, Z:10.24 [[ 5.38709145e-01 -8.22393236e-01 -1.82925728e-01 6.17243154e+01] [ 7.84127488e-01 5.68835653e-01 -2.48133194e-01 2.44769455e+01] [ 3.08117736e-01 -9.76547078e-03 9.51298111e-01 1.02371504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:61.75, Y:24.50, Z:10.24 [[ 5.38241790e-01 -8.20601113e-01 -1.92118682e-01 6.17462676e+01] [ 7.84878191e-01 5.71101419e-01 -2.40435845e-01 2.44964925e+01] [ 3.07021174e-01 -2.13771442e-02 9.51462567e-01 1.02419046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35755201799999 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:61.76, Y:24.52, Z:10.25 [[ 5.37964999e-01 -8.20557637e-01 -1.93077250e-01 6.17624044e+01] [ 7.85410185e-01 5.71091758e-01 -2.38715405e-01 2.45171930e+01] [ 3.06144575e-01 -2.32243061e-02 9.51701703e-01 1.02516287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:61.78, Y:24.54, Z:10.26 [[ 5.38217514e-01 -8.21521142e-01 -1.88215091e-01 6.17773205e+01] [ 7.85512155e-01 5.69893517e-01 -2.41230249e-01 2.45394177e+01] [ 3.05438310e-01 -1.80108971e-02 9.52041515e-01 1.02610471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.417552018 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:61.79, Y:24.56, Z:10.27 [[ 5.38594881e-01 -8.22018852e-01 -1.84933935e-01 6.17949798e+01] [ 7.85719261e-01 5.69264148e-01 -2.42040436e-01 2.45619667e+01] [ 3.04238061e-01 -1.49444144e-02 9.52478801e-01 1.02686472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.447552018 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:61.82, Y:24.58, Z:10.27 [[ 5.38003066e-01 -8.21885887e-01 -1.87233250e-01 6.18173019e+01] [ 7.86179398e-01 5.69370175e-01 -2.40290571e-01 2.45825568e+01] [ 3.04096457e-01 -1.79218601e-02 9.52472651e-01 1.02741555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.477552018 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:61.84, Y:24.59, Z:10.27 [[ 5.39007402e-01 -8.15444548e-01 -2.11000498e-01 6.18419942e+01] [ 7.86128460e-01 5.76970186e-01 -2.21602004e-01 2.45923721e+01] [ 3.02445142e-01 -4.64283762e-02 9.52035368e-01 1.02707956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.507552018 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:61.84, Y:24.63, Z:10.30 [[ 5.34110013e-01 -8.26581422e-01 -1.77453225e-01 6.18415959e+01] [ 7.87428616e-01 5.62790918e-01 -2.51440961e-01 2.46251056e+01] [ 3.07705491e-01 -5.43461210e-03 9.51466130e-01 1.02970906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.537552018 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:61.86, Y:24.64, Z:10.30 [[ 5.31318068e-01 -8.25507706e-01 -1.90363173e-01 6.18636784e+01] [ 7.88971705e-01 5.64011773e-01 -2.43750628e-01 2.46445055e+01] [ 3.08585093e-01 -2.06820447e-02 9.50971868e-01 1.03006181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.567552018 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:61.88, Y:24.67, Z:10.31 [[ 5.29242863e-01 -8.26405708e-01 -1.92238390e-01 6.18816773e+01] [ 7.89826765e-01 5.62621522e-01 -2.44193987e-01 2.46665168e+01] [ 3.09960760e-01 -2.25971007e-02 9.50480772e-01 1.03102627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.597552018 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:61.90, Y:24.69, Z:10.32 [[ 5.28410488e-01 -8.25287891e-01 -1.99204047e-01 6.19005816e+01] [ 7.90514656e-01 5.63852759e-01 -2.39074558e-01 2.46851959e+01] [ 3.09627089e-01 -3.11442147e-02 9.50347886e-01 1.03166145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:61.91, Y:24.71, Z:10.33 [[ 5.25968784e-01 -8.27947333e-01 -1.94576598e-01 6.19133881e+01] [ 7.92003781e-01 5.60182760e-01 -2.42745311e-01 2.47067270e+01] [ 3.09978789e-01 -2.64289451e-02 9.50376063e-01 1.03283985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65755201799999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:61.93, Y:24.73, Z:10.34 [[ 5.25056915e-01 -8.30006101e-01 -1.88162451e-01 6.19280500e+01] [ 7.92794027e-01 5.57405177e-01 -2.46530119e-01 2.47307986e+01] [ 3.09504227e-01 -1.97317240e-02 9.50693322e-01 1.03396530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:61.95, Y:24.75, Z:10.35 [[ 5.24070071e-01 -8.29764487e-01 -1.91941284e-01 6.19463002e+01] [ 7.93880206e-01 5.57544835e-01 -2.42689051e-01 2.47493819e+01] [ 3.08390627e-01 -2.51923177e-02 9.50926163e-01 1.03453934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71755201799999 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:61.96, Y:24.77, Z:10.35 [[ 5.22901309e-01 -8.30284841e-01 -1.92876396e-01 6.19631129e+01] [ 7.94675955e-01 5.56698502e-01 -2.42026661e-01 2.47696091e+01] [ 3.08325068e-01 -2.67181763e-02 9.50905774e-01 1.03536732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:61.98, Y:24.79, Z:10.36 [[ 5.21777705e-01 -8.31362103e-01 -1.91272268e-01 6.19786058e+01] [ 7.95429054e-01 5.55154838e-01 -2.43096126e-01 2.47914086e+01] [ 3.08286631e-01 -2.53013803e-02 9.50956988e-01 1.03632303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.777552018 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:61.99, Y:24.81, Z:10.37 [[ 5.21057263e-01 -8.31572873e-01 -1.92317151e-01 6.19940723e+01] [ 7.96122873e-01 5.54751829e-01 -2.41741139e-01 2.48115373e+01] [ 3.07713665e-01 -2.71471061e-02 9.51091654e-01 1.03715551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.807552018 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:62.01, Y:24.83, Z:10.38 [[ 5.20849080e-01 -8.33116782e-01 -1.86098532e-01 6.20067884e+01] [ 7.96710987e-01 5.52701093e-01 -2.44485388e-01 2.48344799e+01] [ 3.06541742e-01 -2.09267552e-02 9.51627149e-01 1.03815622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.837552018 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:62.02, Y:24.86, Z:10.39 [[ 5.20453278e-01 -8.32731412e-01 -1.88909450e-01 6.20248388e+01] [ 7.97140514e-01 5.53131064e-01 -2.42101275e-01 2.48552781e+01] [ 3.06097022e-01 -2.45849736e-02 9.51682821e-01 1.03890903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.867552018 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:62.04, Y:24.88, Z:10.40 [[ 5.19783421e-01 -8.32767708e-01 -1.90586303e-01 6.20426083e+01] [ 7.97558049e-01 5.52978440e-01 -2.41072610e-01 2.48762180e+01] [ 3.06147602e-01 -2.66980934e-02 9.51609614e-01 1.03974794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.897552018 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:62.06, Y:24.90, Z:10.41 [[ 5.18162465e-01 -8.34518472e-01 -1.87314120e-01 6.20591307e+01] [ 7.98227398e-01 5.50506627e-01 -2.44490234e-01 2.48987729e+01] [ 3.07149281e-01 -2.28336000e-02 9.51387380e-01 1.04066622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.927552018 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:62.08, Y:24.92, Z:10.41 [[ 5.17509950e-01 -8.33952262e-01 -1.91590911e-01 6.20768617e+01] [ 7.98788039e-01 5.51116404e-01 -2.41264125e-01 2.49181415e+01] [ 3.06791656e-01 -2.81839424e-02 9.51359314e-01 1.04125410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.957552018 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:62.09, Y:24.94, Z:10.42 [[ 5.17389150e-01 -8.33704718e-01 -1.92989406e-01 6.20899214e+01] [ 7.98310349e-01 5.51457715e-01 -2.42063989e-01 2.49367298e+01] [ 3.08235387e-01 -2.88241586e-02 9.50873343e-01 1.04199205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.987552018 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:62.10, Y:24.96, Z:10.43 [[ 5.14851332e-01 -8.36909145e-01 -1.85771874e-01 6.21048193e+01] [ 7.99282363e-01 5.46964855e-01 -2.48952106e-01 2.49643900e+01] [ 3.09960980e-01 -2.03108588e-02 9.50532303e-01 1.04333810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01755201799999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:62.13, Y:24.98, Z:10.44 [[ 5.14523915e-01 -8.35101837e-01 -1.94602319e-01 6.21255473e+01] [ 7.99551462e-01 5.49245438e-01 -2.42995697e-01 2.49841034e+01] [ 3.09810589e-01 -3.05674712e-02 9.50306808e-01 1.04379866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:62.14, Y:25.01, Z:10.45 [[ 5.15284541e-01 -8.35961390e-01 -1.88813124e-01 6.21404590e+01] [ 7.98903594e-01 5.48287526e-01 -2.47252575e-01 2.50075604e+01] [ 3.10217487e-01 -2.34380534e-02 9.50376645e-01 1.04484099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07755201799999 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:62.16, Y:25.03, Z:10.45 [[ 5.16251057e-01 -8.34145592e-01 -1.94128762e-01 6.21581659e+01] [ 7.98467798e-01 5.50755686e-01 -2.43140595e-01 2.50274529e+01] [ 3.09732176e-01 -2.94839757e-02 9.50366600e-01 1.04546133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:62.17, Y:25.05, Z:10.47 [[ 5.17827242e-01 -8.34296647e-01 -1.89219588e-01 6.21726102e+01] [ 7.97327570e-01 5.50830438e-01 -2.46687199e-01 2.50519480e+01] [ 3.10038212e-01 -2.31286421e-02 9.50442725e-01 1.04654629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.137552018 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:62.19, Y:25.07, Z:10.47 [[ 5.19481276e-01 -8.32168010e-01 -1.93998986e-01 6.21894843e+01] [ 7.96266118e-01 5.53814858e-01 -2.43411940e-01 2.50735976e+01] [ 3.09999151e-01 -2.80268739e-02 9.50323640e-01 1.04729277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.167552018 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:62.20, Y:25.10, Z:10.48 [[ 5.25734048e-01 -8.28996404e-01 -1.90705724e-01 6.22028706e+01] [ 7.92803002e-01 5.58771096e-01 -2.43389117e-01 2.50973398e+01] [ 3.08329549e-01 -2.32341247e-02 9.50995828e-01 1.04826551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.197552018 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:62.22, Y:25.12, Z:10.49 [[ 5.28381282e-01 -8.27110785e-01 -1.91574972e-01 6.22191528e+01] [ 7.91283837e-01 5.61537245e-01 -2.41962418e-01 2.51195029e+01] [ 3.07706208e-01 -2.37417660e-02 9.51185165e-01 1.04910660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.227552018 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:62.24, Y:25.14, Z:10.50 [[ 5.33977567e-01 -8.23325491e-01 -1.92361884e-01 6.22351294e+01] [ 7.88052460e-01 5.67076071e-01 -2.39578903e-01 2.51408528e+01] [ 3.06335239e-01 -2.36614965e-02 9.51629579e-01 1.04979842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.257552018 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:62.25, Y:25.16, Z:10.51 [[ 5.35055885e-01 -8.22077017e-01 -1.94690983e-01 6.22505886e+01] [ 7.87025523e-01 5.68808134e-01 -2.38847508e-01 2.51618365e+01] [ 3.07092862e-01 -2.54300080e-02 9.51339734e-01 1.05066554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.287552018 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:62.26, Y:25.19, Z:10.52 [[ 5.35257709e-01 -8.22573153e-01 -1.92022378e-01 6.22637280e+01] [ 7.86209386e-01 5.68270728e-01 -2.42782169e-01 2.51854081e+01] [ 3.08826791e-01 -2.10187683e-02 9.50886021e-01 1.05182457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.317552018 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:62.28, Y:25.21, Z:10.53 [[ 5.38338196e-01 -8.19621984e-01 -1.95989260e-01 6.22791303e+01] [ 7.84299172e-01 5.72364244e-01 -2.39319830e-01 2.52055135e+01] [ 3.08329038e-01 -2.48792089e-02 9.50954378e-01 1.05255830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.347552018 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:62.29, Y:25.23, Z:10.53 [[ 5.38378201e-01 -8.19414582e-01 -1.96745152e-01 6.22936925e+01] [ 7.84021185e-01 5.72643691e-01 -2.39562070e-01 2.52260189e+01] [ 3.08965524e-01 -2.52773708e-02 9.50737272e-01 1.05345328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37755201799999 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:62.31, Y:25.25, Z:10.55 [[ 5.37396815e-01 -8.22111314e-01 -1.87983111e-01 6.23058235e+01] [ 7.84096477e-01 5.69145149e-01 -2.47520735e-01 2.52506222e+01] [ 3.10479273e-01 -1.43800402e-02 9.50471376e-01 1.05474845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:62.33, Y:25.27, Z:10.55 [[ 5.37763973e-01 -8.20170697e-01 -1.95268886e-01 6.23258273e+01] [ 7.83887493e-01 5.71666051e-01 -2.42318640e-01 2.52689921e+01] [ 3.10371241e-01 -2.27586029e-02 9.50342959e-01 1.05526216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43755201799999 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:62.34, Y:25.29, Z:10.56 [[ 5.36907110e-01 -8.21077682e-01 -1.93809689e-01 6.23407429e+01] [ 7.83850241e-01 5.70457828e-01 -2.45268560e-01 2.52911587e+01] [ 3.11944795e-01 -2.02313380e-02 9.49884802e-01 1.05634291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:62.36, Y:25.31, Z:10.57 [[ 5.37462618e-01 -8.19973756e-01 -1.96918697e-01 6.23573071e+01] [ 7.83805428e-01 5.71887343e-01 -2.42061805e-01 2.53107178e+01] [ 3.11099638e-01 -2.42467723e-02 9.50067950e-01 1.05704505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.497552018 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:62.37, Y:25.33, Z:10.58 [[ 5.35303381e-01 -8.20312042e-01 -2.01341613e-01 6.23731776e+01] [ 7.84421182e-01 5.71202539e-01 -2.41683820e-01 2.53310718e+01] [ 3.13262988e-01 -2.85624598e-02 9.49236791e-01 1.05803539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.527552018 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:62.38, Y:25.36, Z:10.60 [[ 5.34637881e-01 -8.24961246e-01 -1.83306519e-01 6.23837388e+01] [ 7.84801741e-01 5.65134666e-01 -2.54379707e-01 2.53576976e+01] [ 3.13446269e-01 -7.85824751e-03 9.49573422e-01 1.05953485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.557552018 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:62.41, Y:25.37, Z:10.60 [[ 5.32047086e-01 -8.22532562e-01 -2.00913123e-01 6.24089522e+01] [ 7.86114602e-01 5.68014097e-01 -2.43687951e-01 2.53739085e+01] [ 3.14562761e-01 -2.82872760e-02 9.48815103e-01 1.05982356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.587552018 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:62.42, Y:25.39, Z:10.61 [[ 5.30887726e-01 -8.24245139e-01 -1.96921744e-01 6.24220759e+01] [ 7.86718712e-01 5.65733490e-01 -2.47020822e-01 2.53946372e+01] [ 3.15010938e-01 -2.37816982e-02 9.48790040e-01 1.06087551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.617552018 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:62.44, Y:25.42, Z:10.62 [[ 5.29761726e-01 -8.27590880e-01 -1.85595930e-01 6.24350500e+01] [ 7.87549592e-01 5.61217792e-01 -2.54558892e-01 2.54201937e+01] [ 3.14830355e-01 -1.13104414e-02 9.49080566e-01 1.06212875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.647552018 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:62.46, Y:25.44, Z:10.63 [[ 5.26606219e-01 -8.25707184e-01 -2.02221502e-01 6.24566366e+01] [ 7.88980832e-01 5.63283538e-01 -2.45399477e-01 2.54380294e+01] [ 3.16536155e-01 -3.03199983e-02 9.48095755e-01 1.06264398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.677552018 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:62.47, Y:25.46, Z:10.64 [[ 5.25035520e-01 -8.27965078e-01 -1.97006427e-01 6.24688386e+01] [ 7.89855787e-01 5.60239793e-01 -2.49517953e-01 2.54596227e+01] [ 3.16962992e-01 -2.46008786e-02 9.48118800e-01 1.06371486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.707552018 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:62.48, Y:25.48, Z:10.65 [[ 5.23323673e-01 -8.28762419e-01 -1.98204909e-01 6.24845812e+01] [ 7.90576456e-01 5.59002774e-01 -2.50009531e-01 2.54793530e+01] [ 3.17995598e-01 -2.58602282e-02 9.47739441e-01 1.06460060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.737552018 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:62.50, Y:25.50, Z:10.66 [[ 5.21068011e-01 -8.31059718e-01 -1.94493889e-01 6.24997741e+01] [ 7.91625220e-01 5.55760764e-01 -2.53888726e-01 2.55011592e+01] [ 3.19088765e-01 -2.16729741e-02 9.47476988e-01 1.06566192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:62.52, Y:25.51, Z:10.66 [[ 5.13848696e-01 -8.30641108e-01 -2.14464142e-01 6.25151160e+01] [ 7.95125160e-01 5.54993819e-01 -2.44454170e-01 2.55133334e+01] [ 3.22079955e-01 -4.49133788e-02 9.45646494e-01 1.06608043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79755201799999 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:62.52, Y:25.55, Z:10.68 [[ 5.17492322e-01 -8.39263936e-01 -1.66846465e-01 6.25216401e+01] [ 7.94614946e-01 5.43675987e-01 -2.70191613e-01 2.55475162e+01] [ 3.17472493e-01 7.24339053e-03 9.48239816e-01 1.06847985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:62.55, Y:25.56, Z:10.68 [[ 5.17888363e-01 -8.33436162e-01 -1.92810292e-01 6.25513106e+01] [ 7.95501300e-01 5.52092522e-01 -2.49742925e-01 2.55638212e+01] [ 3.14593905e-01 -2.40418834e-02 9.48921842e-01 1.06818858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85755201799999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:62.57, Y:25.59, Z:10.69 [[ 5.17327981e-01 -8.33654220e-01 -1.93371147e-01 6.25677172e+01] [ 7.95785036e-01 5.51732393e-01 -2.49634821e-01 2.55855976e+01] [ 3.14798247e-01 -2.47387870e-02 9.48836159e-01 1.06909143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:62.58, Y:25.60, Z:10.69 [[ 5.19579429e-01 -8.30977374e-01 -1.98780838e-01 6.25844037e+01] [ 7.94735375e-01 5.55450432e-01 -2.44684496e-01 2.56021297e+01] [ 3.13740182e-01 -3.08451330e-02 9.49007732e-01 1.06945176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.917552018 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:62.60, Y:25.63, Z:10.71 [[ 5.15472351e-01 -8.34619344e-01 -1.94161806e-01 6.25981878e+01] [ 7.95935965e-01 5.50283465e-01 -2.52337171e-01 2.56266056e+01] [ 3.17449515e-01 -2.44675295e-02 9.47959464e-01 1.07084263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.947552018 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:62.61, Y:25.65, Z:10.72 [[ 5.13624097e-01 -8.37017435e-01 -1.88658687e-01 6.26127294e+01] [ 7.96703571e-01 5.46874736e-01 -2.57276976e-01 2.56514686e+01] [ 3.18517984e-01 -1.81613947e-02 9.47742822e-01 1.07201142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.977552018 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:62.63, Y:25.67, Z:10.73 [[ 5.13089509e-01 -8.35573209e-01 -1.96358266e-01 6.26325619e+01] [ 7.97055669e-01 5.48710653e-01 -2.52227833e-01 2.56725554e+01] [ 3.18498692e-01 -2.70930141e-02 9.47536043e-01 1.07267286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.007552018 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:62.65, Y:25.69, Z:10.73 [[ 5.12863559e-01 -8.34526647e-01 -2.01336153e-01 6.26488344e+01] [ 7.97291551e-01 5.49979764e-01 -2.48693469e-01 2.56906564e+01] [ 3.18272137e-01 -3.29777963e-02 9.47425623e-01 1.07338741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.037552018 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:62.66, Y:25.71, Z:10.75 [[ 5.09046239e-01 -8.38153958e-01 -1.95882282e-01 6.26604484e+01] [ 7.99188727e-01 5.44753860e-01 -2.54048440e-01 2.57141170e+01] [ 3.19639335e-01 -2.72245088e-02 9.47148099e-01 1.07475403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.067552018 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:62.68, Y:25.73, Z:10.76 [[ 5.07525419e-01 -8.38536932e-01 -1.98176089e-01 6.26756208e+01] [ 8.00225317e-01 5.43991572e-01 -2.52413573e-01 2.57341001e+01] [ 3.19464225e-01 -3.04792192e-02 9.47108033e-01 1.07557086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.097552018 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:62.69, Y:25.76, Z:10.77 [[ 5.04069439e-01 -8.41154353e-01 -1.95891180e-01 6.26889789e+01] [ 8.01768119e-01 5.40066800e-01 -2.55921345e-01 2.57566888e+01] [ 3.21063676e-01 -2.80571738e-02 9.46641913e-01 1.07668383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:62.70, Y:25.78, Z:10.77 [[ 5.00600591e-01 -8.43200844e-01 -1.95988224e-01 6.27049900e+01] [ 8.03623938e-01 5.36822180e-01 -2.56925114e-01 2.57769310e+01] [ 3.21850299e-01 -2.88839648e-02 9.46349883e-01 1.07746744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15755201799999 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:62.72, Y:25.80, Z:10.78 [[ 4.98023444e-01 -8.44183693e-01 -1.98309207e-01 6.27205264e+01] [ 8.04769147e-01 5.35118616e-01 -2.56894310e-01 2.57977976e+01] [ 3.22984936e-01 -3.16537426e-02 9.45874607e-01 1.07831495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:62.73, Y:25.82, Z:10.79 [[ 4.95871324e-01 -8.45250433e-01 -1.99156561e-01 6.27335124e+01] [ 8.06029002e-01 5.33334412e-01 -2.56654736e-01 2.58189153e+01] [ 3.23154574e-01 -3.32582401e-02 9.45761604e-01 1.07917975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21755201799999 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:62.74, Y:25.84, Z:10.80 [[ 4.94120284e-01 -8.47309743e-01 -1.94708356e-01 6.27446190e+01] [ 8.06543187e-01 5.30360695e-01 -2.61162060e-01 2.58425183e+01] [ 3.24550816e-01 -2.79952265e-02 9.45453878e-01 1.08043343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:62.76, Y:25.86, Z:10.81 [[ 4.94909469e-01 -8.46750171e-01 -1.95137815e-01 6.27594898e+01] [ 8.06903794e-01 5.31167947e-01 -2.58392877e-01 2.58641468e+01] [ 3.22445165e-01 -2.95763615e-02 9.46125972e-01 1.08117267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.277552018 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:62.77, Y:25.89, Z:10.82 [[ 4.93937603e-01 -8.48682782e-01 -1.89111555e-01 6.27714654e+01] [ 8.07197792e-01 5.28414561e-01 -2.63077511e-01 2.58885424e+01] [ 3.23198653e-01 -2.27065543e-02 9.46058689e-01 1.08239128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.307552018 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:62.79, Y:25.91, Z:10.83 [[ 4.93416985e-01 -8.46943594e-01 -1.98056123e-01 6.27888484e+01] [ 8.08303515e-01 5.30583604e-01 -2.55198879e-01 2.59081736e+01] [ 3.21224387e-01 -3.41699994e-02 9.46386446e-01 1.08293140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.337552018 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:62.80, Y:25.93, Z:10.84 [[ 4.91920430e-01 -8.48722839e-01 -1.94123242e-01 6.28022172e+01] [ 8.08975310e-01 5.27991101e-01 -2.58426674e-01 2.59315532e+01] [ 3.21827965e-01 -2.99155495e-02 9.46325431e-01 1.08403339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.367552018 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:62.82, Y:25.95, Z:10.85 [[ 4.90684637e-01 -8.49003939e-01 -1.96012498e-01 6.28177190e+01] [ 8.09591216e-01 5.27401984e-01 -2.57699844e-01 2.59529630e+01] [ 3.22165563e-01 -3.22406423e-02 9.46134183e-01 1.08491860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.397552018 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:62.83, Y:25.98, Z:10.86 [[ 4.88356675e-01 -8.51371246e-01 -1.91506553e-01 6.28297292e+01] [ 8.10663435e-01 5.23841677e-01 -2.61562023e-01 2.59775651e+01] [ 3.23005499e-01 -2.75118002e-02 9.45997119e-01 1.08600140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.427552018 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:62.85, Y:26.00, Z:10.87 [[ 4.87407954e-01 -8.51100294e-01 -1.95094274e-01 6.28450251e+01] [ 8.11138420e-01 5.24046320e-01 -2.59672713e-01 2.59982178e+01] [ 3.23245959e-01 -3.16819152e-02 9.45784493e-01 1.08679282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.457552018 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:62.86, Y:26.02, Z:10.88 [[ 4.86497469e-01 -8.51306950e-01 -1.96460402e-01 6.28576614e+01] [ 8.11368091e-01 5.23628473e-01 -2.59798083e-01 2.60201624e+01] [ 3.24040174e-01 -3.30105914e-02 9.45467221e-01 1.08767280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.487552018 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:62.87, Y:26.04, Z:10.89 [[ 4.86440533e-01 -8.52089532e-01 -1.93181358e-01 6.28709540e+01] [ 8.11176131e-01 5.22590568e-01 -2.62473584e-01 2.60443207e+01] [ 3.24605749e-01 -2.90263164e-02 9.45403925e-01 1.08870447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51755201799999 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:62.89, Y:26.07, Z:10.90 [[ 4.86705138e-01 -8.52573157e-01 -1.90360504e-01 6.28855638e+01] [ 8.10810252e-01 5.21986910e-01 -2.64795015e-01 2.60689037e+01] [ 3.25122813e-01 -2.54691538e-02 9.45328768e-01 1.08967009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:62.90, Y:26.09, Z:10.90 [[ 4.89368430e-01 -8.50038842e-01 -1.94814033e-01 6.29001567e+01] [ 8.08849526e-01 5.25927807e-01 -2.62987426e-01 2.60920560e+01] [ 3.26007644e-01 -2.88774941e-02 9.44925979e-01 1.09041282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57755201799999 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:62.91, Y:26.12, Z:10.91 [[ 4.91474134e-01 -8.49242144e-01 -1.92979161e-01 6.29134524e+01] [ 8.07470306e-01 5.27367520e-01 -2.64339184e-01 2.61163133e+01] [ 3.26258917e-01 -2.59090705e-02 9.44925309e-01 1.09138675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:62.93, Y:26.14, Z:10.92 [[ 4.93377003e-01 -8.47860280e-01 -1.94195979e-01 6.29271202e+01] [ 8.06259110e-01 5.29557576e-01 -2.63657014e-01 2.61403150e+01] [ 3.26382262e-01 -2.64899700e-02 9.44866605e-01 1.09229800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.637552018 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:62.94, Y:26.16, Z:10.93 [[ 5.03189756e-01 -8.39551943e-01 -2.04823349e-01 6.29432551e+01] [ 8.01979090e-01 5.41959030e-01 -2.51216937e-01 2.61604827e+01] [ 3.21915531e-01 -3.78542540e-02 9.46011335e-01 1.09252342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.667552018 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:62.94, Y:26.19, Z:10.95 [[ 5.03951504e-01 -8.45670339e-01 -1.75711579e-01 6.29430286e+01] [ 7.99791494e-01 5.33701618e-01 -2.74765627e-01 2.61929698e+01] [ 3.26138695e-01 -2.06407502e-03 9.45319677e-01 1.09485036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.697552018 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:62.97, Y:26.21, Z:10.94 [[ 5.10994448e-01 -8.33844285e-01 -2.08778310e-01 6.29704313e+01] [ 7.96486711e-01 5.50645378e-01 -2.49797089e-01 2.62090875e+01] [ 3.23254687e-01 -3.86442242e-02 9.45522623e-01 1.09425922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.727552018 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:62.97, Y:26.24, Z:10.96 [[ 5.11314198e-01 -8.39596467e-01 -1.83400008e-01 6.29721581e+01] [ 7.95281130e-01 5.43149276e-01 -2.69289414e-01 2.62386850e+01] [ 3.25708022e-01 -8.16306554e-03 9.45435164e-01 1.09642413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.757552018 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:62.99, Y:26.26, Z:10.97 [[ 5.14242913e-01 -8.35948881e-01 -1.91686451e-01 6.29909454e+01] [ 7.94267214e-01 5.48515775e-01 -2.61285356e-01 2.62593595e+01] [ 3.23564243e-01 -1.78861206e-02 9.46037138e-01 1.09682808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.787552018 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:63.01, Y:26.28, Z:10.97 [[ 5.17216686e-01 -8.31094519e-01 -2.04374166e-01 6.30085192e+01] [ 7.93215979e-01 5.55168462e-01 -2.50192704e-01 2.62773059e+01] [ 3.21395877e-01 -3.27090131e-02 9.46379845e-01 1.09727495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.817552018 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:63.01, Y:26.31, Z:10.99 [[ 5.19907458e-01 -8.33959652e-01 -1.84952788e-01 6.30113035e+01] [ 7.90802352e-01 5.51759692e-01 -2.64939394e-01 2.63069506e+01] [ 3.22998258e-01 -8.51713248e-03 9.46361233e-01 1.09925361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.847552018 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:63.03, Y:26.33, Z:11.00 [[ 5.21229659e-01 -8.32507909e-01 -1.87750429e-01 6.30295820e+01] [ 7.89996252e-01 5.53897824e-01 -2.62874728e-01 2.63306516e+01] [ 3.22839845e-01 -1.13040304e-02 9.46386102e-01 1.09999615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87755201799999 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:63.05, Y:26.35, Z:11.01 [[ 5.22760184e-01 -8.30239213e-01 -1.93454488e-01 6.30488262e+01] [ 7.88579411e-01 5.57162299e-01 -2.60216610e-01 2.63525093e+01] [ 3.23827581e-01 -1.65233428e-02 9.45971816e-01 1.10050782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:63.07, Y:26.37, Z:11.01 [[ 5.20772150e-01 -8.29812884e-01 -2.00516698e-01 6.30659284e+01] [ 7.88751449e-01 5.57552868e-01 -2.58855079e-01 2.63726156e+01] [ 3.26599939e-01 -2.33533198e-02 9.44874120e-01 1.10128951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93755201799999 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:63.08, Y:26.40, Z:11.02 [[ 5.20157436e-01 -8.32787904e-01 -1.89474402e-01 6.30770018e+01] [ 7.89322896e-01 5.53476541e-01 -2.65768856e-01 2.63965987e+01] [ 3.26198725e-01 -1.13148370e-02 9.45233498e-01 1.10245359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:63.10, Y:26.41, Z:11.03 [[ 5.15932832e-01 -8.30507732e-01 -2.09929085e-01 6.30997704e+01] [ 7.90796505e-01 5.55972537e-01 -2.55998880e-01 2.64127285e+01] [ 3.29323855e-01 -3.39329593e-02 9.43607097e-01 1.10287397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.997552018 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:63.11, Y:26.44, Z:11.04 [[ 5.15348863e-01 -8.34852387e-01 -1.93486541e-01 6.31075310e+01] [ 7.91129990e-01 5.50257437e-01 -2.67076942e-01 2.64370140e+01] [ 3.29437230e-01 -1.54352067e-02 9.44051305e-01 1.10447396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.027552018 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:63.12, Y:26.46, Z:11.05 [[ 5.14669368e-01 -8.35074070e-01 -1.94336667e-01 6.31245449e+01] [ 7.91789911e-01 5.49874212e-01 -2.65908043e-01 2.64585539e+01] [ 3.28913634e-01 -1.70190881e-02 9.44206636e-01 1.10535042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.057552018 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:63.14, Y:26.48, Z:11.06 [[ 5.12509734e-01 -8.35427279e-01 -1.98481823e-01 6.31423295e+01] [ 7.93134604e-01 5.49143191e-01 -2.63399422e-01 2.64786977e+01] [ 3.29046004e-01 -2.24280340e-02 9.44047515e-01 1.10617533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.087552018 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:63.16, Y:26.50, Z:11.07 [[ 5.10805287e-01 -8.36788280e-01 -1.97137854e-01 6.31560788e+01] [ 7.94088236e-01 5.47111776e-01 -2.64750030e-01 2.64998827e+01] [ 3.29396164e-01 -2.13091360e-02 9.43951317e-01 1.10723854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.117552018 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:63.17, Y:26.52, Z:11.08 [[ 5.08389211e-01 -8.38315384e-01 -1.96895219e-01 6.31705088e+01] [ 7.95960502e-01 5.44721987e-01 -2.64054609e-01 2.65198729e+01] [ 3.28614196e-01 -2.24783027e-02 9.44196715e-01 1.10828873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.147552018 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:63.18, Y:26.54, Z:11.09 [[ 5.07516966e-01 -8.41084780e-01 -1.87090680e-01 6.31835768e+01] [ 7.97285215e-01 5.40745875e-01 -2.68198032e-01 2.65444216e+01] [ 3.26745796e-01 -1.30495813e-02 9.45022165e-01 1.10948277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.177552018 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:63.20, Y:26.56, Z:11.10 [[ 5.08052098e-01 -8.39200094e-01 -1.93974916e-01 6.32033538e+01] [ 7.98198301e-01 5.43349332e-01 -2.60098011e-01 2.65623595e+01] [ 3.23670416e-01 -2.26871078e-02 9.45897857e-01 1.10982173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.207552018 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:63.22, Y:26.59, Z:11.11 [[ 5.00918238e-01 -8.44599278e-01 -1.89031689e-01 6.32178467e+01] [ 8.00883942e-01 5.35135896e-01 -2.68727527e-01 2.65871734e+01] [ 3.28124718e-01 -1.67819244e-02 9.44485329e-01 1.11117729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.237552018 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:63.23, Y:26.61, Z:11.12 [[ 4.98662320e-01 -8.45552922e-01 -1.90725320e-01 6.32344634e+01] [ 8.02583531e-01 5.33517051e-01 -2.66869316e-01 2.66084078e+01] [ 3.27407340e-01 -1.99953285e-02 9.44671700e-01 1.11173843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:63.25, Y:26.63, Z:11.12 [[ 4.94423926e-01 -8.44310864e-01 -2.06601418e-01 6.32545748e+01] [ 8.04357181e-01 5.34511021e-01 -2.59436877e-01 2.66253663e+01] [ 3.29476109e-01 -3.79095348e-02 9.43402544e-01 1.11224715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29755201799999 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:63.26, Y:26.65, Z:11.14 [[ 4.87515775e-01 -8.51324187e-01 -1.93844006e-01 6.32642147e+01] [ 8.07632489e-01 5.24055911e-01 -2.70361175e-01 2.66493768e+01] [ 3.31750104e-01 -2.47493795e-02 9.43042595e-01 1.11368962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:63.28, Y:26.67, Z:11.14 [[ 4.83705839e-01 -8.51889481e-01 -2.00780910e-01 6.32818733e+01] [ 8.09295040e-01 5.22690535e-01 -2.68022655e-01 2.66699874e+01] [ 3.33271962e-01 -3.28468719e-02 9.42258395e-01 1.11446912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35755201799999 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:63.29, Y:26.69, Z:11.15 [[ 4.77398704e-01 -8.53755768e-01 -2.07825805e-01 6.32880260e+01] [ 8.11440600e-01 5.19100036e-01 -2.68513137e-01 2.66862191e+01] [ 3.37127023e-01 -4.04504724e-02 9.40589778e-01 1.11518836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.387552018 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:63.30, Y:26.72, Z:11.17 [[ 4.78157737e-01 -8.59044253e-01 -1.82778964e-01 6.32998920e+01] [ 8.10982231e-01 5.11745526e-01 -2.83591849e-01 2.67170463e+01] [ 3.37154265e-01 -1.26288553e-02 9.41364708e-01 1.11727446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.417552018 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:63.32, Y:26.74, Z:11.18 [[ 4.76415446e-01 -8.56389978e-01 -1.99059109e-01 6.33223089e+01] [ 8.12237734e-01 5.15367642e-01 -2.73250903e-01 2.67368949e+01] [ 3.36597959e-01 -3.15023689e-02 9.41121360e-01 1.11751563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.447552018 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:63.33, Y:26.76, Z:11.19 [[ 4.75875119e-01 -8.58226475e-01 -1.92328333e-01 6.33345613e+01] [ 8.13044678e-01 5.12658974e-01 -2.75933195e-01 2.67609970e+01] [ 3.35412020e-01 -2.50617849e-02 9.41738119e-01 1.11854449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.477552018 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:63.35, Y:26.78, Z:11.19 [[ 4.76285141e-01 -8.57251145e-01 -1.95634706e-01 6.33506436e+01] [ 8.13372104e-01 5.14057833e-01 -2.72342366e-01 2.67828523e+01] [ 3.34033358e-01 -2.94111897e-02 9.42102275e-01 1.11929146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.507552018 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:63.37, Y:26.81, Z:11.20 [[ 4.75014505e-01 -8.57058746e-01 -1.99528260e-01 6.33655296e+01] [ 8.13928598e-01 5.14104251e-01 -2.70586505e-01 2.68053049e+01] [ 3.34486857e-01 -3.38692419e-02 9.41791600e-01 1.12025163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.537552018 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:63.38, Y:26.83, Z:11.21 [[ 4.75115584e-01 -8.59005399e-01 -1.90722064e-01 6.33757780e+01] [ 8.13977191e-01 5.11388125e-01 -2.75541861e-01 2.68313415e+01] [ 3.34224945e-01 -2.43291782e-02 9.42179270e-01 1.12144233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.567552018 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:63.39, Y:26.85, Z:11.22 [[ 4.74409540e-01 -8.57002393e-01 -2.01202603e-01 6.33927390e+01] [ 8.14524030e-01 5.14032096e-01 -2.68926772e-01 2.68534266e+01] [ 3.33895483e-01 -3.63029290e-02 9.41910773e-01 1.12198539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.597552018 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:63.40, Y:26.88, Z:11.23 [[ 4.72557163e-01 -8.58197615e-01 -2.00465913e-01 6.34038743e+01] [ 8.15524336e-01 5.12052031e-01 -2.69671606e-01 2.68763749e+01] [ 3.34080507e-01 -3.60495810e-02 9.41854895e-01 1.12302265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:63.42, Y:26.90, Z:11.24 [[ 4.70571316e-01 -8.58638819e-01 -2.03228972e-01 6.34164231e+01] [ 8.16190772e-01 5.11090368e-01 -2.69479608e-01 2.68984605e+01] [ 3.35254022e-01 -3.90642382e-02 9.41317548e-01 1.12404281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65755201799999 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:63.42, Y:26.92, Z:11.25 [[ 4.69761069e-01 -8.61180939e-01 -1.94144093e-01 6.34240504e+01] [ 8.15927338e-01 5.07509483e-01 -2.76941696e-01 2.69229204e+01] [ 3.37026878e-01 -2.83110463e-02 9.41069269e-01 1.12543150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:63.44, Y:26.95, Z:11.26 [[ 4.70356860e-01 -8.59238886e-01 -2.01178926e-01 6.34365027e+01] [ 8.15206482e-01 5.10361046e-01 -2.73806489e-01 2.69459540e+01] [ 3.37939070e-01 -3.52156043e-02 9.40508929e-01 1.12611107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71755201799999 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:63.45, Y:26.97, Z:11.27 [[ 4.70745000e-01 -8.60816460e-01 -1.93375716e-01 6.34456109e+01] [ 8.14600284e-01 5.08252827e-01 -2.79473506e-01 2.69706850e+01] [ 3.38859149e-01 -2.59631576e-02 9.40478810e-01 1.12734524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:63.46, Y:26.99, Z:11.28 [[ 4.71710539e-01 -8.59445766e-01 -1.97084101e-01 6.34605994e+01] [ 8.14544036e-01 5.10321373e-01 -2.75844356e-01 2.69931513e+01] [ 3.37649493e-01 -3.04149894e-02 9.40780393e-01 1.12799202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.777552018 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:63.47, Y:27.01, Z:11.29 [[ 4.71913155e-01 -8.56764311e-01 -2.07973291e-01 6.34743985e+01] [ 8.13542771e-01 5.14080993e-01 -2.71788324e-01 2.70137757e+01] [ 3.39773652e-01 -4.09346821e-02 9.39615994e-01 1.12866294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.807552018 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:63.48, Y:27.04, Z:11.30 [[ 4.73540312e-01 -8.61247045e-01 -1.84426410e-01 6.34795232e+01] [ 8.13134484e-01 5.07954255e-01 -2.84244235e-01 2.70423078e+01] [ 3.38484687e-01 -1.53623698e-02 9.40846488e-01 1.13047115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.837552018 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:63.50, Y:27.06, Z:11.31 [[ 4.74198354e-01 -8.56751866e-01 -2.02761339e-01 6.34997009e+01] [ 8.12330306e-01 5.14570040e-01 -2.74476132e-01 2.70630864e+01] [ 3.39492848e-01 -3.45530507e-02 9.39973772e-01 1.13063327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.867552018 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:63.51, Y:27.09, Z:11.32 [[ 4.73584767e-01 -8.58700389e-01 -1.95834396e-01 6.35105822e+01] [ 8.12526599e-01 5.11769024e-01 -2.79093160e-01 2.70863966e+01] [ 3.39879383e-01 -2.69463870e-02 9.40082921e-01 1.13189543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.897552018 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:63.53, Y:27.11, Z:11.33 [[ 4.73119040e-01 -8.57444549e-01 -2.02354194e-01 6.35251466e+01] [ 8.12025480e-01 5.13510783e-01 -2.77346886e-01 2.71076762e+01] [ 3.41720636e-01 -3.30986692e-02 9.39218550e-01 1.13264669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.927552018 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:63.54, Y:27.13, Z:11.34 [[ 4.73987400e-01 -8.58567960e-01 -1.95440537e-01 6.35352329e+01] [ 8.11805989e-01 5.12058597e-01 -2.80654645e-01 2.71317244e+01] [ 3.41038093e-01 -2.56330329e-02 9.39699935e-01 1.13378887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.957552018 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:63.55, Y:27.16, Z:11.35 [[ 4.75971035e-01 -8.59020153e-01 -1.88509814e-01 6.35472530e+01] [ 8.11446128e-01 5.11607465e-01 -2.82511918e-01 2.71569254e+01] [ 3.39126459e-01 -1.84980687e-02 9.40558912e-01 1.13494637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.987552018 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:63.56, Y:27.18, Z:11.36 [[ 4.78629934e-01 -8.56702472e-01 -1.92286924e-01 6.35602297e+01] [ 8.10820820e-01 5.15295130e-01 -2.77561753e-01 2.71795996e+01] [ 3.36872355e-01 -2.30608776e-02 9.41267875e-01 1.13560694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01755201799999 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:63.58, Y:27.20, Z:11.36 [[ 4.80995115e-01 -8.52871194e-01 -2.03111857e-01 6.35804458e+01] [ 8.13170818e-01 5.20588754e-01 -2.60270186e-01 2.71971901e+01] [ 3.27714693e-01 -3.99759473e-02 9.43930614e-01 1.13574345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:63.59, Y:27.22, Z:11.37 [[ 4.80137578e-01 -8.56947440e-01 -1.87373934e-01 6.35860723e+01] [ 8.13305272e-01 5.14920343e-01 -2.70908795e-01 2.72237067e+01] [ 3.28637249e-01 -2.23187155e-02 9.44192477e-01 1.13732984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07755201799999 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:63.60, Y:27.25, Z:11.38 [[ 4.78975761e-01 -8.57447317e-01 -1.88059352e-01 6.35998724e+01] [ 8.13427767e-01 5.14074267e-01 -2.72145026e-01 2.72452335e+01] [ 3.30026496e-01 -2.26218281e-02 9.43700570e-01 1.13826492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:63.61, Y:27.27, Z:11.39 [[ 4.78533551e-01 -8.58504281e-01 -1.84325906e-01 6.36113845e+01] [ 8.13319216e-01 5.12486631e-01 -2.75443833e-01 2.72674519e+01] [ 3.30934273e-01 -1.81066858e-02 9.43480077e-01 1.13924332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.137552018 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:63.63, Y:27.29, Z:11.40 [[ 4.77705805e-01 -8.58783625e-01 -1.85169788e-01 6.36274985e+01] [ 8.14791714e-01 5.11913099e-01 -2.72138646e-01 2.72900345e+01] [ 3.28499053e-01 -2.08725983e-02 9.44273640e-01 1.13991125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.167552018 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:63.64, Y:27.32, Z:11.42 [[ 4.74068502e-01 -8.62716383e-01 -1.76009936e-01 6.36360011e+01] [ 8.13175828e-01 5.05646385e-01 -2.88213126e-01 2.73171045e+01] [ 3.37644974e-01 -6.49426008e-03 9.41251133e-01 1.14152175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.197552018 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:63.67, Y:27.33, Z:11.41 [[ 4.77007128e-01 -8.55610077e-01 -2.00986555e-01 6.36666605e+01] [ 8.16037514e-01 5.16083728e-01 -2.60269785e-01 2.73336293e+01] [ 3.26415342e-01 -3.98620265e-02 9.44385538e-01 1.14076376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.227552018 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:63.67, Y:27.36, Z:11.43 [[ 4.72954533e-01 -8.63173312e-01 -1.76764940e-01 6.36662840e+01] [ 8.14285523e-01 5.04837222e-01 -2.86493396e-01 2.73622999e+01] [ 3.36530975e-01 -8.43878141e-03 9.41634584e-01 1.14318920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.257552018 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:63.70, Y:27.38, Z:11.42 [[ 4.75117161e-01 -8.55260206e-01 -2.06866292e-01 6.36968912e+01] [ 8.17219322e-01 5.16050281e-01 -2.56602198e-01 2.73772438e+01] [ 3.26215057e-01 -4.71390226e-02 9.44119510e-01 1.14244639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.287552018 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:63.69, Y:27.41, Z:11.46 [[ 4.72506146e-01 -8.66170437e-01 -1.62747399e-01 6.36893905e+01] [ 8.14870729e-01 4.99710630e-01 -2.93726031e-01 2.74105342e+01] [ 3.35743411e-01 6.16926307e-03 9.41933279e-01 1.14561817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.317552018 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:63.72, Y:27.42, Z:11.45 [[ 4.75966610e-01 -8.56736581e-01 -1.98640922e-01 6.37225985e+01] [ 8.16282385e-01 5.14420217e-01 -2.62783005e-01 2.74227658e+01] [ 3.27320720e-01 -3.70711497e-02 9.44185827e-01 1.14459614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.347552018 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:63.73, Y:27.45, Z:11.46 [[ 4.75780432e-01 -8.59609319e-01 -1.86292242e-01 6.37335937e+01] [ 8.17854720e-01 5.10297872e-01 -2.65913030e-01 2.74485013e+01] [ 3.23645853e-01 -2.58437735e-02 9.45825280e-01 1.14586703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37755201799999 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:63.74, Y:27.47, Z:11.47 [[ 4.75720145e-01 -8.60479988e-01 -1.82385676e-01 6.37445558e+01] [ 8.17653788e-01 5.09043053e-01 -2.68919045e-01 2.74701031e+01] [ 3.24241618e-01 -2.11981315e-02 9.45736756e-01 1.14696338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:63.76, Y:27.49, Z:11.48 [[ 4.75206734e-01 -8.61182315e-01 -1.80398396e-01 6.37589310e+01] [ 8.18424296e-01 5.07904872e-01 -2.68727208e-01 2.74935294e+01] [ 3.23048344e-01 -1.99414513e-02 9.46172345e-01 1.14787385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43755201799999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:63.77, Y:27.52, Z:11.49 [[ 4.75047269e-01 -8.60862820e-01 -1.82332933e-01 6.37749710e+01] [ 8.18553723e-01 5.08353357e-01 -2.67482089e-01 2.75154284e+01] [ 3.22954943e-01 -2.21826654e-02 9.46154339e-01 1.14859456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:63.78, Y:27.54, Z:11.50 [[ 4.71292520e-01 -8.65416520e-01 -1.70110575e-01 6.37802249e+01] [ 8.16793364e-01 5.01036011e-01 -2.86027123e-01 2.75417295e+01] [ 3.32764121e-01 -4.14274483e-03 9.43000995e-01 1.15036240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.497552018 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:63.81, Y:27.56, Z:11.49 [[ 4.73460548e-01 -8.56248184e-01 -2.06577241e-01 6.38145648e+01] [ 8.19572974e-01 5.14177722e-01 -2.52826839e-01 2.75557402e+01] [ 3.22699937e-01 -4.96015906e-02 9.45200737e-01 1.14931909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.527552018 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:63.81, Y:27.59, Z:11.52 [[ 4.70854532e-01 -8.66864724e-01 -1.63833942e-01 6.38052266e+01] [ 8.16832401e-01 4.98535326e-01 -2.90253952e-01 2.75873222e+01] [ 3.33287919e-01 2.84251690e-03 9.42820812e-01 1.15244844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.557552018 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:63.84, Y:27.60, Z:11.52 [[ 4.68583783e-01 -8.60977593e-01 -1.97855563e-01 6.38351542e+01] [ 8.18135601e-01 5.07428915e-01 -2.70499601e-01 2.76039844e+01] [ 3.33291729e-01 -3.51209536e-02 9.42169381e-01 1.15194625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.587552018 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:63.84, Y:27.63, Z:11.53 [[ 4.68270097e-01 -8.64716185e-01 -1.81628839e-01 6.38436301e+01] [ 8.18358501e-01 5.01953105e-01 -2.79879338e-01 2.76298474e+01] [ 3.33185353e-01 -1.75783793e-02 9.42697471e-01 1.15344844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.617552018 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:63.86, Y:27.65, Z:11.54 [[ 4.66453383e-01 -8.64516756e-01 -1.87168428e-01 6.38616309e+01] [ 8.18955049e-01 5.02048278e-01 -2.77957110e-01 2.76520368e+01] [ 3.34266166e-01 -2.36284952e-02 9.42182479e-01 1.15401167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.647552018 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:63.88, Y:27.67, Z:11.55 [[ 4.64996678e-01 -8.64237357e-01 -1.92020521e-01 6.38772535e+01] [ 8.19078109e-01 5.02282231e-01 -2.77170728e-01 2.76740579e+01] [ 3.35989793e-01 -2.83963376e-02 9.41437468e-01 1.15492173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.677552018 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:63.90, Y:27.69, Z:11.55 [[ 4.68308182e-01 -8.61270431e-01 -1.97232583e-01 6.38967853e+01] [ 8.21541078e-01 5.06606345e-01 -2.61572684e-01 2.76936533e+01] [ 3.25204097e-01 -3.95380409e-02 9.44816934e-01 1.15516340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.707552018 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:63.89, Y:27.72, Z:11.58 [[ 4.66879882e-01 -8.67728737e-01 -1.70499309e-01 6.38939135e+01] [ 8.18226495e-01 4.97016668e-01 -2.88928772e-01 2.77226688e+01] [ 3.35452797e-01 -4.61202103e-03 9.42045726e-01 1.15769995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.737552018 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:63.93, Y:27.74, Z:11.57 [[ 4.70615940e-01 -8.58890622e-01 -2.02058251e-01 6.39261917e+01] [ 8.20780980e-01 5.10185748e-01 -2.56961252e-01 2.77386733e+01] [ 3.23788850e-01 -4.49155077e-02 9.45062632e-01 1.15684110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:63.92, Y:27.77, Z:11.60 [[ 4.69054778e-01 -8.66316229e-01 -1.71708491e-01 6.39215035e+01] [ 8.17542196e-01 4.99460758e-01 -2.86642126e-01 2.77685516e+01] [ 3.34084379e-01 -5.92807851e-03 9.42524528e-01 1.15953210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79755201799999 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:63.94, Y:27.79, Z:11.60 [[ 4.69338040e-01 -8.61857680e-01 -1.92153956e-01 6.39443523e+01] [ 8.17457496e-01 5.06363531e-01 -2.74516333e-01 2.77866996e+01] [ 3.33893766e-01 -2.82367345e-02 9.42187688e-01 1.15954999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:63.96, Y:27.81, Z:11.60 [[ 4.72667647e-01 -8.58241179e-01 -2.00018436e-01 6.39632373e+01] [ 8.19367293e-01 5.11558602e-01 -2.58737387e-01 2.78057670e+01] [ 3.24380231e-01 -4.15917729e-02 9.45011952e-01 1.15981906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85755201799999 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:63.96, Y:27.84, Z:11.63 [[ 4.71919901e-01 -8.66642445e-01 -1.61933567e-01 6.39560991e+01] [ 8.16307104e-01 4.98902753e-01 -2.91099218e-01 2.78389321e+01] [ 3.33068041e-01 5.18799362e-03 9.42888522e-01 1.16272099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.887552018 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:63.98, Y:27.86, Z:11.62 [[ 4.71549041e-01 -8.61794196e-01 -1.86955249e-01 6.39825628e+01] [ 8.16837909e-01 5.06748538e-01 -2.75647872e-01 2.78581869e+01] [ 3.32291036e-01 -2.27306447e-02 9.42902957e-01 1.16245897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.917552018 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:64.00, Y:27.88, Z:11.63 [[ 4.71191567e-01 -8.60931648e-01 -1.91768625e-01 6.39971356e+01] [ 8.16591623e-01 5.07980064e-01 -2.74106504e-01 2.78786959e+01] [ 3.33401603e-01 -2.74399802e-02 9.42385494e-01 1.16322502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.947552018 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:64.01, Y:27.90, Z:11.64 [[ 4.73688332e-01 -8.59396048e-01 -1.92504019e-01 6.40136901e+01] [ 8.18920193e-01 5.10232279e-01 -2.62740820e-01 2.78982946e+01] [ 3.24020186e-01 -3.31881675e-02 9.45467855e-01 1.16365177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.977552018 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:64.02, Y:27.92, Z:11.65 [[ 4.72681352e-01 -8.61755762e-01 -1.84253484e-01 6.40225882e+01] [ 8.19186691e-01 5.06755920e-01 -2.68573272e-01 2.79217415e+01] [ 3.24816109e-01 -2.39884246e-02 9.45472925e-01 1.16497110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.007552018 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:64.03, Y:27.95, Z:11.67 [[ 4.69080740e-01 -8.67101240e-01 -1.67626666e-01 6.40263777e+01] [ 8.17544165e-01 4.98129678e-01 -2.88943528e-01 2.79494039e+01] [ 3.34043108e-01 -1.50435853e-03 9.42556597e-01 1.16705205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.037552018 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:64.05, Y:27.97, Z:11.67 [[ 4.68286343e-01 -8.64786691e-01 -1.81250877e-01 6.40488201e+01] [ 8.18374671e-01 5.01844783e-01 -2.80026271e-01 2.79707230e+01] [ 3.33122799e-01 -1.71986485e-02 9.42726581e-01 1.16722247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.067552018 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:64.07, Y:27.99, Z:11.67 [[ 4.69565241e-01 -8.60939228e-01 -1.95683750e-01 6.40730706e+01] [ 8.20886375e-01 5.07323979e-01 -2.62236419e-01 2.79882384e+01] [ 3.25044679e-01 -3.74970170e-02 9.44954989e-01 1.16704728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.097552018 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:64.07, Y:28.02, Z:11.70 [[ 4.66736216e-01 -8.68831984e-01 -1.65191670e-01 6.40703492e+01] [ 8.19017562e-01 4.95107041e-01 -2.89964225e-01 2.80172156e+01] [ 3.33717752e-01 4.19261228e-05 9.42673040e-01 1.16966868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:64.10, Y:28.04, Z:11.70 [[ 4.64992706e-01 -8.64567691e-01 -1.90537373e-01 6.40963150e+01] [ 8.20024306e-01 5.01724664e-01 -2.75377014e-01 2.80352775e+01] [ 3.33679369e-01 -2.81969741e-02 9.42264830e-01 1.16954519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15755201799999 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:64.10, Y:28.06, Z:11.71 [[ 4.65269167e-01 -8.66650314e-01 -1.80116172e-01 6.41042714e+01] [ 8.19884278e-01 4.98633994e-01 -2.81343047e-01 2.80591624e+01] [ 3.33638086e-01 -1.67741729e-02 9.42551990e-01 1.17090249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:64.13, Y:28.08, Z:11.71 [[ 4.68006235e-01 -8.61784322e-01 -1.95698612e-01 6.41281834e+01] [ 8.21591864e-01 5.05866582e-01 -2.62841798e-01 2.80772412e+01] [ 3.25510328e-01 -3.77727870e-02 9.44783702e-01 1.17081574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21755201799999 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:64.13, Y:28.11, Z:11.74 [[ 4.65531950e-01 -8.69562332e-01 -1.64746334e-01 6.41261111e+01] [ 8.20193273e-01 4.93822750e-01 -2.88828817e-01 2.81080555e+01] [ 3.32510147e-01 -6.64792326e-04 9.43099443e-01 1.17352049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:64.15, Y:28.13, Z:11.73 [[ 4.66452734e-01 -8.65387426e-01 -1.83102292e-01 6.41500193e+01] [ 8.20882806e-01 5.00615508e-01 -2.74837283e-01 2.81264930e+01] [ 3.29504576e-01 -2.21069208e-02 9.43895131e-01 1.17340962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.277552018 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:64.16, Y:28.15, Z:11.74 [[ 4.66612062e-01 -8.66557495e-01 -1.77062960e-01 6.41630627e+01] [ 8.21210186e-01 4.98817536e-01 -2.77118921e-01 2.81501849e+01] [ 3.28461587e-01 -1.60988756e-02 9.44380120e-01 1.17445302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.307552018 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:64.18, Y:28.17, Z:11.75 [[ 4.69827395e-01 -8.62759258e-01 -1.86838652e-01 6.41845361e+01] [ 8.22520257e-01 5.04694523e-01 -2.62190514e-01 2.81671410e+01] [ 3.20503738e-01 -3.04942901e-02 9.46756279e-01 1.17451145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.337552018 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:64.19, Y:28.20, Z:11.77 [[ 4.67208236e-01 -8.67888049e-01 -1.68780328e-01 6.41889144e+01] [ 8.21387193e-01 4.96701087e-01 -2.80376729e-01 2.81959195e+01] [ 3.27168984e-01 -7.63968294e-03 9.44934967e-01 1.17660189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.367552018 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:64.21, Y:28.22, Z:11.77 [[ 4.68009802e-01 -8.64416507e-01 -1.83714257e-01 6.42100413e+01] [ 8.21348347e-01 5.02189898e-01 -2.70540569e-01 2.82155636e+01] [ 3.26119177e-01 -2.42777632e-02 9.45016864e-01 1.17681688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.397552018 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:64.22, Y:28.24, Z:11.78 [[ 4.67078601e-01 -8.63712764e-01 -1.89308854e-01 6.42243774e+01] [ 8.20795104e-01 5.03145580e-01 -2.70443934e-01 2.82372173e+01] [ 3.28835791e-01 -2.90652063e-02 9.43939742e-01 1.17777298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.427552018 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:64.23, Y:28.26, Z:11.79 [[ 4.67976893e-01 -8.66164970e-01 -1.75373522e-01 6.42331693e+01] [ 8.20345278e-01 4.99572545e-01 -2.78317978e-01 2.82620025e+01] [ 3.28681080e-01 -1.36204584e-02 9.44342751e-01 1.17913727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.457552018 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:64.26, Y:28.28, Z:11.79 [[ 4.69932390e-01 -8.61435846e-01 -1.92592397e-01 6.42576465e+01] [ 8.21288133e-01 5.06663657e-01 -2.62255109e-01 2.82797813e+01] [ 3.23495520e-01 -3.49316803e-02 9.45584701e-01 1.17900250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.487552018 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:64.26, Y:28.31, Z:11.81 [[ 4.67895350e-01 -8.68362168e-01 -1.64380919e-01 6.42569265e+01] [ 8.19703277e-01 4.95930166e-01 -2.86600431e-01 2.83094273e+01] [ 3.30394428e-01 -6.44569359e-04 9.43842734e-01 1.18144677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51755201799999 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:64.28, Y:28.33, Z:11.81 [[ 4.67214115e-01 -8.63049307e-01 -1.91981420e-01 6.42824519e+01] [ 8.19283893e-01 5.04242748e-01 -2.72970976e-01 2.83263831e+01] [ 3.32392650e-01 -2.97513921e-02 9.42671725e-01 1.18126274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:64.28, Y:28.35, Z:11.83 [[ 4.63841825e-01 -8.67045777e-01 -1.81885630e-01 6.42839835e+01] [ 8.20619784e-01 4.97861442e-01 -2.80565774e-01 2.83480766e+01] [ 3.33817212e-01 -1.91208054e-02 9.42443878e-01 1.18253888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57755201799999 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:64.30, Y:28.37, Z:11.84 [[ 4.67357219e-01 -8.66922592e-01 -1.73269874e-01 6.43030324e+01] [ 8.19411865e-01 4.98350025e-01 -2.83216258e-01 2.83742111e+01] [ 3.31875618e-01 -9.61622789e-03 9.43274139e-01 1.18381093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:64.32, Y:28.40, Z:11.85 [[ 4.67657272e-01 -8.66833647e-01 -1.72904899e-01 6.43189753e+01] [ 8.20123342e-01 4.98488224e-01 -2.80904244e-01 2.83979588e+01] [ 3.29688307e-01 -1.04364312e-02 9.44032151e-01 1.18460649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.637552018 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:64.34, Y:28.42, Z:11.85 [[ 4.66644521e-01 -8.64896802e-01 -1.84922722e-01 6.43386272e+01] [ 8.20851391e-01 5.01368852e-01 -2.73554872e-01 2.84188490e+01] [ 3.29311226e-01 -2.41411914e-02 9.43912771e-01 1.18501307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.667552018 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:64.35, Y:28.44, Z:11.86 [[ 4.65237683e-01 -8.65915453e-01 -1.83696287e-01 6.43524628e+01] [ 8.21643021e-01 4.99647162e-01 -2.74327285e-01 2.84402700e+01] [ 3.29327563e-01 -2.33053818e-02 9.43928077e-01 1.18601678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.697552018 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:64.36, Y:28.46, Z:11.87 [[ 4.65145670e-01 -8.66892421e-01 -1.79268059e-01 6.43647505e+01] [ 8.22052192e-01 4.98130940e-01 -2.75854600e-01 2.84621392e+01] [ 3.28435229e-01 -1.90551278e-02 9.44334264e-01 1.18701889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.727552018 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:64.38, Y:28.48, Z:11.88 [[ 4.62060937e-01 -8.66391844e-01 -1.89380206e-01 6.43821164e+01] [ 8.23187847e-01 4.98446177e-01 -2.71869780e-01 2.84814032e+01] [ 3.29941600e-01 -3.02750786e-02 9.43515744e-01 1.18773585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.757552018 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:64.39, Y:28.50, Z:11.89 [[ 4.61411837e-01 -8.68647059e-01 -1.80420075e-01 6.43914321e+01] [ 8.23561570e-01 4.94995491e-01 -2.76994232e-01 2.85039870e+01] [ 3.29917349e-01 -2.07786230e-02 9.43781114e-01 1.18903562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.787552018 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:64.41, Y:28.53, Z:11.90 [[ 4.60913029e-01 -8.68928127e-01 -1.80341591e-01 6.44052693e+01] [ 8.23832485e-01 4.94498374e-01 -2.77076515e-01 2.85267993e+01] [ 3.29938201e-01 -2.08630849e-02 9.43771962e-01 1.18996600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.817552018 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:64.42, Y:28.55, Z:11.91 [[ 4.61003532e-01 -8.70786624e-01 -1.70898795e-01 6.44177914e+01] [ 8.24265967e-01 4.91531102e-01 -2.81038770e-01 2.85520395e+01] [ 3.28726875e-01 -1.13061943e-02 9.44357354e-01 1.19107232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.847552018 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:64.44, Y:28.57, Z:11.92 [[ 4.58345478e-01 -8.68796767e-01 -1.87380896e-01 6.44395126e+01] [ 8.25064432e-01 4.94310643e-01 -2.73725539e-01 2.85714070e+01] [ 3.30436235e-01 -2.91404495e-02 9.43378359e-01 1.19151638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87755201799999 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:64.45, Y:28.59, Z:11.93 [[ 4.58294570e-01 -8.70404336e-01 -1.79895467e-01 6.44492080e+01] [ 8.25064177e-01 4.91889725e-01 -2.78053236e-01 2.85943079e+01] [ 3.30507474e-01 -2.09950174e-02 9.43569827e-01 1.19272727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:64.46, Y:28.62, Z:11.94 [[ 4.58534244e-01 -8.70060100e-01 -1.80946867e-01 6.44633919e+01] [ 8.24750883e-01 4.92464296e-01 -2.77965644e-01 2.86163081e+01] [ 3.30956687e-01 -2.17793216e-02 9.43394579e-01 1.19361341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93755201799999 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:64.48, Y:28.64, Z:11.94 [[ 4.58975275e-01 -8.70090512e-01 -1.79678039e-01 6.44764820e+01] [ 8.24559981e-01 4.92472810e-01 -2.78516370e-01 2.86383498e+01] [ 3.30821000e-01 -2.03231930e-02 9.43474660e-01 1.19445858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:64.49, Y:28.66, Z:11.95 [[ 4.59306978e-01 -8.69803793e-01 -1.80217820e-01 6.44910585e+01] [ 8.24174063e-01 4.92972233e-01 -2.78774983e-01 2.86613248e+01] [ 3.31321919e-01 -2.04875580e-02 9.43295312e-01 1.19542241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.997552018 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:64.50, Y:28.68, Z:11.96 [[ 4.63147295e-01 -8.68946381e-01 -1.74432707e-01 6.45025831e+01] [ 8.22734368e-01 4.94712208e-01 -2.79942833e-01 2.86838581e+01] [ 3.29549302e-01 -1.38570175e-02 9.44036673e-01 1.19635386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.027552018 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:64.52, Y:28.70, Z:11.97 [[ 4.62443032e-01 -8.67251862e-01 -1.84446874e-01 6.45186487e+01] [ 8.22504903e-01 4.97287869e-01 -2.76026194e-01 2.87046034e+01] [ 3.31107423e-01 -2.40620687e-02 9.43286219e-01 1.19706636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.057552018 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:64.53, Y:28.73, Z:11.98 [[ 4.65552440e-01 -8.67641483e-01 -1.74525591e-01 6.45275314e+01] [ 8.20979764e-01 4.97033926e-01 -2.80979542e-01 2.87294023e+01] [ 3.30534646e-01 -1.24712670e-02 9.43711458e-01 1.19820583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.087552018 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:64.54, Y:28.75, Z:11.99 [[ 4.66567282e-01 -8.66285553e-01 -1.78505773e-01 6.45437764e+01] [ 8.20606495e-01 4.99268781e-01 -2.78092909e-01 2.87526454e+01] [ 3.30030229e-01 -1.67339444e-02 9.43822029e-01 1.19887008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.117552018 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:64.56, Y:28.77, Z:12.00 [[ 4.66972477e-01 -8.64171538e-01 -1.87468022e-01 6.45590971e+01] [ 8.19939691e-01 5.02540736e-01 -2.74138126e-01 2.87720783e+01] [ 3.31112684e-01 -2.56975124e-02 9.43241236e-01 1.19960912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.147552018 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:64.57, Y:28.80, Z:12.01 [[ 4.68711411e-01 -8.65552589e-01 -1.76432222e-01 6.45671454e+01] [ 8.18834457e-01 5.00653216e-01 -2.80813976e-01 2.87967333e+01] [ 3.31390624e-01 -1.28480676e-02 9.43406159e-01 1.20103411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.177552018 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:64.58, Y:28.82, Z:12.02 [[ 4.69023166e-01 -8.65867351e-01 -1.74043099e-01 6.45812712e+01] [ 8.19039971e-01 5.00159042e-01 -2.81095108e-01 2.88212428e+01] [ 3.30440306e-01 -1.07081374e-02 9.43766147e-01 1.20194231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.207552018 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:64.60, Y:28.84, Z:12.02 [[ 4.68699230e-01 -8.64001018e-01 -1.83911045e-01 6.45980653e+01] [ 8.19109294e-01 5.03034311e-01 -2.75710803e-01 2.88408899e+01] [ 3.30727980e-01 -2.14178046e-02 9.43483058e-01 1.20241841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.237552018 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:64.61, Y:28.87, Z:12.04 [[ 4.68990249e-01 -8.66180679e-01 -1.72566442e-01 6.46081205e+01] [ 8.19405284e-01 4.99638051e-01 -2.80956934e-01 2.88661801e+01] [ 3.29580229e-01 -9.63579206e-03 9.44078399e-01 1.20369273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:64.62, Y:28.88, Z:12.04 [[ 4.63623393e-01 -8.65146379e-01 -1.91246157e-01 6.46206544e+01] [ 8.21267889e-01 5.00610905e-01 -2.73692850e-01 2.88831356e+01] [ 3.32524289e-01 -3.01739200e-02 9.42611867e-01 1.20407913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29755201799999 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:64.63, Y:28.91, Z:12.06 [[ 4.66394919e-01 -8.68261770e-01 -1.69107295e-01 6.46339754e+01] [ 8.20308626e-01 4.96070351e-01 -2.84618981e-01 2.89113891e+01] [ 3.31012896e-01 -5.97532646e-03 9.43607312e-01 1.20586957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:64.65, Y:28.93, Z:12.06 [[ 4.64472425e-01 -8.66102615e-01 -1.84747467e-01 6.46540580e+01] [ 8.21075078e-01 4.99326747e-01 -2.76601729e-01 2.89305451e+01] [ 3.31814833e-01 -2.32176649e-02 9.43058777e-01 1.20622519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35755201799999 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:64.66, Y:28.96, Z:12.08 [[ 4.63834589e-01 -8.70526480e-01 -1.64441849e-01 6.46616547e+01] [ 8.22489938e-01 4.92112622e-01 -2.85193740e-01 2.89578074e+01] [ 3.29192612e-01 -2.96904525e-03 9.44258126e-01 1.20774615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.387552018 meters Centerline goodness : 0.991936 Centerline is valid? [True, True] Translation: X:64.68, Y:28.98, Z:12.08 [[ 4.62579141e-01 -8.68126512e-01 -1.79935816e-01 6.46826083e+01] [ 8.23250760e-01 4.95925905e-01 -2.76252933e-01 2.89762934e+01] [ 3.29057327e-01 -2.03434524e-02 9.44090790e-01 1.20790623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.417552018 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:64.70, Y:29.00, Z:12.09 [[ 4.60520447e-01 -8.68757466e-01 -1.82157580e-01 6.46966508e+01] [ 8.23934861e-01 4.94712522e-01 -2.76388975e-01 2.89981117e+01] [ 3.30230622e-01 -2.28032061e-02 9.43624793e-01 1.20885482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.447552018 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:64.71, Y:29.02, Z:12.10 [[ 4.59101871e-01 -8.72465925e-01 -1.67417685e-01 6.47073247e+01] [ 8.25022416e-01 4.88612900e-01 -2.83893373e-01 2.90247956e+01] [ 3.29489735e-01 -7.78736489e-03 9.44127042e-01 1.21015903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.477552018 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:64.73, Y:29.05, Z:12.11 [[ 4.57759396e-01 -8.70589931e-01 -1.80359384e-01 6.47282411e+01] [ 8.25565747e-01 4.91517319e-01 -2.77221794e-01 2.90463945e+01] [ 3.29996263e-01 -2.19976482e-02 9.43725898e-01 1.21060828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.507552018 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:64.74, Y:29.07, Z:12.12 [[ 4.56981308e-01 -8.70838600e-01 -1.81130387e-01 6.47409700e+01] [ 8.25788861e-01 4.91039679e-01 -2.77403661e-01 2.90678715e+01] [ 3.30516023e-01 -2.28071681e-02 9.43524770e-01 1.21158355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.537552018 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:64.75, Y:29.09, Z:12.13 [[ 4.55646312e-01 -8.71601788e-01 -1.80822458e-01 6.47530046e+01] [ 8.26068084e-01 4.89707920e-01 -2.78922341e-01 2.90903225e+01] [ 3.31659402e-01 -2.22817255e-02 9.43136027e-01 1.21264815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.567552018 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:64.76, Y:29.11, Z:12.14 [[ 4.57023853e-01 -8.72875315e-01 -1.70932391e-01 6.47643661e+01] [ 8.25983444e-01 4.87793858e-01 -2.82503987e-01 2.91143154e+01] [ 3.29970528e-01 -1.20762644e-02 9.43913987e-01 1.21367691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.597552018 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:64.78, Y:29.14, Z:12.14 [[ 4.56177779e-01 -8.73288152e-01 -1.71083716e-01 6.47820906e+01] [ 8.26652597e-01 4.87034570e-01 -2.81856011e-01 2.91377860e+01] [ 3.29465200e-01 -1.28503494e-02 9.44080267e-01 1.21440009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:64.80, Y:29.15, Z:12.15 [[ 4.54244467e-01 -8.70370494e-01 -1.90045173e-01 6.48018409e+01] [ 8.26987101e-01 4.91290838e-01 -2.73359923e-01 2.91549542e+01] [ 3.31291863e-01 -3.29926737e-02 9.42951316e-01 1.21485590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65755201799999 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:64.81, Y:29.18, Z:12.17 [[ 4.54872072e-01 -8.73872069e-01 -1.71577983e-01 6.48066599e+01] [ 8.26758940e-01 4.85983085e-01 -2.83355071e-01 2.91806721e+01] [ 3.31000080e-01 -1.29633232e-02 9.43541679e-01 1.21652915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:64.82, Y:29.20, Z:12.17 [[ 4.55324162e-01 -8.73081563e-01 -1.74380311e-01 6.48234724e+01] [ 8.26910685e-01 4.87297815e-01 -2.80641336e-01 2.92033958e+01] [ 3.29997920e-01 -1.64141612e-02 9.43838942e-01 1.21720469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71755201799999 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:64.84, Y:29.22, Z:12.18 [[ 4.55664220e-01 -8.72138219e-01 -1.78171391e-01 6.48397360e+01] [ 8.26905511e-01 4.88823161e-01 -2.77991354e-01 2.92248788e+01] [ 3.29541187e-01 -2.06601913e-02 9.43915125e-01 1.21793809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:64.85, Y:29.25, Z:12.19 [[ 4.56201924e-01 -8.72564841e-01 -1.74672272e-01 6.48526536e+01] [ 8.26276388e-01 4.88230100e-01 -2.80889124e-01 2.92479988e+01] [ 3.30374235e-01 -1.61854148e-02 9.43711236e-01 1.21906378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.777552018 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:64.87, Y:29.27, Z:12.20 [[ 4.57459683e-01 -8.71024045e-01 -1.79018860e-01 6.48677616e+01] [ 8.25482555e-01 4.90821443e-01 -2.78698516e-01 2.92684524e+01] [ 3.30619403e-01 -2.02836111e-02 9.43546175e-01 1.21976310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.807552018 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:64.88, Y:29.29, Z:12.21 [[ 4.58402543e-01 -8.71246523e-01 -1.75489615e-01 6.48796704e+01] [ 8.24687583e-01 4.90594164e-01 -2.81438725e-01 2.92931467e+01] [ 3.31296692e-01 -1.57118789e-02 9.43395802e-01 1.22103361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.837552018 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:64.90, Y:29.31, Z:12.22 [[ 4.58373116e-01 -8.69592699e-01 -1.83582744e-01 6.48960425e+01] [ 8.24221045e-01 4.93196962e-01 -2.78238073e-01 2.93141939e+01] [ 3.32496249e-01 -2.37759087e-02 9.42804832e-01 1.22185170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.867552018 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:64.91, Y:29.34, Z:12.23 [[ 4.59990799e-01 -8.70059912e-01 -1.77212340e-01 6.49062390e+01] [ 8.23126204e-01 4.92686634e-01 -2.82352851e-01 2.93364279e+01] [ 3.32974048e-01 -1.59884076e-02 9.42800432e-01 1.22304253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.897552018 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:64.92, Y:29.36, Z:12.24 [[ 4.62777532e-01 -8.69592905e-01 -1.72177628e-01 6.49207303e+01] [ 8.21544270e-01 4.93678702e-01 -2.85212818e-01 2.93607026e+01] [ 3.33019470e-01 -9.46145995e-03 9.42872480e-01 1.22403550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.927552018 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:64.94, Y:29.38, Z:12.25 [[ 4.65139464e-01 -8.67404169e-01 -1.76791647e-01 6.49379744e+01] [ 8.20578830e-01 4.97403427e-01 -2.81496385e-01 2.93814675e+01] [ 3.32107909e-01 -1.41364058e-02 9.43135462e-01 1.22463057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.957552018 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:64.95, Y:29.40, Z:12.26 [[ 4.67678520e-01 -8.66003250e-01 -1.76960935e-01 6.49531844e+01] [ 8.18742348e-01 4.99874950e-01 -2.82464159e-01 2.94035911e+01] [ 3.33073218e-01 -1.27829915e-02 9.42814312e-01 1.22564894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.987552018 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:64.96, Y:29.42, Z:12.26 [[ 4.64409313e-01 -8.64543315e-01 -1.92064694e-01 6.49627106e+01] [ 8.19016375e-01 5.01773675e-01 -2.78272092e-01 2.94192260e+01] [ 3.36951284e-01 -2.80719782e-02 9.41103499e-01 1.22634516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01755201799999 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:64.97, Y:29.45, Z:12.28 [[ 4.70866395e-01 -8.67057633e-01 -1.62775607e-01 6.49739051e+01] [ 8.16567830e-01 4.98188569e-01 -2.91590686e-01 2.94488155e+01] [ 3.33918877e-01 4.38293066e-03 9.42591626e-01 1.22834058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:64.99, Y:29.46, Z:12.29 [[ 4.70152121e-01 -8.63209606e-01 -1.83918891e-01 6.49913477e+01] [ 8.16042499e-01 5.04541856e-01 -2.81978999e-01 2.94646350e+01] [ 3.36201759e-01 -1.75126069e-02 9.41627148e-01 1.22868763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07755201799999 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:65.00, Y:29.50, Z:12.30 [[ 4.78270681e-01 -8.64616735e-01 -1.53931991e-01 6.50046429e+01] [ 8.13511437e-01 5.02207419e-01 -2.93235145e-01 2.94951849e+01] [ 3.30841801e-01 1.50203368e-02 9.43566687e-01 1.23041473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:65.03, Y:29.50, Z:12.30 [[ 4.75383703e-01 -8.58252261e-01 -1.93425414e-01 6.50292427e+01] [ 8.13104769e-01 5.12563930e-01 -2.75932695e-01 2.95046669e+01] [ 3.35962750e-01 -2.61012203e-02 9.41513546e-01 1.23005373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.137552018 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:65.03, Y:29.53, Z:12.32 [[ 4.76231312e-01 -8.62619715e-01 -1.70560735e-01 6.50331188e+01] [ 8.12534546e-01 5.05852561e-01 -2.89656345e-01 2.95293845e+01] [ 3.36141858e-01 -6.43068726e-04 9.41811147e-01 1.23193832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.167552018 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:65.05, Y:29.56, Z:12.33 [[ 4.83742124e-01 -8.62089848e-01 -1.50978977e-01 6.50545104e+01] [ 8.10480861e-01 5.06357042e-01 -2.94488235e-01 2.95588726e+01] [ 3.30324586e-01 2.00907930e-02 9.43653553e-01 1.23317774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.197552018 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:65.09, Y:29.58, Z:12.33 [[ 4.85030966e-01 -8.57750652e-01 -1.70319645e-01 6.50865428e+01] [ 8.10478404e-01 5.14062710e-01 -2.80827858e-01 2.95756689e+01] [ 3.28435257e-01 -1.83018705e-03 9.44524712e-01 1.23297794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.227552018 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:65.11, Y:29.60, Z:12.34 [[ 4.82721238e-01 -8.57674484e-01 -1.77129010e-01 6.51062629e+01] [ 8.11293298e-01 5.14108503e-01 -2.78380372e-01 2.95963702e+01] [ 3.29823272e-01 -9.32346135e-03 9.43996654e-01 1.23378746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.257552018 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:65.12, Y:29.61, Z:12.34 [[ 4.74199075e-01 -8.57444971e-01 -1.99808305e-01 6.51190672e+01] [ 8.13750629e-01 5.13485743e-01 -2.72290847e-01 2.96076481e+01] [ 3.36073134e-01 -3.34740656e-02 9.41240849e-01 1.23440253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.287552018 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:65.13, Y:29.64, Z:12.37 [[ 4.79366995e-01 -8.65620438e-01 -1.44597861e-01 6.51282285e+01] [ 8.13437512e-01 5.00087748e-01 -2.97038144e-01 2.96411262e+01] [ 3.29433907e-01 2.47689578e-02 9.43853696e-01 1.23696939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.317552018 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:65.16, Y:29.66, Z:12.37 [[ 4.76505513e-01 -8.61833022e-01 -1.73742160e-01 6.51642078e+01] [ 8.15172744e-01 5.07124556e-01 -2.79853680e-01 2.96550766e+01] [ 3.29296058e-01 -8.27805172e-03 9.44190436e-01 1.23671834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.347552018 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:65.18, Y:29.67, Z:12.37 [[ 4.72039253e-01 -8.62079431e-01 -1.84385463e-01 6.51847074e+01] [ 8.17113533e-01 5.06354676e-01 -2.75554743e-01 2.96735114e+01] [ 3.30914518e-01 -2.05912018e-02 9.43436052e-01 1.23746701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37755201799999 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:65.20, Y:29.69, Z:12.39 [[ 4.69562092e-01 -8.64651918e-01 -1.78573522e-01 6.51989886e+01] [ 8.18340258e-01 5.02151745e-01 -2.79576192e-01 2.96943961e+01] [ 3.31407096e-01 -1.48555211e-02 9.43370897e-01 1.23861088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:65.21, Y:29.71, Z:12.39 [[ 4.58938454e-01 -8.66431499e-01 -1.96651856e-01 6.52076059e+01] [ 8.22492936e-01 4.98021088e-01 -2.74736902e-01 2.97057411e+01] [ 3.35977477e-01 -3.56574330e-02 9.41194816e-01 1.23919113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43755201799999 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:65.22, Y:29.74, Z:12.42 [[ 4.63966922e-01 -8.73695795e-01 -1.46254411e-01 6.52212036e+01] [ 8.21781865e-01 4.86150368e-01 -2.97207648e-01 2.97385854e+01] [ 3.30770708e-01 1.77052952e-02 9.43545050e-01 1.24162213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:65.25, Y:29.75, Z:12.41 [[ 4.60210758e-01 -8.68195995e-01 -1.85584945e-01 6.52544194e+01] [ 8.23606899e-01 4.95545628e-01 -2.75873535e-01 2.97541469e+01] [ 3.31478106e-01 -2.58890724e-02 9.43107640e-01 1.24140442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.497552018 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:65.26, Y:29.77, Z:12.42 [[ 4.50510019e-01 -8.72099545e-01 -1.91005513e-01 6.52600070e+01] [ 8.27673764e-01 4.88188576e-01 -2.76817726e-01 2.97675400e+01] [ 3.34659323e-01 -3.33810927e-02 9.41747758e-01 1.24232251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.527552018 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:65.26, Y:29.79, Z:12.44 [[ 4.49603084e-01 -8.77233595e-01 -1.68280379e-01 6.52646213e+01] [ 8.28091922e-01 4.79976887e-01 -2.89630724e-01 2.97923634e+01] [ 3.34844494e-01 -9.13275597e-03 9.42229143e-01 1.24401364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.557552018 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:65.28, Y:29.81, Z:12.45 [[ 4.48464064e-01 -8.77861993e-01 -1.68042569e-01 6.52805747e+01] [ 8.28826708e-01 4.78819990e-01 -2.89443785e-01 2.98137022e+01] [ 3.34553839e-01 -9.47303315e-03 9.42329024e-01 1.24489297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.587552018 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:65.30, Y:29.83, Z:12.46 [[ 4.46367838e-01 -8.78938669e-01 -1.67995741e-01 6.52999363e+01] [ 8.29925993e-01 4.76826525e-01 -2.89584722e-01 2.98332786e+01] [ 3.34632036e-01 -1.01627251e-02 9.42294073e-01 1.24572118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.617552018 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:65.32, Y:29.86, Z:12.47 [[ 4.52285215e-01 -8.78480599e-01 -1.53980263e-01 6.53247062e+01] [ 8.28117611e-01 4.77750764e-01 -2.93215670e-01 2.98626115e+01] [ 3.31148466e-01 5.10334409e-03 9.43564862e-01 1.24691708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.647552018 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:65.35, Y:29.88, Z:12.47 [[ 4.49208430e-01 -8.75443295e-01 -1.78355890e-01 6.53518765e+01] [ 8.29607725e-01 4.82819973e-01 -2.80420929e-01 2.98812504e+01] [ 3.31606407e-01 -2.19979787e-02 9.43161322e-01 1.24723486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.677552018 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:65.36, Y:29.90, Z:12.48 [[ 4.48450783e-01 -8.76330635e-01 -1.75887787e-01 6.53635121e+01] [ 8.29924099e-01 4.81316015e-01 -2.82065389e-01 2.99049911e+01] [ 3.31840150e-01 -1.94810689e-02 9.43134456e-01 1.24827590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.707552018 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:65.37, Y:29.92, Z:12.49 [[ 4.36845140e-01 -8.79724695e-01 -1.87751922e-01 6.53721431e+01] [ 8.34659385e-01 4.74240208e-01 -2.80071307e-01 2.99168866e+01] [ 3.35425156e-01 -3.43611144e-02 9.41440003e-01 1.24883779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.737552018 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:65.38, Y:29.94, Z:12.50 [[ 4.34340770e-01 -8.84939417e-01 -1.68018818e-01 6.53776301e+01] [ 8.35474559e-01 4.65509471e-01 -2.92032864e-01 2.99405498e+01] [ 3.36645744e-01 -1.35336687e-02 9.41534111e-01 1.25033252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:65.40, Y:29.96, Z:12.51 [[ 4.30714489e-01 -8.86660443e-01 -1.68280383e-01 6.53970228e+01] [ 8.37106866e-01 4.62183411e-01 -2.92640719e-01 2.99600142e+01] [ 3.37249351e-01 -1.48240666e-02 9.41298636e-01 1.25127531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79755201799999 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:65.41, Y:29.98, Z:12.52 [[ 4.29283985e-01 -8.87448461e-01 -1.67781077e-01 6.54121774e+01] [ 8.38176686e-01 4.60653496e-01 -2.91990067e-01 2.99819776e+01] [ 3.36415075e-01 -1.52835278e-02 9.41589778e-01 1.25219910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:65.43, Y:30.00, Z:12.53 [[ 4.28432156e-01 -8.87903697e-01 -1.67549731e-01 6.54265898e+01] [ 8.38723629e-01 4.59768008e-01 -2.91815101e-01 3.00026181e+01] [ 3.36137713e-01 -1.55049452e-02 9.41685210e-01 1.25312529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85755201799999 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:65.44, Y:30.02, Z:12.54 [[ 4.28794942e-01 -8.87825644e-01 -1.67034499e-01 6.54435875e+01] [ 8.38905636e-01 4.59924646e-01 -2.91044075e-01 3.00233190e+01] [ 3.35219676e-01 -1.53279556e-02 9.42015298e-01 1.25402741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.887552018 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:65.46, Y:30.04, Z:12.55 [[ 4.29714404e-01 -8.87402944e-01 -1.66917781e-01 6.54580111e+01] [ 8.38442731e-01 4.60754510e-01 -2.91065401e-01 3.00440638e+01] [ 3.35200414e-01 -1.48760054e-02 9.42029398e-01 1.25493064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.917552018 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:65.48, Y:30.07, Z:12.56 [[ 4.31944563e-01 -8.86373719e-01 -1.66629906e-01 6.54754734e+01] [ 8.37469343e-01 4.62759122e-01 -2.90687281e-01 3.00651475e+01] [ 3.34767075e-01 -1.39866478e-02 9.42197102e-01 1.25581674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.947552018 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:65.49, Y:30.09, Z:12.57 [[ 4.32993696e-01 -8.85872888e-01 -1.66570363e-01 6.54900287e+01] [ 8.36889178e-01 4.63732071e-01 -2.90807619e-01 3.00867941e+01] [ 3.34862605e-01 -1.34830688e-02 9.42170496e-01 1.25676890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.977552018 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:65.50, Y:30.11, Z:12.58 [[ 4.34332594e-01 -8.85344223e-01 -1.65893954e-01 6.55044866e+01] [ 8.36652740e-01 4.64757018e-01 -2.89850144e-01 3.01089943e+01] [ 3.33717530e-01 -1.29042658e-02 9.42584792e-01 1.25767911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.007552018 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:65.52, Y:30.13, Z:12.59 [[ 4.35722585e-01 -8.84718410e-01 -1.65587331e-01 6.55181672e+01] [ 8.36087420e-01 4.65963966e-01 -2.89543449e-01 3.01301071e+01] [ 3.33322149e-01 -1.22848647e-02 9.42732956e-01 1.25861727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.037552018 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:65.53, Y:30.15, Z:12.60 [[ 4.37285318e-01 -8.84035691e-01 -1.65113439e-01 6.55347001e+01] [ 8.35589292e-01 4.67274226e-01 -2.88869058e-01 3.01513319e+01] [ 3.32523812e-01 -1.16488231e-02 9.43022916e-01 1.25953366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.067552018 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:65.55, Y:30.17, Z:12.60 [[ 4.37936029e-01 -8.83668163e-01 -1.65356017e-01 6.55525671e+01] [ 8.34971774e-01 4.67977958e-01 -2.89514710e-01 3.01714182e+01] [ 3.33217903e-01 -1.12786843e-02 9.42782382e-01 1.26035218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.097552018 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:65.57, Y:30.19, Z:12.61 [[ 4.37175700e-01 -8.84042280e-01 -1.65368242e-01 6.55667791e+01] [ 8.35283181e-01 4.67266650e-01 -2.89765223e-01 3.01930850e+01] [ 3.33435773e-01 -1.14509978e-02 9.42703273e-01 1.26127059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:65.58, Y:30.21, Z:12.62 [[ 4.36637926e-01 -8.84324254e-01 -1.65281379e-01 6.55815438e+01] [ 8.35592505e-01 4.66729185e-01 -2.89739595e-01 3.02145921e+01] [ 3.33365395e-01 -1.15965859e-02 9.42726383e-01 1.26218204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15755201799999 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:65.60, Y:30.23, Z:12.63 [[ 4.35902733e-01 -8.84726505e-01 -1.65069134e-01 6.56001854e+01] [ 8.36070859e-01 4.65961775e-01 -2.89594790e-01 3.02336504e+01] [ 3.33128093e-01 -1.17743318e-02 9.42808060e-01 1.26306547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:65.62, Y:30.25, Z:12.64 [[ 4.35903289e-01 -8.84786991e-01 -1.64743145e-01 6.56159420e+01] [ 8.36279029e-01 4.65848320e-01 -2.89175948e-01 3.02545048e+01] [ 3.32604434e-01 -1.17184904e-02 9.42993620e-01 1.26397894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21755201799999 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:65.63, Y:30.27, Z:12.65 [[ 4.37527982e-01 -8.84112526e-01 -1.64055805e-01 6.56333087e+01] [ 8.35894273e-01 4.67143642e-01 -2.88197124e-01 3.02735381e+01] [ 3.31436313e-01 -1.10390017e-02 9.43413012e-01 1.26490952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.247552018 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:65.66, Y:30.29, Z:12.66 [[ 4.38868549e-01 -8.78786096e-01 -1.87428369e-01 6.56594581e+01] [ 8.33249249e-01 4.76087766e-01 -2.81133648e-01 3.02888991e+01] [ 3.36288695e-01 -3.27938311e-02 9.41187802e-01 1.26621614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.277552018 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:65.66, Y:30.31, Z:12.68 [[ 4.40634011e-01 -8.82333837e-01 -1.65313847e-01 6.56649864e+01] [ 8.32519708e-01 4.70542088e-01 -2.92405676e-01 3.03147986e+01] [ 3.35786545e-01 -8.78315015e-03 9.41897156e-01 1.26754652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.307552018 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:65.67, Y:30.34, Z:12.68 [[ 4.43289100e-01 -8.84220555e-01 -1.47135258e-01 6.56727569e+01] [ 8.33024396e-01 4.66984212e-01 -2.96641369e-01 3.03387067e+01] [ 3.31006238e-01 8.93062652e-03 9.43586304e-01 1.26815934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.337552018 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:65.70, Y:30.36, Z:12.69 [[ 4.44190725e-01 -8.80997070e-01 -1.62907221e-01 6.56958497e+01] [ 8.32998803e-01 4.73049896e-01 -2.86943879e-01 3.03574735e+01] [ 3.29859961e-01 -8.24371047e-03 9.43993881e-01 1.26869437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.367552018 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:65.72, Y:30.37, Z:12.70 [[ 4.43650277e-01 -8.76580135e-01 -1.86498525e-01 6.57194057e+01] [ 8.31069320e-01 4.80283877e-01 -2.80448182e-01 3.03724170e+01] [ 3.35407539e-01 -3.05722889e-02 9.41576931e-01 1.26995588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.397552018 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:65.72, Y:30.40, Z:12.71 [[ 4.43913710e-01 -8.84726491e-01 -1.42125488e-01 6.57193306e+01] [ 8.32458601e-01 4.65874205e-01 -2.99956503e-01 3.04029119e+01] [ 3.31592063e-01 1.48412190e-02 9.43306123e-01 1.27108434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.427552018 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:65.75, Y:30.42, Z:12.71 [[ 4.42545287e-01 -8.81782725e-01 -1.63134591e-01 6.57456724e+01] [ 8.33534650e-01 4.71577255e-01 -2.87810493e-01 3.04200539e+01] [ 3.30716883e-01 -8.60915662e-03 9.43690747e-01 1.27148159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.457552018 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:65.77, Y:30.43, Z:12.73 [[ 4.35531150e-01 -8.81131404e-01 -1.84174009e-01 6.57690639e+01] [ 8.35341941e-01 4.71854097e-01 -2.82059485e-01 3.04321228e+01] [ 3.35434731e-01 -3.10025819e-02 9.41553175e-01 1.27282241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.487552018 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:65.77, Y:30.46, Z:12.74 [[ 4.32270075e-01 -8.86913374e-01 -1.62871879e-01 6.57738109e+01] [ 8.36555376e-01 4.61851070e-01 -2.94734953e-01 3.04569876e+01] [ 3.36626923e-01 -8.84624555e-03 9.41596548e-01 1.27425997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51755201799999 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:65.79, Y:30.48, Z:12.75 [[ 4.28608158e-01 -8.92008999e-01 -1.43579220e-01 6.57885678e+01] [ 8.39553152e-01 4.51934182e-01 -3.01506219e-01 3.04834701e+01] [ 3.33834618e-01 8.68563853e-03 9.42591644e-01 1.27490704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:65.81, Y:30.50, Z:12.75 [[ 4.26156835e-01 -8.89548670e-01 -1.64601081e-01 6.58138485e+01] [ 8.40623206e-01 4.56618714e-01 -2.91293624e-01 3.05008501e+01] [ 3.34279790e-01 -1.42307192e-02 9.42366441e-01 1.27539838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57755201799999 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:65.83, Y:30.52, Z:12.76 [[ 4.23776094e-01 -8.90578699e-01 -1.65176883e-01 6.58290176e+01] [ 8.41293876e-01 4.54582069e-01 -2.92540179e-01 3.05218397e+01] [ 3.35616501e-01 -1.49907654e-02 9.41879420e-01 1.27637079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:65.84, Y:30.54, Z:12.77 [[ 4.22208677e-01 -8.91275422e-01 -1.65432633e-01 6.58443987e+01] [ 8.41803375e-01 4.53198697e-01 -2.93220086e-01 3.05433484e+01] [ 3.36313710e-01 -1.54616846e-02 9.41623080e-01 1.27732873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.637552018 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:65.86, Y:30.56, Z:12.79 [[ 4.17827869e-01 -8.89707842e-01 -1.83956051e-01 6.58644980e+01] [ 8.41625066e-01 4.55302531e-01 -2.90459728e-01 3.05578231e+01] [ 3.42179953e-01 -3.34598543e-02 9.39038507e-01 1.27872402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.667552018 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:65.87, Y:30.59, Z:12.80 [[ 4.19143342e-01 -8.95760974e-01 -1.48091651e-01 6.58677796e+01] [ 8.42085667e-01 4.44523664e-01 -3.05434841e-01 3.05889587e+01] [ 3.39426854e-01 3.31512330e-03 9.40626611e-01 1.27976025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.697552018 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:65.89, Y:30.60, Z:12.81 [[ 4.17088112e-01 -8.92380642e-01 -1.72320330e-01 6.58905566e+01] [ 8.42436575e-01 4.50744304e-01 -2.95178235e-01 3.06043206e+01] [ 3.41083750e-01 -2.20536157e-02 9.39774182e-01 1.28056265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.727552018 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:65.91, Y:30.63, Z:12.82 [[ 4.16601418e-01 -8.93436877e-01 -1.67969658e-01 6.59059776e+01] [ 8.42681286e-01 4.48841490e-01 -2.97371094e-01 3.06251729e+01] [ 3.41074053e-01 -1.76596676e-02 9.39870537e-01 1.28174702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.757552018 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:65.92, Y:30.64, Z:12.83 [[ 4.19979186e-01 -8.91680812e-01 -1.68886986e-01 6.59174603e+01] [ 8.42621944e-01 4.52243199e-01 -2.92342862e-01 3.06413948e+01] [ 3.37054511e-01 -1.95299630e-02 9.41282549e-01 1.28265487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.787552018 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:65.92, Y:30.67, Z:12.84 [[ 4.21298290e-01 -8.93839105e-01 -1.53490733e-01 6.59243872e+01] [ 8.42158812e-01 4.48377354e-01 -2.99543460e-01 3.06655451e+01] [ 3.36565427e-01 -3.06642616e-03 9.41655091e-01 1.28394075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.817552018 meters Centerline goodness : 0.989967 Centerline is valid? [True, True] Translation: X:65.94, Y:30.69, Z:12.85 [[ 4.22254722e-01 -8.92330093e-01 -1.59524151e-01 6.59409867e+01] [ 8.41434621e-01 4.51298762e-01 -2.97182110e-01 3.06861386e+01] [ 3.37177592e-01 -8.74259439e-03 9.41400467e-01 1.28497184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.847552018 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:65.95, Y:30.71, Z:12.86 [[ 4.18661483e-01 -8.95581163e-01 -1.50522234e-01 6.59546507e+01] [ 8.41591801e-01 4.44895509e-01 -3.06253533e-01 3.07149158e+01] [ 3.41241561e-01 1.53828047e-03 9.39974378e-01 1.28615574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87755201799999 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:65.98, Y:30.73, Z:12.87 [[ 4.18280626e-01 -8.93973457e-01 -1.60787986e-01 6.59773311e+01] [ 8.41598350e-01 4.48026485e-01 -3.01636347e-01 3.07336515e+01] [ 3.41692164e-01 -9.15026354e-03 9.39767385e-01 1.28683017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:65.99, Y:30.76, Z:12.88 [[ 4.18673063e-01 -8.94970642e-01 -1.54079254e-01 6.59908874e+01] [ 8.41697302e-01 4.46118915e-01 -3.04176866e-01 3.07579264e+01] [ 3.40967034e-01 -2.33743273e-03 9.40072347e-01 1.28767449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93755201799999 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:66.01, Y:30.78, Z:12.88 [[ 4.15422661e-01 -8.95211105e-01 -1.61310541e-01 6.60103230e+01] [ 8.43239658e-01 4.45504806e-01 -3.00786215e-01 3.07778163e+01] [ 3.41131781e-01 -1.10700354e-02 9.39950298e-01 1.28840596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:66.03, Y:30.80, Z:12.89 [[ 4.12874642e-01 -8.95667968e-01 -1.65267726e-01 6.60255331e+01] [ 8.44065966e-01 4.44448915e-01 -3.00029677e-01 3.07987138e+01] [ 3.42180032e-01 -1.56222176e-02 9.39504535e-01 1.28937279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.997552018 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:66.05, Y:30.82, Z:12.91 [[ 4.09170629e-01 -8.95595382e-01 -1.74609017e-01 6.60482852e+01] [ 8.45659804e-01 4.44078424e-01 -2.96063928e-01 3.08178876e+01] [ 3.42693583e-01 -2.65191634e-02 9.39072863e-01 1.29058894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.027552018 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:66.06, Y:30.83, Z:12.91 [[ 4.12888605e-01 -8.93622201e-01 -1.75961252e-01 6.60572984e+01] [ 8.44243516e-01 4.48001859e-01 -2.94189088e-01 3.08282514e+01] [ 3.41724869e-01 -2.70868239e-02 9.39409611e-01 1.29131970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.057552018 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:66.06, Y:30.87, Z:12.93 [[ 4.06261632e-01 -9.03808014e-01 -1.34471412e-01 6.60570876e+01] [ 8.46515882e-01 4.27676524e-01 -3.17023110e-01 3.08676159e+01] [ 3.44038293e-01 1.49621403e-02 9.38836401e-01 1.29309164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.087552018 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:66.09, Y:30.87, Z:12.93 [[ 4.11128630e-01 -8.93289082e-01 -1.81680671e-01 6.60888635e+01] [ 8.45468255e-01 4.48177937e-01 -2.90379004e-01 3.08677309e+01] [ 3.40817662e-01 -3.42221182e-02 9.39506343e-01 1.29332264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.117552018 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:66.09, Y:30.90, Z:12.95 [[ 4.14670879e-01 -8.99644772e-01 -1.36701669e-01 6.60876337e+01] [ 8.43650496e-01 4.36386203e-01 -3.12763364e-01 3.09023221e+01] [ 3.41030647e-01 1.43654280e-02 9.39942409e-01 1.29474493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.147552018 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:66.11, Y:30.92, Z:12.95 [[ 4.16135557e-01 -8.96569595e-01 -1.51638254e-01 6.61081988e+01] [ 8.43148979e-01 4.42901771e-01 -3.04857049e-01 3.09226576e+01] [ 3.40486412e-01 -9.91780563e-04 9.40248914e-01 1.29546844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.177552018 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:66.12, Y:30.95, Z:12.96 [[ 4.18281740e-01 -8.95113701e-01 -1.54310883e-01 6.61235802e+01] [ 8.42234499e-01 4.45826608e-01 -3.03116618e-01 3.09452855e+01] [ 3.40119735e-01 -3.17780251e-03 9.40376769e-01 1.29641376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.207552018 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:66.15, Y:30.97, Z:12.98 [[ 4.15147164e-01 -8.93128715e-01 -1.73129808e-01 6.61524619e+01] [ 8.42431115e-01 4.49245263e-01 -2.97470184e-01 3.09701047e+01] [ 3.43456909e-01 -2.23560338e-02 9.38902316e-01 1.29807276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.237552018 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:66.16, Y:30.98, Z:12.99 [[ 4.22015280e-01 -8.90373965e-01 -1.70696529e-01 6.61585017e+01] [ 8.38934147e-01 4.54907495e-01 -2.98745155e-01 3.09801620e+01] [ 3.43646039e-01 -1.71281266e-02 9.38943037e-01 1.29865274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:66.16, Y:31.02, Z:13.00 [[ 4.15499920e-01 -9.00955183e-01 -1.25058283e-01 6.61614035e+01] [ 8.42228868e-01 4.32999639e-01 -3.21188179e-01 3.10248848e+01] [ 3.43526346e-01 2.81259662e-02 9.38721780e-01 1.30022933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29755201799999 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:66.20, Y:31.04, Z:13.01 [[ 4.14700007e-01 -8.94407724e-01 -1.67507398e-01 6.61954988e+01] [ 8.43236801e-01 4.46914734e-01 -2.98695360e-01 3.10394780e+01] [ 3.42016961e-01 -1.73794346e-02 9.39533051e-01 1.30063777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:66.22, Y:31.05, Z:13.02 [[ 4.12157856e-01 -8.88664568e-01 -2.01000465e-01 6.62215312e+01] [ 8.42821500e-01 4.55671140e-01 -2.86383889e-01 3.10515261e+01] [ 3.46089326e-01 -5.13721437e-02 9.36794044e-01 1.30215231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35755201799999 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:66.22, Y:31.08, Z:13.04 [[ 4.10010361e-01 -8.95480630e-01 -1.73222241e-01 6.62230729e+01] [ 8.42876449e-01 4.44571218e-01 -3.03176060e-01 3.10787620e+01] [ 3.48497912e-01 -2.16996217e-02 9.37058340e-01 1.30352795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.387552018 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:66.22, Y:31.11, Z:13.04 [[ 4.11347610e-01 -9.01815456e-01 -1.32370796e-01 6.62236214e+01] [ 8.44453323e-01 4.31719405e-01 -3.17044068e-01 3.11138116e+01] [ 3.43062282e-01 1.86343606e-02 9.39127803e-01 1.30385146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.417552018 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:66.27, Y:31.12, Z:13.05 [[ 4.08417147e-01 -8.88550444e-01 -2.08982159e-01 6.62673609e+01] [ 8.44695948e-01 4.54680522e-01 -2.82408176e-01 3.11170883e+01] [ 3.45954027e-01 -6.11860410e-02 9.36254282e-01 1.30519021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.447552018 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:66.26, Y:31.15, Z:13.06 [[ 4.08071550e-01 -8.96341368e-01 -1.73348669e-01 6.62644329e+01] [ 8.43531480e-01 4.42808504e-01 -3.03933004e-01 3.11465596e+01] [ 3.49187990e-01 -2.21986474e-02 9.36789714e-01 1.30649289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.477552018 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:66.28, Y:31.17, Z:13.07 [[ 4.08581659e-01 -8.96106384e-01 -1.73361982e-01 6.62767554e+01] [ 8.43171390e-01 4.43299844e-01 -3.04215805e-01 3.11682663e+01] [ 3.49461064e-01 -2.18768651e-02 9.36695451e-01 1.30737884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.507552018 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:66.29, Y:31.19, Z:13.08 [[ 4.08683502e-01 -8.96029048e-01 -1.73521585e-01 6.62900436e+01] [ 8.42885457e-01 4.43464569e-01 -3.04767587e-01 3.11914653e+01] [ 3.50031285e-01 -2.17053353e-02 9.36486507e-01 1.30832111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.537552018 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:66.30, Y:31.21, Z:13.09 [[ 4.07802734e-01 -8.96473904e-01 -1.73295902e-01 6.63036545e+01] [ 8.43422195e-01 4.42552935e-01 -3.04607782e-01 3.12137369e+01] [ 3.49765537e-01 -2.19417235e-02 9.36580285e-01 1.30929566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.567552018 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:66.32, Y:31.24, Z:13.10 [[ 4.06780900e-01 -8.96989298e-01 -1.73030340e-01 6.63159710e+01] [ 8.44052770e-01 4.41493297e-01 -3.04398736e-01 3.12354839e+01] [ 3.49434144e-01 -2.22231458e-02 9.36697342e-01 1.31023041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.597552018 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:66.33, Y:31.26, Z:13.11 [[ 4.06502527e-01 -8.97136448e-01 -1.72921629e-01 6.63289624e+01] [ 8.44186644e-01 4.41194656e-01 -3.04460484e-01 3.12588710e+01] [ 3.49434695e-01 -2.22141737e-02 9.36697349e-01 1.31119801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:66.34, Y:31.28, Z:13.12 [[ 4.04647187e-01 -8.98091490e-01 -1.72314624e-01 6.63419910e+01] [ 8.45518690e-01 4.39215511e-01 -3.03624569e-01 3.12810181e+01] [ 3.48365898e-01 -2.28344073e-02 9.37080461e-01 1.31218251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65755201799999 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:66.36, Y:31.30, Z:13.13 [[ 4.00072051e-01 -9.00304015e-01 -1.71449801e-01 6.63557371e+01] [ 8.48371390e-01 4.34571951e-01 -3.02346165e-01 3.13020023e+01] [ 3.46710741e-01 -2.44928552e-02 9.37652261e-01 1.31322687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:66.37, Y:31.32, Z:13.14 [[ 3.97473487e-01 -9.01490144e-01 -1.71261050e-01 6.63693921e+01] [ 8.49682299e-01 4.32055272e-01 -3.02271785e-01 3.13239897e+01] [ 3.46489275e-01 -2.53724621e-02 9.37710734e-01 1.31419005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71755201799999 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:66.38, Y:31.35, Z:13.15 [[ 3.91834288e-01 -9.04030779e-01 -1.70863223e-01 6.63832401e+01] [ 8.52611042e-01 4.26586550e-01 -3.01791861e-01 3.13452553e+01] [ 3.45717084e-01 -2.74274718e-02 9.37937861e-01 1.31517119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.747552018 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:66.38, Y:31.39, Z:13.15 [[ 3.93592963e-01 -9.12334135e-01 -1.12831758e-01 6.63808682e+01] [ 8.54550568e-01 4.08353892e-01 -3.20921215e-01 3.13863013e+01] [ 3.38862667e-01 2.98918887e-02 9.40360871e-01 1.31534463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.777552018 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:66.43, Y:31.38, Z:13.17 [[ 0.38756458 -0.89404645 -0.22466564 66.43465405] [ 0.85683619 0.43927025 -0.26995071 31.37959294] [ 0.3400374 -0.08787832 0.93629694 13.16583898] [ 0. 0. 0. 1. ]] SLAMing on 82.807552018 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:66.42, Y:31.41, Z:13.18 [[ 3.84611280e-01 -9.07241391e-01 -1.70256343e-01 6.64234284e+01] [ 8.56261814e-01 4.19546855e-01 -3.01323982e-01 3.14126441e+01] [ 3.44804102e-01 -2.98914025e-02 9.38198612e-01 1.31809782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.837552018 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:66.44, Y:31.43, Z:13.19 [[ 3.80546706e-01 -9.08921939e-01 -1.70426266e-01 6.64371834e+01] [ 8.57913405e-01 4.15786300e-01 -3.01838272e-01 3.14348449e+01] [ 3.45208334e-01 -3.13474183e-02 9.38002423e-01 1.31903921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.867552018 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:66.45, Y:31.46, Z:13.20 [[ 3.80361095e-01 -9.09019076e-01 -1.70322510e-01 6.64501932e+01] [ 8.57994205e-01 4.15577020e-01 -3.01896812e-01 3.14582412e+01] [ 3.45212082e-01 -3.13059245e-02 9.38002429e-01 1.32000788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.897552018 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:66.46, Y:31.48, Z:13.21 [[ 3.78143063e-01 -9.09914890e-01 -1.70477909e-01 6.64628170e+01] [ 8.58821399e-01 4.13552005e-01 -3.02325229e-01 3.14801580e+01] [ 3.45591708e-01 -3.20878885e-02 9.37836200e-01 1.32091244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.927552018 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:66.47, Y:31.51, Z:13.22 [[ 3.78876193e-01 -9.11968622e-01 -1.57372368e-01 6.64742776e+01] [ 8.59343888e-01 4.09804310e-01 -3.05922391e-01 3.15074643e+01] [ 3.43483496e-01 -1.93302715e-02 9.38959759e-01 1.32163188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.957552018 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:66.49, Y:31.53, Z:13.23 [[ 3.79492343e-01 -9.10369162e-01 -1.64965299e-01 6.64932736e+01] [ 8.59693183e-01 4.12870361e-01 -3.00775158e-01 3.15297390e+01] [ 3.41925711e-01 -2.76776739e-02 9.39319304e-01 1.32250775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.987552018 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:66.51, Y:31.55, Z:13.24 [[ 3.76512335e-01 -9.07077305e-01 -1.88279645e-01 6.65099333e+01] [ 8.60685773e-01 4.17685772e-01 -2.91133297e-01 3.15452459e+01] [ 3.42722135e-01 -5.24343347e-02 9.37972376e-01 1.32365202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01755201799999 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:66.51, Y:31.57, Z:13.25 [[ 3.75968455e-01 -9.10977035e-01 -1.69612976e-01 6.65124063e+01] [ 8.60265215e-01 4.11169170e-01 -3.01469192e-01 3.15734106e+01] [ 3.44371138e-01 -3.25692371e-02 9.38268493e-01 1.32481344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:66.52, Y:31.60, Z:13.26 [[ 3.75810237e-01 -9.11079274e-01 -1.69414351e-01 6.65243881e+01] [ 8.60412800e-01 4.10946838e-01 -3.01351141e-01 3.15961665e+01] [ 3.44175070e-01 -3.25154322e-02 9.38342298e-01 1.32571772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07755201799999 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:66.54, Y:31.62, Z:13.27 [[ 3.74790996e-01 -9.11512164e-01 -1.69343684e-01 6.65366445e+01] [ 8.60851863e-01 4.09962789e-01 -3.01437525e-01 3.16189677e+01] [ 3.44188580e-01 -3.28037557e-02 9.38327307e-01 1.32665011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:66.55, Y:31.64, Z:13.28 [[ 3.74443979e-01 -9.11646340e-01 -1.69389073e-01 6.65491651e+01] [ 8.60884109e-01 4.09661889e-01 -3.01754350e-01 3.16415504e+01] [ 3.44485496e-01 -3.28342618e-02 9.38217275e-01 1.32758348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.137552018 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:66.56, Y:31.66, Z:13.28 [[ 3.73653615e-01 -9.12046067e-01 -1.68982091e-01 6.65613036e+01] [ 8.61486156e-01 4.08757204e-01 -3.01262595e-01 3.16637921e+01] [ 3.43838012e-01 -3.30078743e-02 9.38448668e-01 1.32846647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.167552018 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:66.57, Y:31.69, Z:13.29 [[ 3.72470017e-01 -9.12632882e-01 -1.68425975e-01 6.65726611e+01] [ 8.62379566e-01 4.07420438e-01 -3.00516339e-01 3.16870883e+01] [ 3.42881277e-01 -3.33137931e-02 9.38787847e-01 1.32945256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.197552018 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:66.58, Y:31.71, Z:13.30 [[ 3.73601938e-01 -9.14023068e-01 -1.58061452e-01 6.65848529e+01] [ 8.62598222e-01 4.05004616e-01 -3.03142818e-01 3.17146307e+01] [ 3.41095146e-01 -2.30887829e-02 9.39745183e-01 1.33033532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.227552018 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:66.60, Y:31.73, Z:13.31 [[ 3.70739114e-01 -9.11244217e-01 -1.79405925e-01 6.66020355e+01] [ 8.64066018e-01 4.09249358e-01 -2.93095341e-01 3.17318822e+01] [ 3.40503195e-01 -4.63566562e-02 9.39099907e-01 1.33122619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.257552018 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:66.61, Y:31.76, Z:13.32 [[ 3.69752987e-01 -9.13894906e-01 -1.67567388e-01 6.66097096e+01] [ 8.64061762e-01 4.04523534e-01 -2.99596364e-01 3.17573257e+01] [ 3.41584543e-01 -3.40119226e-02 9.39235428e-01 1.33231124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.287552018 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:66.62, Y:31.78, Z:13.33 [[ 3.68517899e-01 -9.14523829e-01 -1.66855398e-01 6.66215592e+01] [ 8.65098506e-01 4.03073345e-01 -2.98557288e-01 3.17804052e+01] [ 3.40292717e-01 -3.43226514e-02 9.39692940e-01 1.33325373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.317552018 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:66.63, Y:31.80, Z:13.34 [[ 3.68009666e-01 -9.14711558e-01 -1.66948053e-01 6.66331173e+01] [ 8.65161431e-01 4.02639122e-01 -2.98960592e-01 3.18038032e+01] [ 3.40682526e-01 -3.44166283e-02 9.39548249e-01 1.33421424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.347552018 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:66.64, Y:31.83, Z:13.35 [[ 3.67741592e-01 -9.14861458e-01 -1.66717226e-01 6.66449482e+01] [ 8.65379596e-01 4.02300018e-01 -2.98785626e-01 3.18269745e+01] [ 3.40417796e-01 -3.43977838e-02 9.39644888e-01 1.33516595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37755201799999 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:66.66, Y:31.85, Z:13.36 [[ 3.68271618e-01 -9.14663121e-01 -1.66635500e-01 6.66564910e+01] [ 8.65126502e-01 4.02776657e-01 -2.98876395e-01 3.18505691e+01] [ 3.40488107e-01 -3.40930936e-02 9.39630518e-01 1.33612003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:66.67, Y:31.87, Z:13.37 [[ 3.69018382e-01 -9.14400722e-01 -1.66423415e-01 6.66676068e+01] [ 8.64880521e-01 4.03405402e-01 -2.98740297e-01 3.18732585e+01] [ 3.40304448e-01 -3.36957085e-02 9.39711382e-01 1.33705164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43755201799999 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:66.68, Y:31.90, Z:13.38 [[ 3.69800057e-01 -9.14128969e-01 -1.66181066e-01 6.66790408e+01] [ 8.64652170e-01 4.04054093e-01 -2.98524561e-01 3.18972594e+01] [ 3.40036089e-01 -3.32944193e-02 9.39822824e-01 1.33804916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:66.69, Y:31.92, Z:13.39 [[ 3.72205544e-01 -9.13273288e-01 -1.65514149e-01 6.66889432e+01] [ 8.64039620e-01 4.06068286e-01 -2.97563576e-01 3.19220430e+01] [ 3.38966912e-01 -3.22559698e-02 9.40245173e-01 1.33891683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.497552018 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:66.70, Y:31.95, Z:13.40 [[ 3.73500213e-01 -9.12759240e-01 -1.65433252e-01 6.66996064e+01] [ 8.63442296e-01 4.07268660e-01 -2.97656916e-01 3.19450821e+01] [ 3.39064879e-01 -3.16671450e-02 9.40229865e-01 1.33978777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.527552018 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:66.71, Y:31.97, Z:13.41 [[ 3.74313260e-01 -9.12465068e-01 -1.65218287e-01 6.67108550e+01] [ 8.63175942e-01 4.07958706e-01 -2.97484432e-01 3.19689940e+01] [ 3.38846391e-01 -3.12600833e-02 9.40322248e-01 1.34070332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.557552018 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:66.72, Y:31.99, Z:13.42 [[ 3.75100173e-01 -9.12163531e-01 -1.65098614e-01 6.67218392e+01] [ 8.62835432e-01 4.08662994e-01 -2.97505588e-01 3.19933560e+01] [ 3.38843442e-01 -3.08585363e-02 9.40336574e-01 1.34162199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.587552018 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:66.73, Y:32.02, Z:13.43 [[ 3.76506219e-01 -9.11578352e-01 -1.65130179e-01 6.67304031e+01] [ 8.62093004e-01 4.10013186e-01 -2.97800000e-01 3.20173775e+01] [ 3.39173584e-01 -3.02340197e-02 9.40237834e-01 1.34251991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.617552018 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:66.74, Y:32.05, Z:13.43 [[ 3.81369448e-01 -9.13504966e-01 -1.41654583e-01 6.67417482e+01] [ 8.61132157e-01 4.06787688e-01 -3.04918325e-01 3.20503935e+01] [ 3.36167744e-01 -5.69678296e-03 9.41784898e-01 1.34334863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.647552018 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:66.77, Y:32.06, Z:13.44 [[ 3.78344251e-01 -9.05815421e-01 -1.90667381e-01 6.67651396e+01] [ 8.62644219e-01 4.19727206e-01 -2.82265876e-01 3.20607554e+01] [ 3.35709071e-01 -5.76844428e-02 9.40197812e-01 1.34417577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.677552018 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:66.76, Y:32.09, Z:13.46 [[ 3.78501376e-01 -9.10951849e-01 -1.64022673e-01 6.67647084e+01] [ 8.61775719e-01 4.11488108e-01 -2.96681896e-01 3.20893539e+01] [ 3.37756301e-01 -2.90562512e-02 9.40784999e-01 1.34553742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.707552018 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:66.78, Y:32.12, Z:13.46 [[ 3.82718177e-01 -9.12531648e-01 -1.44266380e-01 6.67754064e+01] [ 8.60960510e-01 4.08919440e-01 -3.02542379e-01 3.21212274e+01] [ 3.35072823e-01 -8.41918860e-03 9.42154616e-01 1.34632276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.737552018 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:66.80, Y:32.13, Z:13.47 [[ 3.80325477e-01 -9.06069500e-01 -1.85447010e-01 6.67978255e+01] [ 8.61532867e-01 4.20008798e-01 -2.85225751e-01 3.21344978e+01] [ 3.36323729e-01 -5.12900746e-02 9.40348700e-01 1.34717813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:66.80, Y:32.16, Z:13.48 [[ 3.82574870e-01 -9.10403440e-01 -1.57486650e-01 6.68022732e+01] [ 8.60258409e-01 4.13178452e-01 -2.98729035e-01 3.21643120e+01] [ 3.37034032e-01 -2.11929934e-02 9.41253908e-01 1.34836388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79755201799999 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:66.81, Y:32.18, Z:13.49 [[ 3.81145062e-01 -9.08242335e-01 -1.72697140e-01 6.68141437e+01] [ 8.60682967e-01 4.16789369e-01 -2.92423413e-01 3.21835142e+01] [ 3.37569655e-01 -3.71817468e-02 9.40565918e-01 1.34921261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:66.82, Y:32.21, Z:13.50 [[ 3.81171475e-01 -9.09935207e-01 -1.63481575e-01 6.68221259e+01] [ 8.60535909e-01 4.13839710e-01 -2.97009502e-01 3.22084738e+01] [ 3.37914571e-01 -2.74702159e-02 9.40775813e-01 1.35029548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85755201799999 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:66.84, Y:32.23, Z:13.51 [[ 3.81500977e-01 -9.09775211e-01 -1.63603396e-01 6.68350159e+01] [ 8.60205377e-01 4.14205701e-01 -2.97456463e-01 3.22319289e+01] [ 3.38383976e-01 -2.72525897e-02 9.40613407e-01 1.35124538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.887552018 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:66.85, Y:32.25, Z:13.52 [[ 3.82185495e-01 -9.09538648e-01 -1.63320837e-01 6.68477750e+01] [ 8.60044434e-01 4.14748512e-01 -2.97165348e-01 3.22543085e+01] [ 3.38020443e-01 -2.68908911e-02 9.40754516e-01 1.35212293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.917552018 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:66.86, Y:32.28, Z:13.53 [[ 3.83252975e-01 -9.09085618e-01 -1.63341653e-01 6.68595211e+01] [ 8.59455218e-01 4.15772629e-01 -2.97438818e-01 3.22772964e+01] [ 3.38310340e-01 -2.63905241e-02 9.40664475e-01 1.35301956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.947552018 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:66.87, Y:32.30, Z:13.54 [[ 3.83534944e-01 -9.08987135e-01 -1.63227862e-01 6.68714856e+01] [ 8.59335512e-01 4.16001243e-01 -2.97465029e-01 3.23010140e+01] [ 3.38294878e-01 -2.61792651e-02 9.40675939e-01 1.35399751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.977552018 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:66.88, Y:32.32, Z:13.55 [[ 3.83769853e-01 -9.08894373e-01 -1.63192273e-01 6.68832665e+01] [ 8.59178994e-01 4.16215438e-01 -2.97617483e-01 3.23240436e+01] [ 3.38425999e-01 -2.59947554e-02 9.40633891e-01 1.35492868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.007552018 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:66.90, Y:32.35, Z:13.56 [[ 3.86480079e-01 -9.09335025e-01 -1.54087509e-01 6.68981745e+01] [ 8.58772621e-01 4.15733725e-01 -2.99457935e-01 3.23514495e+01] [ 3.36366963e-01 -1.65916077e-02 9.41584826e-01 1.35579716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.037552018 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:66.91, Y:32.37, Z:13.57 [[ 3.84694177e-01 -9.06595591e-01 -1.73478602e-01 6.69139436e+01] [ 8.59220805e-01 4.20385086e-01 -2.91575011e-01 3.23686834e+01] [ 3.37268436e-01 -3.68892152e-02 9.40685488e-01 1.35672055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.067552018 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:66.92, Y:32.39, Z:13.58 [[ 3.84542986e-01 -9.08627333e-01 -1.62859025e-01 6.69218710e+01] [ 8.58900573e-01 4.16831369e-01 -2.97559095e-01 3.23930207e+01] [ 3.38255078e-01 -2.54554470e-02 9.40710116e-01 1.35783170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.097552018 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:66.93, Y:32.42, Z:13.59 [[ 3.84345164e-01 -9.08754095e-01 -1.62618541e-01 6.69345848e+01] [ 8.59108267e-01 4.16556841e-01 -2.97343882e-01 3.24157400e+01] [ 3.37952336e-01 -2.54242496e-02 9.40819763e-01 1.35873757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:66.95, Y:32.44, Z:13.60 [[ 3.84703920e-01 -9.08613746e-01 -1.62554466e-01 6.69473766e+01] [ 8.58908402e-01 4.16877660e-01 -2.97471636e-01 3.24374313e+01] [ 3.38052143e-01 -2.51808926e-02 9.40790450e-01 1.35967589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15755201799999 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:66.96, Y:32.46, Z:13.61 [[ 3.84786626e-01 -9.08653840e-01 -1.62134053e-01 6.69603303e+01] [ 8.59137182e-01 4.16798507e-01 -2.96921380e-01 3.24594983e+01] [ 3.37375984e-01 -2.50440172e-02 9.41036791e-01 1.36065222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters Centerline goodness : 0.990616 Centerline is valid? [True, True] Translation: X:66.97, Y:32.48, Z:13.62 [[ 3.84487032e-01 -9.08844930e-01 -1.61773348e-01 6.69735758e+01] [ 8.59492816e-01 4.16381224e-01 -2.96477277e-01 3.24818472e+01] [ 3.36811254e-01 -2.50513620e-02 9.41238869e-01 1.36160093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21755201799999 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:66.99, Y:32.50, Z:13.63 [[ 3.84241561e-01 -9.08977332e-01 -1.61612598e-01 6.69872119e+01] [ 8.59653038e-01 4.16093092e-01 -2.96417261e-01 3.25039778e+01] [ 3.36682457e-01 -2.50349301e-02 9.41285385e-01 1.36253759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.247552018 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:67.00, Y:32.53, Z:13.63 [[ 3.84086524e-01 -9.09095289e-01 -1.61317383e-01 6.70018602e+01] [ 8.59881184e-01 4.15838560e-01 -2.96112547e-01 3.25252814e+01] [ 3.36276510e-01 -2.49809441e-02 9.41431921e-01 1.36347361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.277552018 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:67.02, Y:32.55, Z:13.64 [[ 3.84108142e-01 -9.09063781e-01 -1.61443418e-01 6.70152725e+01] [ 8.59691668e-01 4.15913399e-01 -2.96557381e-01 3.25478477e+01] [ 3.36736055e-01 -2.48814567e-02 9.41270281e-01 1.36442079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.307552018 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:67.03, Y:32.57, Z:13.65 [[ 3.85278283e-01 -9.08505964e-01 -1.61794803e-01 6.70290224e+01] [ 8.58781125e-01 4.17161893e-01 -2.97440639e-01 3.25693097e+01] [ 3.37721221e-01 -2.43489041e-02 9.40931192e-01 1.36531101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.337552018 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:67.04, Y:32.59, Z:13.66 [[ 3.86374495e-01 -9.08051996e-01 -1.61729161e-01 6.70427038e+01] [ 8.58254906e-01 4.18178127e-01 -2.97532469e-01 3.25918484e+01] [ 3.37806550e-01 -2.38458889e-02 9.40913444e-01 1.36626028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.367552018 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:67.06, Y:32.61, Z:13.67 [[ 3.87972999e-01 -9.07421872e-01 -1.61438840e-01 6.70559620e+01] [ 8.57670389e-01 4.19583212e-01 -2.97239688e-01 3.26139275e+01] [ 3.37458821e-01 -2.31403394e-02 9.41055827e-01 1.36717911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.397552018 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:67.07, Y:32.64, Z:13.68 [[ 3.89816731e-01 -9.06684344e-01 -1.61140984e-01 6.70694756e+01] [ 8.56984447e-01 4.21216945e-01 -2.96907296e-01 3.26367161e+01] [ 3.37076510e-01 -2.23558855e-02 9.41211794e-01 1.36818763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.427552018 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:67.08, Y:32.66, Z:13.69 [[ 3.92779492e-01 -9.05359856e-01 -1.61393315e-01 6.70828052e+01] [ 8.55307902e-01 4.24118370e-01 -2.97610486e-01 3.26593181e+01] [ 3.37894456e-01 -2.11456825e-02 9.40946437e-01 1.36916872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.457552018 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:67.10, Y:32.68, Z:13.70 [[ 3.94069355e-01 -9.04755765e-01 -1.61636470e-01 6.70959242e+01] [ 8.54413707e-01 4.25434545e-01 -2.98299623e-01 3.26813578e+01] [ 3.38654042e-01 -2.05536753e-02 9.40686444e-01 1.37010177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:67.11, Y:32.70, Z:13.71 [[ 3.93798145e-01 -9.04893138e-01 -1.61528417e-01 6.71084229e+01] [ 8.54538405e-01 4.25142968e-01 -2.98358125e-01 3.27049907e+01] [ 3.38654891e-01 -2.05393600e-02 9.40686451e-01 1.37107418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51755201799999 meters Centerline goodness : 0.992008 Centerline is valid? [True, True] Translation: X:67.12, Y:32.73, Z:13.72 [[ 3.94795545e-01 -9.04477742e-01 -1.61420236e-01 6.71226102e+01] [ 8.54078162e-01 4.26048611e-01 -2.98384104e-01 3.27276858e+01] [ 3.38654648e-01 -2.00647836e-02 9.40696781e-01 1.37202659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:67.14, Y:32.75, Z:13.73 [[ 3.95592971e-01 -9.04184562e-01 -1.61110146e-01 6.71366709e+01] [ 8.53867969e-01 4.26689646e-01 -2.98069518e-01 3.27496976e+01] [ 3.38253888e-01 -1.96525871e-02 9.40849660e-01 1.37297895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57755201799999 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:67.15, Y:32.77, Z:13.74 [[ 3.96635799e-01 -9.03828056e-01 -1.60545596e-01 6.71500362e+01] [ 8.53752374e-01 4.27467012e-01 -2.97285786e-01 3.27705399e+01] [ 3.37323180e-01 -1.91519982e-02 9.41194068e-01 1.37399461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799999 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:67.16, Y:32.79, Z:13.75 [[ 3.96386284e-01 -9.04009239e-01 -1.60141220e-01 6.71625537e+01] [ 8.54108536e-01 4.27084880e-01 -2.96811581e-01 3.27935376e+01] [ 3.36714305e-01 -1.91259436e-02 9.41412596e-01 1.37496868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.637552018 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:67.18, Y:32.82, Z:13.76 [[ 3.95688058e-01 -9.04335527e-01 -1.60025672e-01 6.71756174e+01] [ 8.54439957e-01 4.26387146e-01 -2.96860847e-01 3.28150699e+01] [ 3.36694700e-01 -1.92680356e-02 9.41416710e-01 1.37590373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.667552018 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:67.19, Y:32.83, Z:13.77 [[ 3.93301489e-01 -9.05344785e-01 -1.60202244e-01 6.71923763e+01] [ 8.55314803e-01 4.24204741e-01 -2.97467522e-01 3.28345677e+01] [ 3.37269221e-01 -2.00289317e-02 9.41195152e-01 1.37690951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.697552018 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:67.21, Y:32.86, Z:13.78 [[ 3.91481468e-01 -9.06153344e-01 -1.60088656e-01 6.72067609e+01] [ 8.56161425e-01 4.22448145e-01 -2.97531813e-01 3.28564204e+01] [ 3.37238603e-01 -2.05835408e-02 9.41194158e-01 1.37786873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.727552018 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:67.22, Y:32.88, Z:13.79 [[ 3.89837106e-01 -9.06886200e-01 -1.59951400e-01 6.72201862e+01] [ 8.56947431e-01 4.20848060e-01 -2.97536572e-01 3.28784861e+01] [ 3.37147047e-01 -2.10791453e-02 9.41215989e-01 1.37883859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.757552018 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:67.23, Y:32.90, Z:13.80 [[ 3.86336752e-01 -9.08348071e-01 -1.60148982e-01 6.72339279e+01] [ 8.58305240e-01 4.17621978e-01 -2.98167735e-01 3.29010850e+01] [ 3.37721821e-01 -2.22635566e-02 9.40982628e-01 1.37981947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.787552018 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:67.25, Y:32.92, Z:13.81 [[ 3.84596019e-01 -9.09083489e-01 -1.60165886e-01 6.72478333e+01] [ 8.58995313e-01 4.15989926e-01 -2.98461779e-01 3.29229042e+01] [ 3.37954071e-01 -2.27945335e-02 9.40886526e-01 1.38079073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.817552018 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:67.26, Y:32.94, Z:13.82 [[ 3.83122818e-01 -9.09707343e-01 -1.60154476e-01 6.72626297e+01] [ 8.59581882e-01 4.14600017e-01 -2.98706904e-01 3.29441262e+01] [ 3.38135912e-01 -2.32244549e-02 9.40810677e-01 1.38174164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.847552018 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:67.28, Y:32.97, Z:13.83 [[ 3.81640887e-01 -9.10379156e-01 -1.59875029e-01 6.72777450e+01] [ 8.60388074e-01 4.13098743e-01 -2.98465727e-01 3.29658177e+01] [ 3.37761150e-01 -2.36478434e-02 9.40934740e-01 1.38270401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87755201799999 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:67.29, Y:32.99, Z:13.84 [[ 3.79460287e-01 -9.11352779e-01 -1.59518031e-01 6.72930774e+01] [ 8.61577956e-01 4.10906191e-01 -2.98059605e-01 3.29873970e+01] [ 3.37184396e-01 -2.43354359e-02 9.41124046e-01 1.38377274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:67.31, Y:33.01, Z:13.85 [[ 3.78498103e-01 -9.11795842e-01 -1.59271867e-01 6.73054205e+01] [ 8.62120853e-01 4.09908071e-01 -2.97864077e-01 3.30090038e+01] [ 3.36878051e-01 -2.45706095e-02 9.41227637e-01 1.38469260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93755201799999 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:67.32, Y:33.03, Z:13.86 [[ 3.77559919e-01 -9.12222517e-01 -1.59055297e-01 6.73185009e+01] [ 8.62622099e-01 4.08944364e-01 -2.97737505e-01 3.30306033e+01] [ 3.36647623e-01 -2.47908654e-02 9.41304303e-01 1.38563287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:67.34, Y:33.05, Z:13.87 [[ 3.76407330e-01 -9.12619192e-01 -1.59510916e-01 6.73353414e+01] [ 8.62659393e-01 4.08039031e-01 -2.98869405e-01 3.30507999e+01] [ 3.37840635e-01 -2.51069549e-02 9.40868400e-01 1.38654824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.997552018 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:67.35, Y:33.07, Z:13.87 [[ 3.75689563e-01 -9.12863788e-01 -1.59803185e-01 6.73495149e+01] [ 8.62668212e-01 4.07479699e-01 -2.99606159e-01 3.30725637e+01] [ 3.38616166e-01 -2.52982209e-02 9.40584442e-01 1.38749760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.027552018 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:67.36, Y:33.09, Z:13.88 [[ 3.74656626e-01 -9.13247093e-01 -1.60037993e-01 6.73625027e+01] [ 8.62837873e-01 4.06602632e-01 -3.00308349e-01 3.30949250e+01] [ 3.39327596e-01 -2.55743285e-02 9.40320550e-01 1.38843592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.057552018 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:67.37, Y:33.12, Z:13.89 [[ 3.73823751e-01 -9.13581287e-01 -1.60078220e-01 6.73742309e+01] [ 8.63079178e-01 4.05838759e-01 -3.00648023e-01 3.31170748e+01] [ 3.39632353e-01 -2.57708071e-02 9.40205153e-01 1.38935707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.087552018 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:67.39, Y:33.14, Z:13.90 [[ 3.73380841e-01 -9.13725901e-01 -1.60286385e-01 6.73878490e+01] [ 8.63000098e-01 4.05509883e-01 -3.01318048e-01 3.31392888e+01] [ 3.40319818e-01 -2.58207804e-02 9.39955163e-01 1.39032717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.117552018 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:67.40, Y:33.16, Z:13.91 [[ 3.73398472e-01 -9.13722191e-01 -1.60266465e-01 6.74014593e+01] [ 8.62908955e-01 4.05526266e-01 -3.01556932e-01 3.31602227e+01] [ 3.40531522e-01 -2.56944706e-02 9.39881948e-01 1.39125011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.147552018 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:67.42, Y:33.18, Z:13.92 [[ 3.74128213e-01 -9.13425797e-01 -1.60254152e-01 6.74159467e+01] [ 8.62489293e-01 4.06218448e-01 -3.01825765e-01 3.31822264e+01] [ 3.40793633e-01 -2.52959565e-02 9.39797752e-01 1.39226787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.177552018 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:67.43, Y:33.20, Z:13.93 [[ 3.75160680e-01 -9.13045552e-01 -1.60007138e-01 6.74295854e+01] [ 8.62142712e-01 4.07103416e-01 -3.01623528e-01 3.32044546e+01] [ 3.40535473e-01 -2.47917004e-02 9.39904763e-01 1.39328385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.207552018 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:67.44, Y:33.23, Z:13.94 [[ 3.79301750e-01 -9.11385216e-01 -1.59709647e-01 6.74417975e+01] [ 8.60441792e-01 4.10904035e-01 -3.01326726e-01 3.32275862e+01] [ 3.40250062e-01 -2.31271008e-02 9.40050548e-01 1.39432711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23755201799999 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:67.45, Y:33.25, Z:13.95 [[ 3.81830524e-01 -9.10360346e-01 -1.59528965e-01 6.74542683e+01] [ 8.59355656e-01 4.13227689e-01 -3.01248624e-01 3.32512267e+01] [ 3.40166587e-01 -2.20661980e-02 9.40106258e-01 1.39529639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:67.47, Y:33.27, Z:13.96 [[ 3.84457328e-01 -9.09264552e-01 -1.59469554e-01 6.74671974e+01] [ 8.58113257e-01 4.15690238e-01 -3.01402164e-01 3.32736122e+01] [ 3.40344240e-01 -2.09666680e-02 9.40067124e-01 1.39623642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29755201799999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:67.48, Y:33.29, Z:13.97 [[ 3.90051076e-01 -9.06858928e-01 -1.59583967e-01 6.74823465e+01] [ 8.55340850e-01 4.21017152e-01 -3.01888370e-01 3.32936586e+01] [ 3.40957751e-01 -1.87468019e-02 9.39891680e-01 1.39719731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:67.50, Y:33.32, Z:13.98 [[ 3.92064512e-01 -9.05980289e-01 -1.59640644e-01 6.74951418e+01] [ 8.54251617e-01 4.22942953e-01 -3.02280388e-01 3.33150803e+01] [ 3.41378958e-01 -1.78598655e-02 9.39756049e-01 1.39810910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35755201799999 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:67.51, Y:33.34, Z:13.99 [[ 3.94079208e-01 -9.05152361e-01 -1.59376225e-01 6.75084066e+01] [ 8.53432811e-01 4.24748004e-01 -3.02062195e-01 3.33371616e+01] [ 3.41107042e-01 -1.69804694e-02 9.39871081e-01 1.39909773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.387552018 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:67.52, Y:33.36, Z:14.00 [[ 3.95876017e-01 -9.04394284e-01 -1.59226749e-01 6.75219504e+01] [ 8.52619519e-01 4.26390597e-01 -3.02044723e-01 3.33592426e+01] [ 3.41060310e-01 -1.61875727e-02 9.39902031e-01 1.40010383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.417552018 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:67.54, Y:33.38, Z:14.01 [[ 3.99372225e-01 -9.02930810e-01 -1.58801064e-01 6.75382396e+01] [ 8.51233868e-01 4.29532220e-01 -3.01501200e-01 3.33800759e+01] [ 3.40444896e-01 -1.47656387e-02 9.40148525e-01 1.40113682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.447552018 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:67.55, Y:33.40, Z:14.02 [[ 4.00722159e-01 -9.02338980e-01 -1.58764341e-01 6.75528042e+01] [ 8.50522091e-01 4.30795383e-01 -3.01707659e-01 3.34019147e+01] [ 3.40637526e-01 -1.41316348e-02 9.40088492e-01 1.40215316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.477552018 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:67.57, Y:33.42, Z:14.03 [[ 4.01970985e-01 -9.01815709e-01 -1.58580435e-01 6.75672181e+01] [ 8.49982877e-01 4.31908607e-01 -3.01635649e-01 3.34233271e+01] [ 3.40512022e-01 -1.35418750e-02 9.40142639e-01 1.40311164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.507552018 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:67.58, Y:33.45, Z:14.04 [[ 4.03216199e-01 -9.01293291e-01 -1.58389081e-01 6.75820216e+01] [ 8.49444765e-01 4.33015902e-01 -3.01563957e-01 3.34453826e+01] [ 3.40382562e-01 -1.29473027e-02 9.40197893e-01 1.40411685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.537552018 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:67.60, Y:33.47, Z:14.05 [[ 4.06384352e-01 -8.99894392e-01 -1.58246141e-01 6.75994762e+01] [ 8.47939744e-01 4.35952763e-01 -3.01568198e-01 3.34657955e+01] [ 3.40367373e-01 -1.16305950e-02 9.40220602e-01 1.40513327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.567552018 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:67.61, Y:33.49, Z:14.06 [[ 4.07668489e-01 -8.99310832e-01 -1.58260643e-01 6.76138066e+01] [ 8.47203041e-01 4.37171267e-01 -3.01874627e-01 3.34868958e+01] [ 3.40666128e-01 -1.10141246e-02 9.40119821e-01 1.40608124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.597552018 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:67.63, Y:33.51, Z:14.07 [[ 4.08186671e-01 -8.99042362e-01 -1.58450219e-01 6.76291401e+01] [ 8.46679305e-01 4.37731697e-01 -3.02531183e-01 3.35086446e+01] [ 3.41347032e-01 -1.06673249e-02 9.39876807e-01 1.40703718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:67.65, Y:33.53, Z:14.08 [[ 4.08364586e-01 -8.98875815e-01 -1.58935942e-01 6.76498760e+01] [ 8.46066737e-01 4.38079218e-01 -3.03739485e-01 3.35268665e+01] [ 3.42650610e-01 -1.04339654e-02 9.39404967e-01 1.40801849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65755201799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:67.67, Y:33.55, Z:14.09 [[ 4.08324257e-01 -8.98922620e-01 -1.58774763e-01 6.76659259e+01] [ 8.46124040e-01 4.37985656e-01 -3.03714791e-01 3.35465100e+01] [ 3.42557164e-01 -1.03290275e-02 9.39440206e-01 1.40899645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:67.68, Y:33.57, Z:14.10 [[ 4.08038580e-01 -8.99142257e-01 -1.58264714e-01 6.76824223e+01] [ 8.46633579e-01 4.37533410e-01 -3.02945700e-01 3.35671958e+01] [ 3.41637381e-01 -1.03786877e-02 9.39774538e-01 1.41002288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71755201799999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.70, Y:33.59, Z:14.11 [[ 4.06840390e-01 -8.99800719e-01 -1.57605723e-01 6.77040527e+01] [ 8.47687386e-01 4.36168695e-01 -3.01965172e-01 3.35856816e+01] [ 3.40451161e-01 -1.07487555e-02 9.40200761e-01 1.41107840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.747552018 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:67.72, Y:33.61, Z:14.12 [[ 4.05743376e-01 -9.00328726e-01 -1.57418223e-01 6.77206768e+01] [ 8.48278690e-01 4.35070331e-01 -3.01889171e-01 3.36050988e+01] [ 3.40287492e-01 -1.10449924e-02 9.40256577e-01 1.41198258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:33.63, Z:14.13 [[ 4.04512687e-01 -9.00871006e-01 -1.57483066e-01 6.77382710e+01] [ 8.48707924e-01 4.33938012e-01 -3.02312192e-01 3.36260829e+01] [ 3.40682178e-01 -1.13680093e-02 9.40109793e-01 1.41295041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.807552018 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.76, Y:33.64, Z:14.14 [[ 4.02584021e-01 -9.01625321e-01 -1.58107200e-01 6.77633487e+01] [ 8.48987827e-01 4.32353423e-01 -3.03793002e-01 3.36424833e+01] [ 3.42265652e-01 -1.19288802e-02 9.39527501e-01 1.41383548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:33.66, Z:14.15 [[ 4.01751284e-01 -9.02015351e-01 -1.58000672e-01 6.77830016e+01] [ 8.49384160e-01 4.31533488e-01 -3.03850945e-01 3.36620963e+01] [ 3.42260798e-01 -1.21307602e-02 9.39526684e-01 1.41481052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:33.68, Z:14.16 [[ 4.01191729e-01 -9.02363448e-01 -1.57433809e-01 6.78023277e+01] [ 8.50043617e-01 4.30801835e-01 -3.03043937e-01 3.36814653e+01] [ 3.41278546e-01 -1.22468831e-02 9.39882423e-01 1.41576091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:33.70, Z:14.17 [[ 4.01024114e-01 -9.02568596e-01 -1.56683087e-01 6.78274398e+01] [ 8.50675345e-01 4.30372470e-01 -3.01879104e-01 3.36979899e+01] [ 3.39898686e-01 -1.22256386e-02 9.40382591e-01 1.41683992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:33.72, Z:14.18 [[ 4.01298617e-01 -9.02500122e-01 -1.56374390e-01 6.78453051e+01] [ 8.50706554e-01 4.30522222e-01 -3.01577480e-01 3.37171344e+01] [ 3.39496362e-01 -1.20060927e-02 9.40530741e-01 1.41773112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:33.74, Z:14.19 [[ 4.01584616e-01 -9.02382616e-01 -1.56318302e-01 6.78635818e+01] [ 8.50506779e-01 4.30775259e-01 -3.01779548e-01 3.37360834e+01] [ 3.39658675e-01 -1.17597511e-02 9.40475248e-01 1.41868943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:33.75, Z:14.20 [[ 4.03485304e-01 -9.01616506e-01 -1.55843786e-01 6.78914951e+01] [ 8.49899698e-01 4.32398094e-01 -3.01168379e-01 3.37508417e+01] [ 3.38924937e-01 -1.09345720e-02 9.40749872e-01 1.41969698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:33.77, Z:14.21 [[ 4.04657493e-01 -9.03542832e-01 -1.40934967e-01 6.79040570e+01] [ 8.47574098e-01 4.28436207e-01 -3.13146235e-01 3.37706263e+01] [ 3.43322678e-01 7.26414245e-03 9.39189422e-01 1.42054585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:33.78, Z:14.22 [[ 4.05229466e-01 -8.98335590e-01 -1.69653316e-01 6.79366494e+01] [ 8.49320034e-01 4.38594923e-01 -2.93751551e-01 3.37849388e+01] [ 3.38296556e-01 -2.50531758e-02 9.40706000e-01 1.42174094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:33.81, Z:14.22 [[ 4.05521003e-01 -9.00744296e-01 -1.55603439e-01 6.79496131e+01] [ 8.48838260e-01 4.34238913e-01 -3.01513140e-01 3.38062399e+01] [ 3.39155310e-01 -9.81224159e-03 9.40679221e-01 1.42247095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:33.82, Z:14.23 [[ 4.05980656e-01 -9.00494633e-01 -1.55849677e-01 6.79763003e+01] [ 8.48278927e-01 4.34764126e-01 -3.02329318e-01 3.38211520e+01] [ 3.40003777e-01 -9.46414255e-03 9.40376447e-01 1.42330833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:33.84, Z:14.24 [[ 4.05586337e-01 -9.00646144e-01 -1.56000790e-01 6.79959750e+01] [ 8.48218169e-01 4.34450475e-01 -3.02950035e-01 3.38400891e+01] [ 3.40625398e-01 -9.45030961e-03 9.40151599e-01 1.42420413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:33.86, Z:14.25 [[ 4.05024037e-01 -9.00912942e-01 -1.55921134e-01 6.80164332e+01] [ 8.48441650e-01 4.33895442e-01 -3.03119633e-01 3.38586779e+01] [ 3.40737870e-01 -9.51924672e-03 9.40110147e-01 1.42513611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:33.88, Z:14.25 [[ 4.03943504e-01 -9.05226605e-01 -1.31887979e-01 6.80359381e+01] [ 8.50913674e-01 4.24741356e-01 -3.09096586e-01 3.38770813e+01] [ 3.35820732e-01 1.26322730e-02 9.41841208e-01 1.42500625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:33.89, Z:14.27 [[ 4.03615218e-01 -8.98904953e-01 -1.70483551e-01 6.80742836e+01] [ 8.49333090e-01 4.37399111e-01 -2.95491659e-01 3.38857128e+01] [ 3.40188270e-01 -2.55323912e-02 9.40010658e-01 1.42747488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:33.91, Z:14.28 [[ 4.02333321e-01 -9.02147504e-01 -1.55749090e-01 6.80887043e+01] [ 8.49658110e-01 4.31305653e-01 -3.03408189e-01 3.39076233e+01] [ 3.40894403e-01 -1.02622532e-02 9.40045580e-01 1.42809314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:33.93, Z:14.29 [[ 4.01123580e-01 -9.02664937e-01 -1.55871372e-01 6.81089873e+01] [ 8.50005425e-01 4.30214567e-01 -3.03983888e-01 3.39258640e+01] [ 3.41453732e-01 -1.05564061e-02 9.39839301e-01 1.42900065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:33.94, Z:14.30 [[ 3.98137650e-01 -9.03858448e-01 -1.56608803e-01 6.81389709e+01] [ 8.50653606e-01 4.27677291e-01 -3.05745937e-01 3.39383621e+01] [ 3.43329077e-01 -1.14908742e-02 9.39144880e-01 1.42989289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:33.96, Z:14.30 [[ 3.96324906e-01 -9.07247733e-01 -1.40812358e-01 6.81494380e+01] [ 8.52284324e-01 4.20584147e-01 -3.10999046e-01 3.39577674e+01] [ 3.41376625e-01 3.24450255e-03 9.39920993e-01 1.42976519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:33.97, Z:14.32 [[ 3.94122806e-01 -9.04494690e-01 -1.62961862e-01 6.81827931e+01] [ 8.51754575e-01 4.26077768e-01 -3.04912906e-01 3.39720397e+01] [ 3.45226531e-01 -1.86303815e-02 9.38334456e-01 1.43193304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:34.00, Z:14.33 [[ 3.93781633e-01 -9.05669085e-01 -1.57160854e-01 6.81922681e+01] [ 8.51824312e-01 4.23796960e-01 -3.07882246e-01 3.39971018e+01] [ 3.45443724e-01 -1.26350627e-02 9.38354405e-01 1.43272715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:34.01, Z:14.34 [[ 3.91655493e-01 -9.06579680e-01 -1.57223596e-01 6.82133484e+01] [ 8.52651421e-01 4.21824785e-01 -3.08300835e-01 3.40149489e+01] [ 3.45820082e-01 -1.33092071e-02 9.38206446e-01 1.43373542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:34.03, Z:14.34 [[ 3.90080828e-01 -9.08999639e-01 -1.46821671e-01 6.82348161e+01] [ 8.54162243e-01 4.16776684e-01 -3.10972760e-01 3.40267304e+01] [ 3.43865976e-01 -4.10501575e-03 9.39009765e-01 1.43390386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:34.05, Z:14.36 [[ 3.87975408e-01 -9.08284489e-01 -1.56506772e-01 6.82626179e+01] [ 8.54165177e-01 4.18127323e-01 -3.09146232e-01 3.40455358e+01] [ 3.46232485e-01 -1.37414996e-02 9.38048100e-01 1.43568399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:34.06, Z:14.37 [[ 3.86532981e-01 -9.08686136e-01 -1.57739537e-01 6.82932997e+01] [ 8.54180326e-01 4.17218061e-01 -3.10330565e-01 3.40592203e+01] [ 3.47804865e-01 -1.47850103e-02 9.37450361e-01 1.43677295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:34.08, Z:14.38 [[ 3.85552132e-01 -9.09062601e-01 -1.57970700e-01 6.83133594e+01] [ 8.54328326e-01 4.16388102e-01 -3.11037070e-01 3.40772727e+01] [ 3.48529288e-01 -1.50378380e-02 9.37177251e-01 1.43771662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:34.08, Z:14.39 [[ 3.76090255e-01 -9.09866228e-01 -1.75212917e-01 6.83142909e+01] [ 8.57915176e-01 4.13374849e-01 -3.05127488e-01 3.40798575e+01] [ 3.50053810e-01 -3.55623457e-02 9.36054298e-01 1.43882954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:34.12, Z:14.38 [[ 3.85374234e-01 -9.14389384e-01 -1.24011107e-01 6.83413668e+01] [ 8.53655957e-01 4.04307775e-01 -3.28339353e-01 3.41233264e+01] [ 3.50368673e-01 2.06707066e-02 9.36383743e-01 1.43826627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:34.11, Z:14.40 [[ 3.75359519e-01 -9.11417308e-01 -1.68593362e-01 6.83599696e+01] [ 8.59426414e-01 4.10356689e-01 -3.04948565e-01 3.41132425e+01] [ 3.47118814e-01 -3.04282418e-02 9.37327398e-01 1.44023917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:34.14, Z:14.39 [[ 3.76834100e-01 -9.16468124e-01 -1.34470215e-01 6.83664938e+01] [ 8.58893118e-01 4.00076490e-01 -3.19752114e-01 3.41386685e+01] [ 3.46840992e-01 4.99795783e-03 9.37910628e-01 1.43946105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:34.15, Z:14.40 [[ 3.79678712e-01 -9.14854150e-01 -1.37426196e-01 6.83858692e+01] [ 8.58611034e-01 4.03779895e-01 -3.15830474e-01 3.41523948e+01] [ 3.44428755e-01 1.91845926e-03 9.38810499e-01 1.44027699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:34.18, Z:14.41 [[ 3.79605708e-01 -9.16086007e-01 -1.29174049e-01 6.84055032e+01] [ 8.58214137e-01 4.00834964e-01 -3.20624120e-01 3.41754434e+01] [ 3.45496745e-01 1.08517515e-02 9.38357202e-01 1.44095781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:34.19, Z:14.42 [[ 3.79786341e-01 -9.15956675e-01 -1.29559654e-01 6.84340650e+01] [ 8.58526506e-01 4.01150806e-01 -3.19390466e-01 3.41901756e+01] [ 3.44520789e-01 1.00697392e-02 9.38724681e-01 1.44178677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:34.21, Z:14.43 [[ 3.80160112e-01 -9.15873874e-01 -1.29047808e-01 6.84534589e+01] [ 8.58166669e-01 4.01316404e-01 -3.20148578e-01 3.42100585e+01] [ 3.45004720e-01 1.09631916e-02 9.38536921e-01 1.44264483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:34.22, Z:14.44 [[ 3.82199146e-01 -9.13138993e-01 -1.41777967e-01 6.84877232e+01] [ 8.56377302e-01 4.07648251e-01 -3.16923997e-01 3.42194061e+01] [ 3.47191200e-01 -2.87352206e-04 9.37794321e-01 1.44446057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:34.24, Z:14.45 [[ 3.83832656e-01 -9.13894915e-01 -1.32168741e-01 6.85048434e+01] [ 8.55901314e-01 4.05830013e-01 -3.20522919e-01 3.42405830e+01] [ 3.46562308e-01 9.90376468e-03 9.37974670e-01 1.44489710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:34.26, Z:14.46 [[ 3.85669498e-01 -9.13374747e-01 -1.30405559e-01 6.85236597e+01] [ 8.55553848e-01 4.06947112e-01 -3.20033845e-01 3.42585195e+01] [ 3.45378998e-01 1.18583144e-02 9.38388367e-01 1.44551252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:34.28, Z:14.46 [[ 3.87603609e-01 -9.13310068e-01 -1.25012648e-01 6.85393169e+01] [ 8.56002771e-01 4.06927347e-01 -3.18856377e-01 3.42782080e+01] [ 3.42085804e-01 1.65787096e-02 9.39522458e-01 1.44587652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:34.30, Z:14.47 [[ 3.90917397e-01 -9.11726949e-01 -1.26244044e-01 6.85574669e+01] [ 8.55158156e-01 4.10493417e-01 -3.16543336e-01 3.42977598e+01] [ 3.40423439e-01 1.57836724e-02 9.40139754e-01 1.44679663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:34.32, Z:14.48 [[ 4.07951648e-01 -9.04537543e-01 -1.24045499e-01 6.85735800e+01] [ 8.48873800e-01 4.25801008e-01 -3.13220007e-01 3.43204611e+01] [ 3.36137955e-01 2.24796442e-02 9.41544445e-01 1.44773741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:34.34, Z:14.49 [[ 4.16883330e-01 -9.00209810e-01 -1.25819660e-01 6.85865450e+01] [ 8.44987434e-01 4.34823411e-01 -3.11327540e-01 3.43396191e+01] [ 3.34969440e-01 2.34712300e-02 9.41936609e-01 1.44861196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:34.36, Z:14.50 [[ 4.24921529e-01 -8.95944943e-01 -1.29322670e-01 6.86010629e+01] [ 8.41007701e-01 4.43576533e-01 -3.09751363e-01 3.43593562e+01] [ 3.34884669e-01 2.28586614e-02 9.41981815e-01 1.44964431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:34.38, Z:14.50 [[ 4.36296013e-01 -8.91075002e-01 -1.25024519e-01 6.86140019e+01] [ 8.33990925e-01 4.52624191e-01 -3.15579592e-01 3.43844823e+01] [ 3.37794207e-01 3.34168030e-02 9.40626595e-01 1.45018993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:34.41, Z:14.51 [[ 4.40443032e-01 -8.88765589e-01 -1.26908093e-01 6.86263187e+01] [ 8.31385112e-01 4.57124680e-01 -3.15968072e-01 3.44074290e+01] [ 3.38834371e-01 3.36564360e-02 9.40243859e-01 1.45117453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:34.44, Z:14.50 [[ 4.41278996e-01 -8.90800600e-01 -1.08384222e-01 6.86307245e+01] [ 8.32570101e-01 4.51480236e-01 -3.20924638e-01 3.44378478e+01] [ 3.34813194e-01 5.13798392e-02 9.40882690e-01 1.45044365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:34.46, Z:14.52 [[ 4.40377804e-01 -8.90447598e-01 -1.14762646e-01 6.86450151e+01] [ 8.31761430e-01 4.52754392e-01 -3.21226376e-01 3.44602377e+01] [ 3.37994547e-01 4.60058232e-02 9.40022952e-01 1.45154587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:34.47, Z:14.53 [[ 4.39169864e-01 -8.88566124e-01 -1.32589869e-01 6.86652129e+01] [ 8.32704445e-01 4.57996377e-01 -3.11195480e-01 3.44741061e+01] [ 3.37243441e-01 2.62595033e-02 9.41051168e-01 1.45323387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:34.50, Z:14.54 [[ 4.36158713e-01 -8.90757952e-01 -1.27733505e-01 6.86762519e+01] [ 8.34915237e-01 4.53529085e-01 -3.11813913e-01 3.44974094e+01] [ 3.35681582e-01 2.93537057e-02 9.41518048e-01 1.45382889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:34.52, Z:14.55 [[ 4.28953649e-01 -8.94490365e-01 -1.26038696e-01 6.86888412e+01] [ 8.39559167e-01 4.46266336e-01 -3.09817305e-01 3.45174396e+01] [ 3.33375422e-01 2.70803212e-02 9.42405159e-01 1.45489659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:34.55, Z:14.56 [[ 4.16796701e-01 -9.00447153e-01 -1.24400299e-01 6.87082929e+01] [ 8.45322668e-01 4.34272450e-01 -3.11186483e-01 3.45502212e+01] [ 3.34230605e-01 2.45431069e-02 9.42171714e-01 1.45641764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:34.55, Z:14.58 [[ 4.23078508e-01 -8.94740588e-01 -1.42982016e-01 6.87221188e+01] [ 8.42727668e-01 4.46535665e-01 -3.00692495e-01 3.45533248e+01] [ 3.32888350e-01 6.72163143e-03 9.42942292e-01 1.45802157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:34.59, Z:14.58 [[ 4.04591775e-01 -9.05574380e-01 -1.27438367e-01 6.87347569e+01] [ 8.51042010e-01 4.23848524e-01 -3.09967621e-01 3.45935757e+01] [ 3.34713300e-01 1.69549461e-02 9.42167467e-01 1.45842525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:34.61, Z:14.63 [[ 4.08695070e-01 -8.97671503e-01 -1.64785353e-01 6.87794416e+01] [ 8.45876862e-01 4.40360409e-01 -3.00956883e-01 3.46067793e+01] [ 3.42725363e-01 -1.63885223e-02 9.39292682e-01 1.46258621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:34.63, Z:14.62 [[ 3.97492096e-01 -9.05089146e-01 -1.51041955e-01 6.87687675e+01] [ 8.53217369e-01 4.25131283e-01 -3.02131615e-01 3.46307646e+01] [ 3.37668705e-01 -8.77669070e-03 9.41224105e-01 1.46161139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:34.64, Z:14.62 [[ 3.98043423e-01 -9.04799518e-01 -1.51325033e-01 6.87748615e+01] [ 8.52888158e-01 4.25747336e-01 -3.02193639e-01 3.46429031e+01] [ 3.37850888e-01 -8.77713795e-03 9.41158722e-01 1.46214138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:34.68, Z:14.63 [[ 3.83359226e-01 -9.13654699e-01 -1.35169506e-01 6.87881454e+01] [ 8.58236781e-01 4.06470189e-01 -3.13387323e-01 3.46833517e+01] [ 3.41270174e-01 4.13247997e-03 9.39956164e-01 1.46276768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:34.70, Z:14.65 [[ 3.79856846e-01 -9.11916853e-01 -1.55294657e-01 6.88075559e+01] [ 8.60162728e-01 4.09965353e-01 -3.03394942e-01 3.46979296e+01] [ 3.40336389e-01 -1.83320306e-02 9.40125034e-01 1.46485718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:68.82, Y:34.72, Z:14.66 [[ 3.75104961e-01 -9.14535514e-01 -1.51397033e-01 6.88188227e+01] [ 8.61989639e-01 4.04199090e-01 -3.05936199e-01 3.47213808e+01] [ 3.40984062e-01 -1.57444879e-02 9.39937222e-01 1.46567376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:34.74, Z:14.67 [[ 3.66282550e-01 -9.17996028e-01 -1.52053894e-01 6.88313298e+01] [ 8.65237668e-01 3.96134221e-01 -3.07313287e-01 3.47436802e+01] [ 3.42346127e-01 -1.89992622e-02 9.39381795e-01 1.46669787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:34.77, Z:14.68 [[ 3.64348620e-01 -9.18510001e-01 -1.53588609e-01 6.88446561e+01] [ 8.65939011e-01 3.94832293e-01 -3.07013175e-01 3.47662884e+01] [ 3.42636414e-01 -2.11385420e-02 9.39230243e-01 1.46766647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:34.79, Z:14.69 [[ 3.65785706e-01 -9.17273134e-01 -1.57514491e-01 6.88712415e+01] [ 8.64104193e-01 3.97581444e-01 -3.08630749e-01 3.47913409e+01] [ 3.45723533e-01 -2.32162152e-02 9.38049170e-01 1.46933897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:34.81, Z:14.71 [[ 3.62384100e-01 -9.17098651e-01 -1.66156037e-01 6.88853335e+01] [ 8.65922762e-01 3.97230711e-01 -3.03949884e-01 3.48113043e+01] [ 3.44754309e-01 -3.37316892e-02 9.38086691e-01 1.47055981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.667552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:68.89, Y:34.82, Z:14.72 [[ 3.52440189e-01 -9.17996628e-01 -1.81846375e-01 6.88892168e+01] [ 8.70024205e-01 3.92990911e-01 -2.97684441e-01 3.48231211e+01] [ 3.44737285e-01 -5.32947875e-02 9.37185078e-01 1.47224707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.697552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:68.90, Y:34.86, Z:14.72 [[ 3.50338023e-01 -9.23228808e-01 -1.57834845e-01 6.88957057e+01] [ 8.70295662e-01 3.83159124e-01 -3.09474628e-01 3.48555357e+01] [ 3.46191753e-01 -2.89422514e-02 9.37717237e-01 1.47202063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.727552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:68.91, Y:34.89, Z:14.72 [[ 3.52277103e-01 -9.24635246e-01 -1.44742889e-01 6.89140002e+01] [ 8.69722164e-01 3.80551342e-01 -3.14267456e-01 3.48860346e+01] [ 3.45664868e-01 -1.51768696e-02 9.38235291e-01 1.47219776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.757552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:68.93, Y:34.90, Z:14.74 [[ 3.50376902e-01 -9.21799957e-01 -1.65894139e-01 6.89326984e+01] [ 8.71256493e-01 3.85778091e-01 -3.03459040e-01 3.49013140e+01] [ 3.43726854e-01 -3.82113075e-02 9.38291930e-01 1.47411707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.787552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:68.94, Y:34.92, Z:14.75 [[ 3.50549265e-01 -9.21739310e-01 -1.65866990e-01 6.89435055e+01] [ 8.71113451e-01 3.85939914e-01 -3.03663857e-01 3.49233882e+01] [ 3.43913605e-01 -3.80398244e-02 9.38230464e-01 1.47506485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:34.95, Z:14.76 [[ 3.53322715e-01 -9.20797551e-01 -1.65211770e-01 6.89537498e+01] [ 8.70391061e-01 3.88297352e-01 -3.02728538e-01 3.49471285e+01] [ 3.42902989e-01 -3.68379785e-02 9.38648232e-01 1.47605954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:34.97, Z:14.77 [[ 3.53968543e-01 -9.20565194e-01 -1.65124176e-01 6.89654176e+01] [ 8.70097927e-01 3.88881190e-01 -3.02821757e-01 3.49700704e+01] [ 3.42980856e-01 -3.64848274e-02 9.38633576e-01 1.47695538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:34.99, Z:14.78 [[ 3.54379326e-01 -9.20389323e-01 -1.65223446e-01 6.89770761e+01] [ 8.69749004e-01 3.89320663e-01 -3.03259116e-01 3.49914575e+01] [ 3.43441354e-01 -3.62341666e-02 9.38474891e-01 1.47783488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:68.99, Y:35.01, Z:14.79 [[ 3.54676949e-01 -9.20270584e-01 -1.65246224e-01 6.89898945e+01] [ 8.69506346e-01 3.89621670e-01 -3.03568228e-01 3.50143997e+01] [ 3.43748420e-01 -3.60139874e-02 9.38370937e-01 1.47873041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:35.04, Z:14.80 [[ 3.56557338e-01 -9.19625537e-01 -1.64789978e-01 6.90035541e+01] [ 8.68993874e-01 3.91218428e-01 -3.02981498e-01 3.50358927e+01] [ 3.43098398e-01 -3.51712050e-02 9.38640759e-01 1.47967360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:35.06, Z:14.81 [[ 3.57628385e-01 -9.19254099e-01 -1.64541298e-01 6.90162745e+01] [ 8.68650392e-01 3.92137113e-01 -3.02778767e-01 3.50573205e+01] [ 3.42853373e-01 -3.46465813e-02 9.38749796e-01 1.48063735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.997552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.03, Y:35.08, Z:14.82 [[ 3.59070478e-01 -9.18771623e-01 -1.64094781e-01 6.90295261e+01] [ 8.68331559e-01 3.93323166e-01 -3.02154252e-01 3.50789721e+01] [ 3.42153031e-01 -3.39940050e-02 9.39029132e-01 1.48153891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:35.10, Z:14.82 [[ 3.58133717e-01 -9.19971725e-01 -1.59349510e-01 6.90358475e+01] [ 8.69592501e-01 3.90797684e-01 -3.01804659e-01 3.51000034e+01] [ 3.39925172e-01 -3.04827145e-02 9.39958340e-01 1.48189184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.057552018 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:69.06, Y:35.12, Z:14.83 [[ 3.64432749e-01 -9.17189159e-01 -1.61098786e-01 6.90557697e+01] [ 8.66824266e-01 3.97331345e-01 -3.01236609e-01 3.51225766e+01] [ 3.40300550e-01 -2.98638510e-02 9.39842373e-01 1.48340159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:35.14, Z:14.84 [[ 3.66629085e-01 -9.16082928e-01 -1.62404379e-01 6.90691844e+01] [ 8.66224705e-01 3.99803844e-01 -2.99685915e-01 3.51442844e+01] [ 3.39467045e-01 -3.08051129e-02 9.40113382e-01 1.48438408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:35.17, Z:14.85 [[ 3.69426400e-01 -9.15037180e-01 -1.61960164e-01 6.90810348e+01] [ 8.65275033e-01 4.02279148e-01 -2.99116373e-01 3.51663700e+01] [ 3.38855799e-01 -2.96386012e-02 9.40371363e-01 1.48534206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.147552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.09, Y:35.19, Z:14.86 [[ 3.74097559e-01 -9.13070273e-01 -1.62338207e-01 6.90937622e+01] [ 8.62802890e-01 4.06852867e-01 -3.00069855e-01 3.51883984e+01] [ 3.40032629e-01 -2.78104741e-02 9.40002334e-01 1.48631414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.177552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:69.11, Y:35.21, Z:14.87 [[ 3.75846882e-01 -9.12342014e-01 -1.62392028e-01 6.91053680e+01] [ 8.61884637e-01 4.08534401e-01 -3.00423893e-01 3.52113490e+01] [ 3.40432069e-01 -2.70498104e-02 9.39879947e-01 1.48725098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:35.24, Z:14.87 [[ 3.73862889e-01 -9.15145413e-01 -1.50782668e-01 6.91062633e+01] [ 8.62786561e-01 4.02811361e-01 -3.05519816e-01 3.52387278e+01] [ 3.40332030e-01 -1.58707387e-02 9.40171383e-01 1.48685032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:35.26, Z:14.88 [[ 3.74650568e-01 -9.12950810e-01 -1.61733638e-01 6.91230445e+01] [ 8.61975040e-01 4.07222037e-01 -3.01942450e-01 3.52580423e+01] [ 3.41520106e-01 -2.62874486e-02 9.39506779e-01 1.48846838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:35.28, Z:14.90 [[ 3.76211612e-01 -9.11337720e-01 -1.67117874e-01 6.91412821e+01] [ 8.60848671e-01 4.10510469e-01 -3.00700383e-01 3.52795826e+01] [ 3.42643239e-01 -3.07362240e-02 9.38962670e-01 1.49009692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:35.30, Z:14.91 [[ 3.75892058e-01 -9.12171198e-01 -1.63244804e-01 6.91522747e+01] [ 8.60863992e-01 4.08937706e-01 -3.02792238e-01 3.53041245e+01] [ 3.42955314e-01 -2.67143762e-02 9.38971775e-01 1.49085261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:35.33, Z:14.92 [[ 3.74510592e-01 -9.12780973e-01 -1.63011388e-01 6.91636610e+01] [ 8.61592137e-01 4.07547753e-01 -3.02595140e-01 3.53254911e+01] [ 3.42638011e-01 -2.71242450e-02 9.39075859e-01 1.49175908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.18, Y:35.35, Z:14.93 [[ 3.71789935e-01 -9.13986430e-01 -1.62484000e-01 6.91755325e+01] [ 8.63149251e-01 4.04776552e-01 -3.01876321e-01 3.53472572e+01] [ 3.41680574e-01 -2.80133651e-02 9.39398550e-01 1.49283591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:35.37, Z:14.93 [[ 3.68011889e-01 -9.15851171e-01 -1.60573602e-01 6.91829922e+01] [ 8.64654946e-01 4.00590221e-01 -3.03148972e-01 3.53697752e+01] [ 3.41963555e-01 -2.72783331e-02 9.39317209e-01 1.49345699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:35.39, Z:14.94 [[ 3.66174826e-01 -9.16497255e-01 -1.61086245e-01 6.91946842e+01] [ 8.65300897e-01 3.99038148e-01 -3.03352788e-01 3.53921437e+01] [ 3.42301554e-01 -2.83079179e-02 9.39163621e-01 1.49441807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:35.41, Z:14.96 [[ 3.65687508e-01 -9.16509754e-01 -1.62118836e-01 6.92097779e+01] [ 8.65334648e-01 3.98934858e-01 -3.03392364e-01 3.54146919e+01] [ 3.42736915e-01 -2.93402485e-02 9.38973139e-01 1.49553305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:35.44, Z:14.96 [[ 3.61526855e-01 -9.17959790e-01 -1.63242634e-01 6.92204944e+01] [ 8.66717578e-01 3.95415760e-01 -3.04051008e-01 3.54372066e+01] [ 3.43655310e-01 -3.15626559e-02 9.38565302e-01 1.49644044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:35.46, Z:14.97 [[ 3.57921615e-01 -9.19845633e-01 -1.60549463e-01 6.92288565e+01] [ 8.67884409e-01 3.91152160e-01 -3.06229718e-01 3.54613935e+01] [ 3.44483338e-01 -2.97321403e-02 9.38321496e-01 1.49702643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:35.48, Z:14.98 [[ 3.58110301e-01 -9.19028512e-01 -1.64753167e-01 6.92448046e+01] [ 8.67800666e-01 3.92726583e-01 -3.04446770e-01 3.54807947e+01] [ 3.44498210e-01 -3.39473833e-02 9.38172990e-01 1.49839784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:35.50, Z:14.99 [[ 3.56275412e-01 -9.19926700e-01 -1.63715293e-01 6.92568668e+01] [ 8.68327995e-01 3.90674802e-01 -3.05580909e-01 3.55035987e+01] [ 3.45071477e-01 -3.32876080e-02 9.37985933e-01 1.49933590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:35.53, Z:15.00 [[ 3.53746907e-01 -9.20977429e-01 -1.63290237e-01 6.92687652e+01] [ 8.69667483e-01 3.88120281e-01 -3.05026418e-01 3.55265455e+01] [ 3.44298699e-01 -3.41060569e-02 9.38240472e-01 1.50026028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:35.55, Z:15.01 [[ 3.51945471e-01 -9.21724502e-01 -1.62967260e-01 6.92806931e+01] [ 8.70604091e-01 3.86294177e-01 -3.04672489e-01 3.55484613e+01] [ 3.43777402e-01 -3.46518603e-02 9.38411608e-01 1.50116341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:35.57, Z:15.02 [[ 3.50208335e-01 -9.22451553e-01 -1.62595370e-01 6.92932534e+01] [ 8.71546274e-01 3.84508389e-01 -3.04237393e-01 3.55710668e+01] [ 3.43163539e-01 -3.51629181e-02 9.38617257e-01 1.50213693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.31, Y:35.59, Z:15.03 [[ 3.48857610e-01 -9.23118043e-01 -1.61714091e-01 6.93054565e+01] [ 8.72749403e-01 3.82875697e-01 -3.02844316e-01 3.55920570e+01] [ 3.41477448e-01 -3.54863322e-02 9.39219821e-01 1.50309014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:35.61, Z:15.04 [[ 3.48531643e-01 -9.23286576e-01 -1.61454613e-01 6.93175620e+01] [ 8.73002660e-01 3.82470131e-01 -3.02626757e-01 3.56144342e+01] [ 3.41162790e-01 -3.54753053e-02 9.39334580e-01 1.50410225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:35.64, Z:15.05 [[ 3.48645254e-01 -9.23310546e-01 -1.61071794e-01 6.93291949e+01] [ 8.73178965e-01 3.82428997e-01 -3.02169749e-01 3.56359351e+01] [ 3.40595040e-01 -3.52944541e-02 9.39547402e-01 1.50502543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:35.66, Z:15.06 [[ 3.48678115e-01 -9.23349847e-01 -1.60775100e-01 6.93413410e+01] [ 8.73338526e-01 3.82345110e-01 -3.01814572e-01 3.56586364e+01] [ 3.40152012e-01 -3.51749524e-02 9.39712366e-01 1.50598653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.807552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.35, Y:35.68, Z:15.07 [[ 3.49107030e-01 -9.23258468e-01 -1.60368585e-01 6.93537663e+01] [ 8.73405615e-01 3.82592831e-01 -3.01306084e-01 3.56812285e+01] [ 3.39539265e-01 -3.48787500e-02 9.39944977e-01 1.50702487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.837552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.36, Y:35.70, Z:15.08 [[ 3.48673751e-01 -9.23452465e-01 -1.60194131e-01 6.93644966e+01] [ 8.73636325e-01 3.82120743e-01 -3.01236301e-01 3.57034270e+01] [ 3.39390905e-01 -3.49182210e-02 9.39997091e-01 1.50791216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.867552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:69.38, Y:35.73, Z:15.09 [[ 3.47760879e-01 -9.23803662e-01 -1.60153570e-01 6.93760500e+01] [ 8.73949477e-01 3.81250506e-01 -3.01430529e-01 3.57271529e+01] [ 3.39521256e-01 -3.51403828e-02 9.39941738e-01 1.50880911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:35.75, Z:15.10 [[ 3.42728782e-01 -9.25657408e-01 -1.60297674e-01 6.93865297e+01] [ 8.75807390e-01 3.76558332e-01 -3.01935819e-01 3.57501118e+01] [ 3.39850553e-01 -3.69077924e-02 9.39754977e-01 1.50953189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:35.77, Z:15.10 [[ 3.39731158e-01 -9.26783453e-01 -1.60172318e-01 6.93978422e+01] [ 8.77025723e-01 3.73680553e-01 -3.01974711e-01 3.57729929e+01] [ 3.39718445e-01 -3.78850247e-02 9.39763855e-01 1.51043111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:35.80, Z:15.11 [[ 3.36466634e-01 -9.28016271e-01 -1.59924999e-01 6.94086991e+01] [ 8.78446053e-01 3.70497839e-01 -3.01767930e-01 3.57953113e+01] [ 3.39297416e-01 -3.89506446e-02 9.39872391e-01 1.51132706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:35.82, Z:15.12 [[ 3.32716317e-01 -9.29362929e-01 -1.59951238e-01 6.94204175e+01] [ 8.79815164e-01 3.66970176e-01 -3.02089668e-01 3.58183244e+01] [ 3.39448273e-01 -4.02173632e-02 9.39764563e-01 1.51230692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:35.84, Z:15.13 [[ 3.28251256e-01 -9.31976579e-01 -1.53853079e-01 6.94303976e+01] [ 8.80256020e-01 3.60891609e-01 -3.08069125e-01 3.58437769e+01] [ 3.42637495e-01 -3.43060216e-02 9.38841118e-01 1.51293385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:35.86, Z:15.14 [[ 3.21117575e-01 -9.32289020e-01 -1.66495304e-01 6.94462840e+01] [ 8.84459486e-01 3.58074613e-01 -2.99188886e-01 3.58621937e+01] [ 3.38548254e-01 -5.11835418e-02 9.39555919e-01 1.51448217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:35.89, Z:15.15 [[ 3.17723992e-01 -9.34561530e-01 -1.60144349e-01 6.94559468e+01] [ 8.85199716e-01 3.52887267e-01 -3.03136999e-01 3.58867877e+01] [ 3.39813079e-01 -4.54458347e-02 9.39394351e-01 1.51511127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:35.91, Z:15.16 [[ 3.15087050e-01 -9.35463526e-01 -1.60087920e-01 6.94667036e+01] [ 8.86147627e-01 3.50377082e-01 -3.03279216e-01 3.59096456e+01] [ 3.39797783e-01 -4.63021768e-02 9.39358065e-01 1.51602677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:35.93, Z:15.17 [[ 3.12778019e-01 -9.36246401e-01 -1.60039331e-01 6.94774830e+01] [ 8.86959854e-01 3.48180747e-01 -3.03434316e-01 3.59327917e+01] [ 3.39811900e-01 -4.70408773e-02 9.39316256e-01 1.51692798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:35.96, Z:15.18 [[ 3.09208744e-01 -9.37609662e-01 -1.58990801e-01 6.94878019e+01] [ 8.89047532e-01 3.44351344e-01 -3.01689637e-01 3.59565269e+01] [ 3.37615815e-01 -4.80653054e-02 9.40056003e-01 1.51777464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:35.98, Z:15.19 [[ 3.06767947e-01 -9.38451842e-01 -1.58750014e-01 6.94983803e+01] [ 8.90048674e-01 3.41943746e-01 -3.01476089e-01 3.59788037e+01] [ 3.37204365e-01 -4.88120382e-02 9.40165199e-01 1.51872158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:36.00, Z:15.20 [[ 3.05173079e-01 -9.39022512e-01 -1.58449090e-01 6.95093741e+01] [ 8.90804964e-01 3.40308652e-01 -3.01092240e-01 3.60021315e+01] [ 3.36653988e-01 -4.92619897e-02 9.40338954e-01 1.51973463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:36.03, Z:15.20 [[ 3.03404464e-01 -9.40669472e-01 -1.51943003e-01 6.95170224e+01] [ 8.90035662e-01 3.36716665e-01 -3.07340865e-01 3.60296539e+01] [ 3.40267911e-01 -4.19861008e-02 9.39390715e-01 1.52038488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:36.05, Z:15.22 [[ 3.04807371e-01 -9.37803245e-01 -1.66185258e-01 6.95329372e+01] [ 8.91100014e-01 3.42404482e-01 -2.97825345e-01 3.60470278e+01] [ 3.36204153e-01 -5.73083253e-02 9.40043895e-01 1.52203037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:36.07, Z:15.23 [[ 3.05788833e-01 -9.38784510e-01 -1.58672091e-01 6.95421663e+01] [ 8.90179464e-01 3.41022794e-01 -3.02132382e-01 3.60725496e+01] [ 3.37748000e-01 -4.88579286e-02 9.39967654e-01 1.52266584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:36.10, Z:15.24 [[ 3.07287668e-01 -9.38367528e-01 -1.58242443e-01 6.95545146e+01] [ 8.89890128e-01 3.42269102e-01 -3.01574902e-01 3.60959326e+01] [ 3.37149594e-01 -4.81481390e-02 9.40219074e-01 1.52367069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:36.12, Z:15.25 [[ 3.11488853e-01 -9.37071820e-01 -1.57705734e-01 6.95655797e+01] [ 8.88700730e-01 3.46031447e-01 -3.00787717e-01 3.61185177e+01] [ 3.36430837e-01 -4.64611798e-02 9.40561349e-01 1.52458531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:36.14, Z:15.25 [[ 3.13383845e-01 -9.36415875e-01 -1.57847631e-01 6.95760910e+01] [ 8.87793620e-01 3.47902020e-01 -3.01308270e-01 3.61407523e+01] [ 3.37065357e-01 -4.57109761e-02 9.40370912e-01 1.52539794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:36.16, Z:15.26 [[ 3.15512096e-01 -9.35668094e-01 -1.58042194e-01 6.95876570e+01] [ 8.86741112e-01 3.50016844e-01 -3.01957629e-01 3.61643142e+01] [ 3.37849549e-01 -4.48712265e-02 9.40129914e-01 1.52624217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:36.18, Z:15.28 [[ 3.17937560e-01 -9.32522855e-01 -1.71221592e-01 6.96050058e+01] [ 8.84976068e-01 3.56685411e-01 -2.99320693e-01 3.61833179e+01] [ 3.40195631e-01 -5.63617208e-02 9.38664098e-01 1.52811735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:36.21, Z:15.29 [[ 3.20760893e-01 -9.33439129e-01 -1.60635745e-01 6.96149660e+01] [ 8.83250462e-01 3.56026865e-01 -3.05145037e-01 3.62096474e+01] [ 3.42024958e-01 -4.40030014e-02 9.38660037e-01 1.52850559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.527552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.62, Y:36.24, Z:15.29 [[ 3.22154933e-01 -9.35001438e-01 -1.48285233e-01 6.96247530e+01] [ 8.83063601e-01 3.53248083e-01 -3.08892325e-01 3.62371984e+01] [ 3.41196243e-01 -3.14341053e-02 9.39466349e-01 1.52859361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:36.26, Z:15.30 [[ 3.23246971e-01 -9.32960882e-01 -1.58415244e-01 6.96409267e+01] [ 8.83181722e-01 3.57544659e-01 -3.03565253e-01 3.62552322e+01] [ 3.39855031e-01 -4.17828993e-02 9.39549226e-01 1.52998330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:36.28, Z:15.31 [[ 3.25797035e-01 -9.32110791e-01 -1.58195341e-01 6.96556230e+01] [ 8.82291726e-01 3.59875942e-01 -3.03398446e-01 3.62763765e+01] [ 3.39731663e-01 -4.07281265e-02 9.39640153e-01 1.53095741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:36.30, Z:15.32 [[ 3.27953569e-01 -9.31362678e-01 -1.58145560e-01 6.96677202e+01] [ 8.81402602e-01 3.61907171e-01 -3.03566555e-01 3.62999005e+01] [ 3.39964572e-01 -3.98341732e-02 9.39594236e-01 1.53192121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:36.32, Z:15.33 [[ 3.31039982e-01 -9.30289340e-01 -1.58032511e-01 6.96793651e+01] [ 8.80206058e-01 3.64789903e-01 -3.03587914e-01 3.63240557e+01] [ 3.40073264e-01 -3.86014365e-02 9.39606356e-01 1.53282949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:36.35, Z:15.34 [[ 3.34481298e-01 -9.29080965e-01 -1.57894969e-01 6.96916407e+01] [ 8.78878876e-01 3.67997459e-01 -3.03561840e-01 3.63472362e+01] [ 3.40138475e-01 -3.72347945e-02 9.39637903e-01 1.53368953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:36.37, Z:15.35 [[ 3.37023185e-01 -9.28136854e-01 -1.58042248e-01 6.97046905e+01] [ 8.77647631e-01 3.70473511e-01 -3.04111843e-01 3.63697957e+01] [ 3.40807876e-01 -3.62126623e-02 9.39435275e-01 1.53466060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:36.39, Z:15.36 [[ 3.43704778e-01 -9.25730289e-01 -1.57767098e-01 6.97178530e+01] [ 8.75099652e-01 3.76685575e-01 -3.03823267e-01 3.63925166e+01] [ 3.40686991e-01 -3.36364237e-02 9.39574885e-01 1.53570080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:36.42, Z:15.36 [[ 3.45286655e-01 -9.26264319e-01 -1.51034886e-01 6.97273222e+01] [ 8.75242147e-01 3.75899520e-01 -3.04385834e-01 3.64188878e+01] [ 3.38715679e-01 -2.70917310e-02 9.40498659e-01 1.53609215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:36.44, Z:15.38 [[ 3.52191748e-01 -9.21990074e-01 -1.60920092e-01 6.97441639e+01] [ 8.72319354e-01 3.85670796e-01 -3.00527838e-01 3.64374812e+01] [ 3.39145864e-01 -3.45302863e-02 9.40099858e-01 1.53787323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.76, Y:36.46, Z:15.39 [[ 3.53748384e-01 -9.22141220e-01 -1.56581130e-01 6.97552629e+01] [ 8.71763203e-01 3.85716149e-01 -3.02079411e-01 3.64630456e+01] [ 3.38955747e-01 -2.96415641e-02 9.40335248e-01 1.53860112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:69.77, Y:36.49, Z:15.40 [[ 3.55576156e-01 -9.21505883e-01 -1.56180998e-01 6.97669839e+01] [ 8.71249865e-01 3.87291297e-01 -3.01544563e-01 3.64860517e+01] [ 3.38362631e-01 -2.88506167e-02 9.40573427e-01 1.53956021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.78, Y:36.51, Z:15.40 [[ 3.57535379e-01 -9.20817541e-01 -1.55767484e-01 6.97780928e+01] [ 8.70678686e-01 3.88987123e-01 -3.01011037e-01 3.65078806e+01] [ 3.37767788e-01 -2.80013330e-02 9.40812865e-01 1.54047372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:36.53, Z:15.41 [[ 3.62939617e-01 -9.18722468e-01 -1.55640165e-01 6.97888894e+01] [ 8.68386204e-01 3.94053879e-01 -3.01043089e-01 3.65313004e+01] [ 3.37905660e-01 -2.58953088e-02 9.40823680e-01 1.54145836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:36.56, Z:15.42 [[ 3.65242290e-01 -9.17749915e-01 -1.55990907e-01 6.97998560e+01] [ 8.67001434e-01 3.96374548e-01 -3.01986310e-01 3.65555717e+01] [ 3.38978736e-01 -2.49461686e-02 9.40463240e-01 1.54236950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:36.58, Z:15.43 [[ 3.66332417e-01 -9.17219406e-01 -1.56553896e-01 6.98112873e+01] [ 8.65959521e-01 3.97631246e-01 -3.03320788e-01 3.65786148e+01] [ 3.40462433e-01 -2.44530997e-02 9.39940092e-01 1.54318987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:36.60, Z:15.44 [[ 3.66231011e-01 -9.17174042e-01 -1.57056112e-01 6.98240898e+01] [ 8.65477224e-01 3.97739631e-01 -3.04552721e-01 3.66016802e+01] [ 3.41795290e-01 -2.43918367e-02 9.39457832e-01 1.54408947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:36.62, Z:15.45 [[ 3.65900204e-01 -9.17268609e-01 -1.57274730e-01 6.98351413e+01] [ 8.65342859e-01 3.97519992e-01 -3.05220564e-01 3.66235586e+01] [ 3.42489092e-01 -2.44162978e-02 9.39204486e-01 1.54496611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:36.65, Z:15.46 [[ 3.65125859e-01 -9.17578182e-01 -1.57268518e-01 6.98468278e+01] [ 8.65579004e-01 3.96794524e-01 -3.05494835e-01 3.66474505e+01] [ 3.42718682e-01 -2.45842632e-02 9.39116350e-01 1.54593017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:36.67, Z:15.47 [[ 3.64391127e-01 -9.17874580e-01 -1.57243001e-01 6.98579570e+01] [ 8.65829585e-01 3.96097752e-01 -3.05688896e-01 3.66701605e+01] [ 3.42867666e-01 -2.47553212e-02 9.39057473e-01 1.54678704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:36.69, Z:15.48 [[ 3.63670249e-01 -9.18196999e-01 -1.57029366e-01 6.98695083e+01] [ 8.66221203e-01 3.95340734e-01 -3.05559374e-01 3.66926317e+01] [ 3.42643805e-01 -2.48993130e-02 9.39135372e-01 1.54775413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:36.72, Z:15.49 [[ 3.63610508e-01 -9.18264386e-01 -1.56773456e-01 6.98812862e+01] [ 8.66371116e-01 3.95190233e-01 -3.05328953e-01 3.67162397e+01] [ 3.42328042e-01 -2.48031788e-02 9.39253062e-01 1.54874522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.89, Y:36.74, Z:15.50 [[ 3.63358045e-01 -9.18395684e-01 -1.56589588e-01 6.98933577e+01] [ 8.66550606e-01 3.94885772e-01 -3.05213490e-01 3.67385328e+01] [ 3.42141752e-01 -2.47910250e-02 9.39321258e-01 1.54969798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:36.76, Z:15.51 [[ 3.63061573e-01 -9.18531759e-01 -1.56479077e-01 6.99051164e+01] [ 8.66674685e-01 3.94569552e-01 -3.05270140e-01 3.67618972e+01] [ 3.42142198e-01 -2.47845972e-02 9.39321266e-01 1.55063899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:36.79, Z:15.52 [[ 3.63275614e-01 -9.18441422e-01 -1.56512567e-01 6.99167542e+01] [ 8.66459782e-01 3.94791497e-01 -3.05593064e-01 3.67850694e+01] [ 3.42459159e-01 -2.45973369e-02 9.39210677e-01 1.55162804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:36.81, Z:15.53 [[ 3.63758333e-01 -9.18234828e-01 -1.56603564e-01 6.99284745e+01] [ 8.66082420e-01 3.95289261e-01 -3.06019022e-01 3.68078457e+01] [ 3.42901031e-01 -2.43146245e-02 9.39056805e-01 1.55261073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:36.83, Z:15.54 [[ 3.63896940e-01 -9.18175038e-01 -1.56632107e-01 6.99401524e+01] [ 8.65902419e-01 3.95438004e-01 -3.06336067e-01 3.68294255e+01] [ 3.43208418e-01 -2.41533630e-02 9.38948666e-01 1.55351890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:36.85, Z:15.55 [[ 3.64070447e-01 -9.18135220e-01 -1.56462223e-01 6.99523282e+01] [ 8.65898381e-01 3.95540006e-01 -3.06215769e-01 3.68523190e+01] [ 3.43034552e-01 -2.39962741e-02 9.39016227e-01 1.55450600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:36.88, Z:15.54 [[ 3.62551700e-01 -9.21663667e-01 -1.38175068e-01 6.99558249e+01] [ 8.68358087e-01 3.87908205e-01 -3.09000740e-01 3.68836468e+01] [ 3.38393998e-01 -7.95669443e-03 9.40970878e-01 1.55396293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:36.89, Z:15.57 [[ 3.65059809e-01 -9.15579530e-01 -1.68657823e-01 6.99793267e+01] [ 8.66103460e-01 4.00444426e-01 -2.99180645e-01 3.68944925e+01] [ 3.41461759e-01 -3.68562948e-02 9.39172764e-01 1.55702772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:36.93, Z:15.56 [[ 3.63197186e-01 -9.21242163e-01 -1.39286329e-01 6.99795818e+01] [ 8.67988430e-01 3.88891307e-01 -3.08803555e-01 3.69300743e+01] [ 3.38650098e-01 -8.74234006e-03 9.40871767e-01 1.55599383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:36.95, Z:15.57 [[ 3.63321486e-01 -9.20746256e-01 -1.42210509e-01 6.99918290e+01] [ 8.68925860e-01 3.89950983e-01 -3.04804989e-01 3.69528357e+01] [ 3.36103181e-01 -1.28281875e-02 9.41737803e-01 1.55687397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:36.96, Z:15.60 [[ 3.68022761e-01 -9.13527531e-01 -1.73282134e-01 7.00176890e+01] [ 8.65337682e-01 4.04691433e-01 -2.95661193e-01 3.69621604e+01] [ 3.40220435e-01 -4.11375119e-02 9.39445454e-01 1.56037578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:37.00, Z:15.58 [[ 3.64921173e-01 -9.21736619e-01 -1.31278875e-01 7.00123127e+01] [ 8.68200058e-01 3.87815141e-01 -3.09561101e-01 3.70016403e+01] [ 3.36245738e-01 -1.01092638e-03 9.41773742e-01 1.55845820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:37.01, Z:15.62 [[ 3.69092606e-01 -9.13410429e-01 -1.71615955e-01 7.00410230e+01] [ 8.64772724e-01 4.05175051e-01 -2.96650153e-01 3.70093665e+01] [ 3.40497847e-01 -3.89174196e-02 9.39439541e-01 1.56223556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:37.04, Z:15.62 [[ 3.69395832e-01 -9.16221760e-01 -1.55191513e-01 7.00468530e+01] [ 8.64224720e-01 4.00097140e-01 -3.05021168e-01 3.70384413e+01] [ 3.41558712e-01 -2.14467936e-02 9.39615709e-01 1.56229769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:37.06, Z:15.63 [[ 3.70287275e-01 -9.15817290e-01 -1.55454253e-01 7.00580687e+01] [ 8.63504994e-01 4.01045902e-01 -3.05812540e-01 3.70620490e+01] [ 3.42412703e-01 -2.09970319e-02 9.39314998e-01 1.56319844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:37.08, Z:15.64 [[ 3.70128615e-01 -9.15893350e-01 -1.55383979e-01 7.00697391e+01] [ 8.63536738e-01 4.00875147e-01 -3.05946758e-01 3.70844038e+01] [ 3.42504176e-01 -2.09401243e-02 9.39282918e-01 1.56414400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:37.11, Z:15.65 [[ 3.69105679e-01 -9.16321307e-01 -1.55294106e-01 7.00818912e+01] [ 8.63962628e-01 3.99881958e-01 -3.06044109e-01 3.71069661e+01] [ 3.42534049e-01 -2.12056851e-02 9.39266067e-01 1.56511807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:37.13, Z:15.66 [[ 3.68029239e-01 -9.16849551e-01 -1.54730023e-01 7.00934739e+01] [ 8.64826039e-01 3.98654101e-01 -3.05206209e-01 3.71289844e+01] [ 3.41511934e-01 -2.14897441e-02 9.39631731e-01 1.56608649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:37.15, Z:15.67 [[ 3.67727755e-01 -9.17021043e-01 -1.54430259e-01 7.01043780e+01] [ 8.65114995e-01 3.98260032e-01 -3.04901612e-01 3.71528738e+01] [ 3.41104594e-01 -2.14791473e-02 9.39779922e-01 1.56702525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:37.18, Z:15.68 [[ 3.67033174e-01 -9.17349664e-01 -1.54130602e-01 7.01155236e+01] [ 8.65589220e-01 3.97494210e-01 -3.04554847e-01 3.71757294e+01] [ 3.40649309e-01 -2.16320552e-02 9.39941542e-01 1.56788935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:37.20, Z:15.69 [[ 3.66341052e-01 -9.17591660e-01 -1.54336578e-01 7.01276284e+01] [ 8.65609023e-01 3.96927481e-01 -3.05236948e-01 3.71998970e+01] [ 3.41343306e-01 -2.17743099e-02 9.39686451e-01 1.56882942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:37.22, Z:15.70 [[ 3.66107408e-01 -9.17656446e-01 -1.54505707e-01 7.01388353e+01] [ 8.65472147e-01 3.96778568e-01 -3.05818133e-01 3.72225408e+01] [ 3.41940534e-01 -2.17581015e-02 9.39469667e-01 1.56976072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:37.24, Z:15.71 [[ 3.66011196e-01 -9.17672022e-01 -1.54641083e-01 7.01497630e+01] [ 8.65294318e-01 3.96746919e-01 -3.06361919e-01 3.72444630e+01] [ 3.42493135e-01 -2.16781580e-02 9.39270201e-01 1.57066121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:37.27, Z:15.72 [[ 3.65810705e-01 -9.17772539e-01 -1.54518910e-01 7.01610806e+01] [ 8.65383347e-01 3.96516934e-01 -3.06408198e-01 3.72675093e+01] [ 3.42482395e-01 -2.16306924e-02 9.39275211e-01 1.57152388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:37.29, Z:15.72 [[ 3.65878760e-01 -9.17739156e-01 -1.54556055e-01 7.01721086e+01] [ 8.65221687e-01 3.96601829e-01 -3.06754659e-01 3.72906101e+01] [ 3.42817976e-01 -2.14902366e-02 9.39156007e-01 1.57240709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:37.31, Z:15.73 [[ 3.65832129e-01 -9.17802594e-01 -1.54289504e-01 7.01838531e+01] [ 8.65376120e-01 3.96460407e-01 -3.06501739e-01 3.73142064e+01] [ 3.42477771e-01 -2.13902681e-02 9.39282403e-01 1.57335074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:37.34, Z:15.74 [[ 3.66338236e-01 -9.17653379e-01 -1.53975882e-01 7.01953670e+01] [ 8.65343314e-01 3.96821414e-01 -3.06126958e-01 3.73381021e+01] [ 3.42019365e-01 -2.10959906e-02 9.39456073e-01 1.57430418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:37.36, Z:15.75 [[ 3.68456098e-01 -9.16824334e-01 -1.53861119e-01 7.02066872e+01] [ 8.64435067e-01 3.98779481e-01 -3.06148559e-01 3.73609808e+01] [ 3.42041106e-01 -2.02006429e-02 9.39467836e-01 1.57522803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:37.38, Z:15.76 [[ 3.70088967e-01 -9.16167384e-01 -1.53855391e-01 7.02176436e+01] [ 8.63632489e-01 4.00322227e-01 -3.06400127e-01 3.73826247e+01] [ 3.42305536e-01 -1.94792080e-02 9.39386758e-01 1.57611169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:37.41, Z:15.77 [[ 3.72119483e-01 -9.15355665e-01 -1.53789131e-01 7.02294207e+01] [ 8.62723053e-01 4.02215073e-01 -3.06483227e-01 3.74065065e+01] [ 3.42397465e-01 -1.86290488e-02 9.39370499e-01 1.57708630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:37.43, Z:15.78 [[ 3.74426961e-01 -9.14407267e-01 -1.53830432e-01 7.02408921e+01] [ 8.61577620e-01 4.04410188e-01 -3.06816565e-01 3.74302248e+01] [ 3.42765890e-01 -1.76564634e-02 9.39254914e-01 1.57801655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:37.45, Z:15.79 [[ 3.76971675e-01 -9.13346266e-01 -1.53918660e-01 7.02529987e+01] [ 8.60278522e-01 4.06845574e-01 -3.07241832e-01 3.74539329e+01] [ 3.43239306e-01 -1.65914490e-02 9.39101434e-01 1.57901394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:37.48, Z:15.80 [[ 3.84031267e-01 -9.10330573e-01 -1.54331573e-01 7.02638336e+01] [ 8.56640097e-01 4.13651701e-01 -3.08318040e-01 3.74764048e+01] [ 3.44510856e-01 -1.38028463e-02 9.38680857e-01 1.57995193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:37.50, Z:15.81 [[ 3.87096030e-01 -9.09006412e-01 -1.54479791e-01 7.02744297e+01] [ 8.54998991e-01 4.16594577e-01 -3.08910480e-01 3.74996451e+01] [ 3.45157050e-01 -1.25020450e-02 9.38461672e-01 1.58081376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:37.52, Z:15.82 [[ 3.89911060e-01 -9.07826439e-01 -1.54338985e-01 7.02858397e+01] [ 8.53729212e-01 4.19193356e-01 -3.08906722e-01 3.75242275e+01] [ 3.45131566e-01 -1.13175525e-02 9.38486076e-01 1.58170863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:37.55, Z:15.83 [[ 3.95537530e-01 -9.05421628e-01 -1.54148430e-01 7.02967314e+01] [ 8.51190428e-01 4.24416440e-01 -3.08780732e-01 3.75476718e+01] [ 3.44999881e-01 -9.07530028e-03 9.38558853e-01 1.58264206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:37.57, Z:15.84 [[ 3.98014226e-01 -9.04374203e-01 -1.53921984e-01 7.03076714e+01] [ 8.50162665e-01 4.26664093e-01 -3.08514498e-01 3.75715641e+01] [ 3.44685537e-01 -8.06556523e-03 9.38683561e-01 1.58366692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:37.60, Z:15.85 [[ 4.00037767e-01 -9.03519078e-01 -1.53697950e-01 7.03183866e+01] [ 8.49315825e-01 4.28487406e-01 -3.08319920e-01 3.75950500e+01] [ 3.44430566e-01 -7.19848901e-03 9.38784196e-01 1.58460767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:37.62, Z:15.86 [[ 4.01793086e-01 -9.02658748e-01 -1.54173607e-01 7.03297708e+01] [ 8.47947766e-01 4.30310070e-01 -3.09544552e-01 3.76178325e+01] [ 3.45755554e-01 -6.35830460e-03 9.38303080e-01 1.58556726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:37.64, Z:15.87 [[ 4.01840312e-01 -9.02599779e-01 -1.54395606e-01 7.03411113e+01] [ 8.47616733e-01 4.30436240e-01 -3.10274905e-01 3.76413064e+01] [ 3.46511525e-01 -6.18733415e-03 9.38025309e-01 1.58652734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:37.67, Z:15.84 [[ 3.90173766e-01 -9.13488092e-01 -1.15342700e-01 7.03144681e+01] [ 8.57318245e-01 4.06124703e-01 -3.16335506e-01 3.76707574e+01] [ 3.35812237e-01 2.45404144e-02 9.41609213e-01 1.58354085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:37.68, Z:15.89 [[ 4.02326500e-01 -9.00059340e-01 -1.67411383e-01 7.03678812e+01] [ 8.46436608e-01 4.35380427e-01 -3.06576178e-01 3.76807690e+01] [ 3.48824392e-01 -1.83594027e-02 9.37008258e-01 1.58902017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:37.71, Z:15.86 [[ 3.89443649e-01 -9.12469738e-01 -1.25429751e-01 7.03393555e+01] [ 8.55726653e-01 4.08823949e-01 -3.17166949e-01 3.77124880e+01] [ 3.40683929e-01 1.61850731e-02 9.40038565e-01 1.58611532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:37.74, Z:15.87 [[ 3.88564381e-01 -9.12502016e-01 -1.27897586e-01 7.03503054e+01] [ 8.56352108e-01 4.08864433e-01 -3.15421849e-01 3.77353751e+01] [ 3.40115848e-01 1.30363278e-02 9.40293180e-01 1.58710808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:37.76, Z:15.88 [[ 3.88096915e-01 -9.12225534e-01 -1.31245418e-01 7.03608785e+01] [ 8.56477558e-01 4.09577925e-01 -3.14153014e-01 3.77570249e+01] [ 3.40333627e-01 9.51306091e-03 9.40256627e-01 1.58817744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:37.77, Z:15.93 [[ 3.97611691e-01 -9.02751993e-01 -1.64145616e-01 7.04061641e+01] [ 8.47841730e-01 4.29873534e-01 -3.10440245e-01 3.77737501e+01] [ 3.50812406e-01 -1.57348325e-02 9.36313554e-01 1.59259904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:37.80, Z:15.93 [[ 3.94769528e-01 -9.04993471e-01 -1.58568084e-01 7.04150721e+01] [ 8.48716727e-01 4.25296066e-01 -3.14329721e-01 3.78000040e+01] [ 3.51904728e-01 -1.04915897e-02 9.35977024e-01 1.59332532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:37.82, Z:15.92 [[ 3.82115585e-01 -9.12800162e-01 -1.44164991e-01 7.03983870e+01] [ 8.56875986e-01 4.08393043e-01 -3.14608753e-01 3.78210382e+01] [ 3.46050900e-01 -3.31461096e-03 9.38209885e-01 1.59215108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:37.85, Z:15.95 [[ 3.89513948e-01 -9.08570017e-01 -1.50928486e-01 7.04361131e+01] [ 8.50181356e-01 4.17718039e-01 -3.20473559e-01 3.78481215e+01] [ 3.54218219e-01 -3.48766322e-03 9.35156292e-01 1.59471947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:37.86, Z:15.94 [[ 3.72690679e-01 -9.16350403e-01 -1.46299684e-01 7.04214749e+01] [ 8.59990694e-01 4.00300133e-01 -3.16505623e-01 3.78647625e+01] [ 3.48593838e-01 -7.85767173e-03 9.37240947e-01 1.59403749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:37.89, Z:15.95 [[ 3.70177407e-01 -9.17359477e-01 -1.46356681e-01 7.04338813e+01] [ 8.60234108e-01 3.97981320e-01 -3.18760332e-01 3.78865148e+01] [ 3.50665036e-01 -7.90313607e-03 9.36467604e-01 1.59524755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:37.92, Z:15.97 [[ 3.78226421e-01 -9.14591252e-01 -1.43065080e-01 7.04683309e+01] [ 8.55302308e-01 4.04379547e-01 -3.23936946e-01 3.79177662e+01] [ 3.54122489e-01 1.57618764e-04 9.35199037e-01 1.59708901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:37.93, Z:15.99 [[ 3.75025440e-01 -9.13254377e-01 -1.59130013e-01 7.04849843e+01] [ 8.57715164e-01 4.06962025e-01 -3.14176079e-01 3.79336830e+01] [ 3.51682552e-01 -1.86642027e-02 9.35933240e-01 1.59877199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:37.96, Z:16.00 [[ 3.73210894e-01 -9.13996138e-01 -1.59137329e-01 7.04970754e+01] [ 8.58402336e-01 4.05266787e-01 -3.14490480e-01 3.79554645e+01] [ 3.51936158e-01 -1.92325816e-02 9.35826399e-01 1.59972582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:37.98, Z:15.98 [[ 3.60652942e-01 -9.23361576e-01 -1.31654304e-01 7.04722334e+01] [ 8.66611774e-01 3.83930556e-01 -3.18718312e-01 3.79774226e+01] [ 3.44838353e-01 8.53526585e-04 9.38661697e-01 1.59758151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:38.00, Z:16.01 [[ 3.71278505e-01 -9.14582875e-01 -1.60282367e-01 7.05220242e+01] [ 8.58990794e-01 4.03861050e-01 -3.14692022e-01 3.79962584e+01] [ 3.52543739e-01 -2.08426944e-02 9.35563196e-01 1.60148278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:38.01, Z:16.02 [[ 3.59505382e-01 -9.18919904e-01 -1.62302468e-01 7.05104841e+01] [ 8.64971896e-01 3.93420843e-01 -3.11518313e-01 3.80094915e+01] [ 3.50113551e-01 -2.83945633e-02 9.36276802e-01 1.60158458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:38.04, Z:16.02 [[ 3.58127693e-01 -9.21959872e-01 -1.47426425e-01 7.05192896e+01] [ 8.64455465e-01 3.87081317e-01 -3.20756610e-01 3.80369719e+01] [ 3.52790738e-01 -1.25717546e-02 9.35617789e-01 1.60198030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:38.06, Z:16.02 [[ 3.55115119e-01 -9.24715280e-01 -1.37094507e-01 7.05291036e+01] [ 8.65599243e-01 3.80646580e-01 -3.25340025e-01 3.80633268e+01] [ 3.53031447e-01 -3.13573913e-03 9.35606201e-01 1.60229221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.957552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:70.54, Y:38.08, Z:16.03 [[ 3.53106837e-01 -9.25144512e-01 -1.39367117e-01 7.05434021e+01] [ 8.66979099e-01 3.79554229e-01 -3.22933166e-01 3.80848778e+01] [ 3.51657225e-01 -6.79846825e-03 9.36104149e-01 1.60334961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:70.56, Y:38.11, Z:16.04 [[ 3.51044260e-01 -9.26121758e-01 -1.38081194e-01 7.05561912e+01] [ 8.68885560e-01 3.77151610e-01 -3.20615886e-01 3.81060900e+01] [ 3.49006892e-01 -7.42638929e-03 9.37090731e-01 1.60439762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:70.57, Y:38.13, Z:16.06 [[ 3.51180463e-01 -9.25463536e-01 -1.42089850e-01 7.05710662e+01] [ 8.69154447e-01 3.78653347e-01 -3.18107199e-01 3.81260834e+01] [ 3.48199411e-01 -1.17849914e-02 9.37346406e-01 1.60572271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:70.58, Y:38.15, Z:16.07 [[ 3.51827044e-01 -9.25131708e-01 -1.42650109e-01 7.05843279e+01] [ 8.69685922e-01 3.79424374e-01 -3.15727005e-01 3.81459614e+01] [ 3.46213992e-01 -1.29794930e-02 9.38065779e-01 1.60665922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:70.59, Y:38.17, Z:16.07 [[ 3.54969665e-01 -9.25092522e-01 -1.34908722e-01 7.05928450e+01] [ 8.68456549e-01 3.79720519e-01 -3.18740569e-01 3.81690569e+01] [ 3.46092127e-01 -4.01913058e-03 9.38191924e-01 1.60710441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:70.60, Y:38.19, Z:16.08 [[ 3.55518441e-01 -9.24753944e-01 -1.35782112e-01 7.06048268e+01] [ 8.68255364e-01 3.80536206e-01 -3.18315598e-01 3.81906017e+01] [ 3.46033614e-01 -4.72648236e-03 9.38210210e-01 1.60805581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.137552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.62, Y:38.20, Z:16.10 [[ 3.61460605e-01 -9.19452026e-01 -1.54771455e-01 7.06224220e+01] [ 8.65440279e-01 3.92616834e-01 -3.11231658e-01 3.81988896e+01] [ 3.46928457e-01 -2.14474676e-02 9.37646336e-01 1.61013562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.167552018 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:70.65, Y:38.25, Z:16.10 [[ 3.64012197e-01 -9.23148533e-01 -1.23660450e-01 7.06459421e+01] [ 8.64596525e-01 3.84288297e-01 -3.23721106e-01 3.82472677e+01] [ 3.46363927e-01 1.09220357e-02 9.38036641e-01 1.60972204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.197552018 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:70.67, Y:38.26, Z:16.12 [[ 3.64200306e-01 -9.17675855e-01 -1.58836906e-01 7.06700395e+01] [ 8.65637821e-01 3.96469024e-01 -3.05750678e-01 3.82581890e+01] [ 3.43553927e-01 -2.61407427e-02 9.38769067e-01 1.61235542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.227552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.67, Y:38.27, Z:16.14 [[ 3.61168573e-01 -9.15735583e-01 -1.76027283e-01 7.06706477e+01] [ 8.65906137e-01 3.99402099e-01 -3.01138716e-01 3.82675204e+01] [ 3.46069104e-01 -4.36612646e-02 9.37192547e-01 1.61403129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.257552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:70.66, Y:38.30, Z:16.12 [[ 3.66618517e-01 -9.21108495e-01 -1.30958017e-01 7.06624119e+01] [ 8.63042512e-01 3.89273935e-01 -3.21905927e-01 3.82995230e+01] [ 3.47488826e-01 4.99433737e-03 9.37670823e-01 1.61209732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.287552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:70.69, Y:38.31, Z:16.15 [[ 3.69615883e-01 -9.14575178e-01 -1.64122948e-01 7.06895362e+01] [ 8.60006644e-01 4.03596267e-01 -3.12247699e-01 3.83099968e+01] [ 3.51813404e-01 -2.57351172e-02 9.35716321e-01 1.61548931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.317552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:70.71, Y:38.36, Z:16.14 [[ 3.71302526e-01 -9.20298926e-01 -1.23224679e-01 7.07071718e+01] [ 8.59475651e-01 3.90871682e-01 -3.29425155e-01 3.83597358e+01] [ 3.51334654e-01 1.64077812e-02 9.36106162e-01 1.61413318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.347552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.72, Y:38.36, Z:16.17 [[ 3.67867663e-01 -9.13111783e-01 -1.75784680e-01 7.07195159e+01] [ 8.61765271e-01 4.05792718e-01 -3.04455067e-01 3.83557634e+01] [ 3.49333653e-01 -3.94859587e-02 9.36166042e-01 1.61748284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:38.39, Z:16.17 [[ 3.67385335e-01 -9.18001524e-01 -1.49335925e-01 7.07233902e+01] [ 8.61020146e-01 3.96409113e-01 -3.18597118e-01 3.83890941e+01] [ 3.51670761e-01 -1.15333310e-02 9.36052701e-01 1.61711249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.75, Y:38.42, Z:16.17 [[ 3.71245789e-01 -9.18378256e-01 -1.36959643e-01 7.07464251e+01] [ 8.59450214e-01 3.95696032e-01 -3.23681912e-01 3.84225304e+01] [ 3.51456817e-01 2.45555253e-03 9.36200874e-01 1.61736863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:70.76, Y:38.42, Z:16.20 [[ 3.65181592e-01 -9.14351315e-01 -1.74940213e-01 7.07563591e+01] [ 8.62631720e-01 4.03012495e-01 -3.05691748e-01 3.84249879e+01] [ 3.50012744e-01 -3.92759778e-02 9.35921192e-01 1.62007606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:38.46, Z:16.20 [[ 3.64503522e-01 -9.18871846e-01 -1.51035472e-01 7.07612847e+01] [ 8.62793625e-01 3.94272118e-01 -3.16443766e-01 3.84563966e+01] [ 3.50320342e-01 -1.49675752e-02 9.36510347e-01 1.61992788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.497552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:70.78, Y:38.49, Z:16.20 [[ 3.65109537e-01 -9.20826723e-01 -1.37015229e-01 7.07830451e+01] [ 8.63423341e-01 3.89969274e-01 -3.20037654e-01 3.84885637e+01] [ 3.48130953e-01 -1.45334721e-03 9.37444786e-01 1.62023374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:38.50, Z:16.22 [[ 3.62563482e-01 -9.18137816e-01 -1.59908327e-01 7.08026325e+01] [ 8.65515999e-01 3.95347159e-01 -3.07542972e-01 3.85028760e+01] [ 3.45586135e-01 -2.68993642e-02 9.38001411e-01 1.62234478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.557552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:70.81, Y:38.53, Z:16.23 [[ 3.58791379e-01 -9.19674799e-01 -1.59583866e-01 7.08139163e+01] [ 8.67315980e-01 3.91667270e-01 -3.07180305e-01 3.85252748e+01] [ 3.45009762e-01 -2.81959922e-02 9.38175490e-01 1.62325208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.587552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:70.82, Y:38.55, Z:16.24 [[ 3.52581149e-01 -9.22182956e-01 -1.58950083e-01 7.08247659e+01] [ 8.70382485e-01 3.85559234e-01 -3.06232601e-01 3.85486457e+01] [ 3.43687158e-01 -3.03755260e-02 9.38592811e-01 1.62422043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.617552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:70.84, Y:38.57, Z:16.25 [[ 3.49326684e-01 -9.23504616e-01 -1.58461643e-01 7.08365909e+01] [ 8.72059288e-01 3.82295839e-01 -3.05552761e-01 3.85708936e+01] [ 3.42758612e-01 -3.14502142e-02 9.38896916e-01 1.62515931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:38.59, Z:16.26 [[ 3.41642303e-01 -9.25474915e-01 -1.63635930e-01 7.08379699e+01] [ 8.75759980e-01 3.76674673e-01 -3.01928218e-01 3.85867753e+01] [ 3.41064503e-01 -4.01543467e-02 9.39181896e-01 1.62615863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:38.61, Z:16.26 [[ 3.38329385e-01 -9.29084966e-01 -1.49446824e-01 7.08464450e+01] [ 8.76501724e-01 3.68925809e-01 -3.09254709e-01 3.86135924e+01] [ 3.42458691e-01 -2.63604435e-02 9.39163017e-01 1.62649264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:38.64, Z:16.27 [[ 3.40190480e-01 -9.28986053e-01 -1.45792147e-01 7.08671444e+01] [ 8.75273140e-01 3.69492458e-01 -3.12045275e-01 3.86413980e+01] [ 3.43754807e-01 -2.14531181e-02 9.38814357e-01 1.62732824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:38.65, Z:16.29 [[ 3.35944206e-01 -9.27887114e-01 -1.61762153e-01 7.08733073e+01] [ 8.77490690e-01 3.70737824e-01 -3.04242591e-01 3.86547176e+01] [ 3.42274128e-01 -3.97362474e-02 9.38759528e-01 1.62869432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:38.69, Z:16.29 [[ 3.36909061e-01 -9.29695374e-01 -1.48858308e-01 7.08905360e+01] [ 8.75792817e-01 3.67484632e-01 -3.12956846e-01 3.86861098e+01] [ 3.45657672e-01 -2.49310400e-02 9.38029433e-01 1.62914138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:70.91, Y:38.70, Z:16.30 [[ 3.35099504e-01 -9.28540808e-01 -1.59750716e-01 7.09052486e+01] [ 8.76505325e-01 3.69422365e-01 -3.08651148e-01 3.87046058e+01] [ 3.45610673e-01 -3.65935067e-02 9.37664214e-01 1.63047759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:70.92, Y:38.73, Z:16.31 [[ 3.34930799e-01 -9.28666500e-01 -1.59373435e-01 7.09167003e+01] [ 8.76799073e-01 3.69113797e-01 -3.08185642e-01 3.87279280e+01] [ 3.45028615e-01 -3.65176166e-02 9.37881506e-01 1.63140407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.93, Y:38.75, Z:16.32 [[ 3.34425195e-01 -9.28863819e-01 -1.59285259e-01 7.09281192e+01] [ 8.76977479e-01 3.68609544e-01 -3.08281535e-01 3.87494190e+01] [ 3.45065631e-01 -3.65924720e-02 9.37864970e-01 1.63230110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.887552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:70.94, Y:38.77, Z:16.33 [[ 3.34078434e-01 -9.29053786e-01 -1.58904568e-01 7.09403104e+01] [ 8.77365592e-01 3.68129283e-01 -3.07750628e-01 3.87724221e+01] [ 3.44414310e-01 -3.66045521e-02 9.38103880e-01 1.63326099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:38.79, Z:16.34 [[ 3.33859763e-01 -9.29154365e-01 -1.58776018e-01 7.09522002e+01] [ 8.77465186e-01 3.67878816e-01 -3.07766184e-01 3.87948933e+01] [ 3.44372627e-01 -3.65696832e-02 9.38120542e-01 1.63422598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:38.82, Z:16.35 [[ 3.35308395e-01 -9.28738709e-01 -1.58154011e-01 7.09645985e+01] [ 8.77326608e-01 3.68995373e-01 -3.06823137e-01 3.88162717e+01] [ 3.43316622e-01 -3.58723480e-02 9.38534428e-01 1.63519607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:38.84, Z:16.36 [[ 3.36705878e-01 -9.28296718e-01 -1.57779449e-01 7.09760367e+01] [ 8.76989999e-01 3.70169121e-01 -3.06371284e-01 3.88381340e+01] [ 3.42808537e-01 -3.52139864e-02 9.38745057e-01 1.63618327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:38.86, Z:16.37 [[ 3.38367688e-01 -9.27734946e-01 -1.57528339e-01 7.09883937e+01] [ 8.76440920e-01 3.71644492e-01 -3.06156307e-01 3.88605631e+01] [ 3.42576445e-01 -3.44708807e-02 9.38857358e-01 1.63715899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:38.88, Z:16.38 [[ 3.39523119e-01 -9.27344088e-01 -1.57343552e-01 7.09996808e+01] [ 8.76040616e-01 3.72668718e-01 -3.06056966e-01 3.88831366e+01] [ 3.42457138e-01 -3.39259266e-02 9.38920732e-01 1.63806648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.067552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.01, Y:38.91, Z:16.39 [[ 3.41953382e-01 -9.26435551e-01 -1.57432698e-01 7.10110911e+01] [ 8.74887667e-01 3.75010452e-01 -3.06494260e-01 3.89057591e+01] [ 3.42986086e-01 -3.29291767e-02 9.38763130e-01 1.63890832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.097552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.02, Y:38.93, Z:16.40 [[ 3.43001556e-01 -9.26086917e-01 -1.57203545e-01 7.10221447e+01] [ 8.74558870e-01 3.75915345e-01 -3.06324070e-01 3.89288640e+01] [ 3.42777939e-01 -3.24141217e-02 9.38857076e-01 1.63979571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:38.95, Z:16.41 [[ 3.43377424e-01 -9.25998707e-01 -1.56902324e-01 7.10339964e+01] [ 8.74572653e-01 3.76155051e-01 -3.05990283e-01 3.89522970e+01] [ 3.42366208e-01 -3.21523264e-02 9.39016298e-01 1.64070180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.05, Y:38.97, Z:16.42 [[ 3.43837073e-01 -9.25924306e-01 -1.56333770e-01 7.10457459e+01] [ 8.74777564e-01 3.76364961e-01 -3.05145259e-01 3.89749816e+01] [ 3.41379966e-01 -3.18370217e-02 9.39386035e-01 1.64167252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.06, Y:39.00, Z:16.43 [[ 3.43669805e-01 -9.26056129e-01 -1.55920204e-01 7.10572757e+01] [ 8.75104288e-01 3.76046624e-01 -3.04600430e-01 3.89982318e+01] [ 3.40710362e-01 -3.17644686e-02 9.39631560e-01 1.64263805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:39.02, Z:16.44 [[ 3.43374760e-01 -9.26214296e-01 -1.55630497e-01 7.10688923e+01] [ 8.75374159e-01 3.75658556e-01 -3.04303682e-01 3.90204095e+01] [ 3.40314349e-01 -3.17447113e-02 9.39775727e-01 1.64351335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:39.04, Z:16.45 [[ 3.43244568e-01 -9.26276964e-01 -1.55544696e-01 7.10809963e+01] [ 8.75397765e-01 3.75510038e-01 -3.04419061e-01 3.90431114e+01] [ 3.40384959e-01 -3.16732900e-02 9.39752565e-01 1.64452529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.277552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:71.09, Y:39.07, Z:16.45 [[ 3.44663079e-01 -9.25734076e-01 -1.55639913e-01 7.10922472e+01] [ 8.74644195e-01 3.76898095e-01 -3.04869410e-01 3.90657984e+01] [ 3.40888389e-01 -3.10523173e-02 9.39590794e-01 1.64546163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.307552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:71.10, Y:39.09, Z:16.46 [[ 3.45246942e-01 -9.25458796e-01 -1.55982580e-01 7.11037173e+01] [ 8.74013642e-01 3.77598194e-01 -3.05810001e-01 3.90882929e+01] [ 3.41913296e-01 -3.07509350e-02 9.39228235e-01 1.64636685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.337552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.11, Y:39.11, Z:16.47 [[ 3.46098906e-01 -9.25099579e-01 -1.56225213e-01 7.11145551e+01] [ 8.73357412e-01 3.78510438e-01 -3.06556161e-01 3.91110293e+01] [ 3.42727849e-01 -3.03416957e-02 9.38944622e-01 1.64719894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.367552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.13, Y:39.13, Z:16.48 [[ 3.45984621e-01 -9.25032712e-01 -1.56872952e-01 7.11263116e+01] [ 8.72737495e-01 3.78676621e-01 -3.08112451e-01 3.91341712e+01] [ 3.44418216e-01 -3.03067370e-02 9.38327019e-01 1.64809237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:39.16, Z:16.49 [[ 3.47004678e-01 -9.24558991e-01 -1.57411646e-01 7.11368058e+01] [ 8.71747790e-01 3.79868361e-01 -3.09444371e-01 3.91577230e+01] [ 3.45895279e-01 -2.98446105e-02 9.37798355e-01 1.64887816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:39.18, Z:16.50 [[ 3.46311202e-01 -9.24779762e-01 -1.57641818e-01 7.11488719e+01] [ 8.71729337e-01 3.79317899e-01 -3.10170751e-01 3.91807475e+01] [ 3.46635997e-01 -3.00053919e-02 9.37519686e-01 1.64984582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:39.20, Z:16.51 [[ 3.45066202e-01 -9.25257481e-01 -1.57568745e-01 7.11611312e+01] [ 8.72201818e-01 3.78123039e-01 -3.10301398e-01 3.92035794e+01] [ 3.46689062e-01 -3.03572206e-02 9.37488738e-01 1.65078523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:39.22, Z:16.52 [[ 3.44032188e-01 -9.25678707e-01 -1.57355598e-01 7.11730455e+01] [ 8.72709111e-01 3.77069291e-01 -3.10157310e-01 3.92243382e+01] [ 3.46439981e-01 -3.06215659e-02 9.37572215e-01 1.65181586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:39.25, Z:16.53 [[ 3.44370548e-01 -9.25624264e-01 -1.56935169e-01 7.11850105e+01] [ 8.72834343e-01 3.77224397e-01 -3.09615834e-01 3.92469462e+01] [ 3.45787702e-01 -3.03558306e-02 9.37821619e-01 1.65285786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:39.27, Z:16.54 [[ 3.44551337e-01 -9.25589900e-01 -1.56740912e-01 7.11965708e+01] [ 8.72831777e-01 3.77323684e-01 -3.09502061e-01 3.92695955e+01] [ 3.45614040e-01 -3.01690996e-02 9.37891657e-01 1.65382690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:71.21, Y:39.29, Z:16.55 [[ 3.45260896e-01 -9.25374864e-01 -1.56448955e-01 7.12073417e+01] [ 8.72699457e-01 3.77881598e-01 -3.09194365e-01 3.92923876e+01] [ 3.45239874e-01 -2.97801944e-02 9.38041880e-01 1.65474258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:39.31, Z:16.56 [[ 3.45791527e-01 -9.25211903e-01 -1.56240696e-01 7.12191753e+01] [ 8.72566468e-01 3.78305259e-01 -3.09051597e-01 3.93147426e+01] [ 3.45044893e-01 -2.94629686e-02 9.38123635e-01 1.65570558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:39.34, Z:16.57 [[ 3.46563501e-01 -9.25022670e-01 -1.55649603e-01 7.12303617e+01] [ 8.72669891e-01 3.78800648e-01 -3.08151473e-01 3.93377850e+01] [ 3.44007269e-01 -2.90366687e-02 9.38517912e-01 1.65670284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:39.36, Z:16.58 [[ 3.46240104e-01 -9.24792906e-01 -1.57720868e-01 7.12399235e+01] [ 8.73147306e-01 3.79153054e-01 -3.06360481e-01 3.93590885e+01] [ 3.43120348e-01 -3.16392659e-02 9.38758427e-01 1.65775099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:39.39, Z:16.58 [[ 3.49271149e-01 -9.24849463e-01 -1.50542800e-01 7.12525752e+01] [ 8.72301567e-01 3.79596228e-01 -3.08215314e-01 3.93851818e+01] [ 3.42198247e-01 -2.36680039e-02 9.39329647e-01 1.65844933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:39.41, Z:16.60 [[ 3.48638166e-01 -9.24171839e-01 -1.56069990e-01 7.12647709e+01] [ 8.72843852e-01 3.80810294e-01 -3.05167380e-01 3.94063245e+01] [ 3.41460158e-01 -2.98317356e-02 9.39422710e-01 1.65969479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:39.43, Z:16.60 [[ 3.51234307e-01 -9.24088897e-01 -1.50645853e-01 7.12766840e+01] [ 8.71717053e-01 3.81466952e-01 -3.07558684e-01 3.94323015e+01] [ 3.41677979e-01 -2.32953977e-02 9.39528330e-01 1.66039256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:39.46, Z:16.60 [[ 3.52240957e-01 -9.24997583e-01 -1.42498353e-01 7.12828432e+01] [ 8.71706866e-01 3.79673119e-01 -3.09799067e-01 3.94595393e+01] [ 3.40666182e-01 -1.50928727e-02 9.40063167e-01 1.66047902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:39.47, Z:16.63 [[ 3.55881063e-01 -9.20216203e-01 -1.62944188e-01 7.13037389e+01] [ 8.69116833e-01 3.89986775e-01 -3.04214146e-01 3.94747952e+01] [ 3.43488865e-01 -3.33534836e-02 9.38564300e-01 1.66279012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:39.51, Z:16.62 [[ 3.56094267e-01 -9.23583655e-01 -1.42091889e-01 7.13054661e+01] [ 8.69582486e-01 3.83187903e-01 -3.11437524e-01 3.95061786e+01] [ 3.42086500e-01 -1.26595014e-02 9.39583186e-01 1.66222454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:39.52, Z:16.65 [[ 3.59703014e-01 -9.18532332e-01 -1.64049070e-01 7.13273584e+01] [ 8.66946456e-01 3.94013166e-01 -3.05217084e-01 3.95216157e+01] [ 3.44989253e-01 -3.24342548e-02 9.38046073e-01 1.66465717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:39.55, Z:16.65 [[ 3.62757149e-01 -9.18745538e-01 -1.55929107e-01 7.13355739e+01] [ 8.65045184e-01 3.94218742e-01 -3.10303742e-01 3.95473745e+01] [ 3.46560355e-01 -2.23208220e-02 9.37762071e-01 1.66510271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:39.57, Z:16.66 [[ 3.63752219e-01 -9.18385835e-01 -1.55729838e-01 7.13468664e+01] [ 8.64715266e-01 3.95082136e-01 -3.10125159e-01 3.95702382e+01] [ 3.46340630e-01 -2.18532539e-02 9.37854255e-01 1.66600531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:39.59, Z:16.67 [[ 3.64636153e-01 -9.18054804e-01 -1.55614435e-01 7.13591080e+01] [ 8.64333681e-01 3.95875454e-01 -3.10177228e-01 3.95931397e+01] [ 3.46363629e-01 -2.14009663e-02 9.37856191e-01 1.66698103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:39.62, Z:16.68 [[ 3.65971600e-01 -9.17576866e-01 -1.55298045e-01 7.13706004e+01] [ 8.63936844e-01 3.97014963e-01 -3.09826158e-01 3.96163860e+01] [ 3.45944963e-01 -2.07801282e-02 9.38024663e-01 1.66792710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:39.64, Z:16.69 [[ 3.65754248e-01 -9.17682325e-01 -1.55186923e-01 7.13821082e+01] [ 8.64028054e-01 3.96772964e-01 -3.09881811e-01 3.96398019e+01] [ 3.45947036e-01 -2.07452669e-02 9.38024670e-01 1.66887653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:39.67, Z:16.68 [[ 3.65345446e-01 -9.20964341e-01 -1.35452525e-01 7.13843263e+01] [ 8.66049421e-01 3.89636411e-01 -3.13276023e-01 3.96698468e+01] [ 3.41293282e-01 -2.85461265e-03 9.39952524e-01 1.66825114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.087552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.41, Y:39.68, Z:16.72 [[ 3.68426567e-01 -9.14376802e-01 -1.67859848e-01 7.14102045e+01] [ 8.63506159e-01 4.03478815e-01 -3.02592067e-01 3.96799125e+01] [ 3.44411059e-01 -3.34650558e-02 9.38222315e-01 1.67150578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:39.71, Z:16.72 [[ 3.68394660e-01 -9.16749826e-01 -1.54451065e-01 7.14173974e+01] [ 8.63385040e-01 3.98981819e-01 -3.08836172e-01 3.97070295e+01] [ 3.44748674e-01 -1.95771429e-02 9.38490856e-01 1.67180550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:39.73, Z:16.73 [[ 3.67922360e-01 -9.17095168e-01 -1.53523907e-01 7.14293755e+01] [ 8.64316164e-01 3.98183971e-01 -3.07257374e-01 3.97297891e+01] [ 3.42915011e-01 -1.96463364e-02 9.39160964e-01 1.67274800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:39.75, Z:16.74 [[ 3.67580496e-01 -9.17265056e-01 -1.53327742e-01 7.14401141e+01] [ 8.64538293e-01 3.97791837e-01 -3.07140351e-01 3.97520112e+01] [ 3.42721635e-01 -1.96589017e-02 9.39231286e-01 1.67365916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:39.77, Z:16.75 [[ 3.67241332e-01 -9.17433849e-01 -1.53130456e-01 7.14511305e+01] [ 8.64755340e-01 3.97402095e-01 -3.07033837e-01 3.97742433e+01] [ 3.42537599e-01 -1.96648639e-02 9.39298295e-01 1.67460104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:39.80, Z:16.76 [[ 3.67307573e-01 -9.17421670e-01 -1.53044526e-01 7.14625564e+01] [ 8.64698680e-01 3.97437367e-01 -3.07147736e-01 3.97972162e+01] [ 3.42609602e-01 -1.95197108e-02 9.39275062e-01 1.67550336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:39.82, Z:16.76 [[ 3.65696869e-01 -9.19083799e-01 -1.46801809e-01 7.14676044e+01] [ 8.65734067e-01 3.93808813e-01 -3.08899892e-01 3.98225960e+01] [ 3.41716732e-01 -1.41276042e-02 9.39696805e-01 1.67563474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:39.84, Z:16.77 [[ 3.67544005e-01 -9.16745627e-01 -1.56489167e-01 7.14848952e+01] [ 8.63850864e-01 3.98860006e-01 -3.07688771e-01 3.98424090e+01] [ 3.44489606e-01 -2.20941393e-02 9.38530106e-01 1.67739861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:39.87, Z:16.78 [[ 3.66598461e-01 -9.17517417e-01 -1.54166656e-01 7.14945796e+01] [ 8.63791043e-01 3.97215707e-01 -3.09975347e-01 3.98656168e+01] [ 3.45645197e-01 -1.95312915e-02 9.38161994e-01 1.67811683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:39.89, Z:16.79 [[ 3.65182421e-01 -9.18059047e-01 -1.54302903e-01 7.15054139e+01] [ 8.64175804e-01 3.95941698e-01 -3.10532369e-01 3.98892579e+01] [ 3.46182004e-01 -1.99438726e-02 9.37955363e-01 1.67910121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:39.91, Z:16.80 [[ 3.61622515e-01 -9.19445365e-01 -1.54432436e-01 7.15160973e+01] [ 8.65488450e-01 3.92647303e-01 -3.11059218e-01 3.99123635e+01] [ 3.46639436e-01 -2.11734728e-02 9.37759450e-01 1.68004721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:39.94, Z:16.81 [[ 3.58942402e-01 -9.20490936e-01 -1.54456432e-01 7.15267368e+01] [ 8.66508932e-01 3.90140003e-01 -3.11372846e-01 3.99351335e+01] [ 3.46875515e-01 -2.20729603e-02 9.37651407e-01 1.68092841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:39.96, Z:16.82 [[ 3.55824739e-01 -9.21714004e-01 -1.54376328e-01 7.15371623e+01] [ 8.67793972e-01 3.87179849e-01 -3.11488982e-01 3.99573701e+01] [ 3.46875160e-01 -2.31313609e-02 9.37626025e-01 1.68180389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.55, Y:39.98, Z:16.83 [[ 3.49770330e-01 -9.24093675e-01 -1.53985700e-01 7.15484754e+01] [ 8.70565333e-01 3.81328639e-01 -3.10973424e-01 3.99813076e+01] [ 3.46087732e-01 -2.52853346e-02 9.37861362e-01 1.68286516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:40.00, Z:16.84 [[ 3.47162404e-01 -9.25136748e-01 -1.53623772e-01 7.15594610e+01] [ 8.71867959e-01 3.78732533e-01 -3.10496263e-01 4.00034273e+01] [ 3.45433824e-01 -2.61470150e-02 9.38078785e-01 1.68382328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:40.03, Z:16.85 [[ 3.44890252e-01 -9.25989700e-01 -1.53602699e-01 7.15705837e+01] [ 8.72732476e-01 3.76588871e-01 -3.10674827e-01 4.00259444e+01] [ 3.45526757e-01 -2.69053446e-02 9.38023114e-01 1.68484876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:40.05, Z:16.86 [[ 3.42010420e-01 -9.27082693e-01 -1.53448858e-01 7.15824602e+01] [ 8.73932273e-01 3.73820160e-01 -3.10645891e-01 4.00495886e+01] [ 3.45356706e-01 -2.78597779e-02 9.38057876e-01 1.68585606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:40.07, Z:16.87 [[ 3.40406886e-01 -9.27644808e-01 -1.53617261e-01 7.15941431e+01] [ 8.74332265e-01 3.72385074e-01 -3.11243390e-01 4.00735376e+01] [ 3.45928090e-01 -2.83631347e-02 9.37832229e-01 1.68687665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:40.10, Z:16.88 [[ 3.39681214e-01 -9.27890823e-01 -1.53737743e-01 7.16045329e+01] [ 8.74420509e-01 3.71758280e-01 -3.11744374e-01 4.00960530e+01] [ 3.46418022e-01 -2.85377279e-02 9.37646070e-01 1.68779235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:40.12, Z:16.89 [[ 3.39372844e-01 -9.27995006e-01 -1.53789926e-01 7.16157067e+01] [ 8.74385484e-01 3.71498296e-01 -3.12152273e-01 4.01196742e+01] [ 3.46808446e-01 -2.85356741e-02 9.37501796e-01 1.68871200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:40.14, Z:16.90 [[ 3.41481522e-01 -9.27229919e-01 -1.53736940e-01 7.16265863e+01] [ 8.73480164e-01 3.73471854e-01 -3.12331838e-01 4.01430856e+01] [ 3.47019845e-01 -2.76306162e-02 9.37450679e-01 1.68962589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:40.17, Z:16.91 [[ 3.44153163e-01 -9.26230226e-01 -1.53805623e-01 7.16370243e+01] [ 8.72231663e-01 3.76024456e-01 -3.12757949e-01 4.01653455e+01] [ 3.47520542e-01 -2.65174969e-02 9.37297336e-01 1.69058115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:40.19, Z:16.91 [[ 3.47063189e-01 -9.25132781e-01 -1.53871636e-01 7.16484174e+01] [ 8.70873994e-01 3.78799396e-01 -3.13192440e-01 4.01881406e+01] [ 3.48031076e-01 -2.53052390e-02 9.37141406e-01 1.69146232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:40.21, Z:16.92 [[ 3.50312458e-01 -9.23865504e-01 -1.54122391e-01 7.16603521e+01] [ 8.69203042e-01 3.81965930e-01 -3.13987419e-01 4.02113284e+01] [ 3.48951648e-01 -2.39699462e-02 9.36834131e-01 1.69242253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:40.23, Z:16.93 [[ 3.57505149e-01 -9.20993264e-01 -1.54794949e-01 7.16736125e+01] [ 8.65472961e-01 3.89005253e-01 -3.15644527e-01 4.02340195e+01] [ 3.50922532e-01 -2.11262991e-02 9.36166148e-01 1.69337688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:40.26, Z:16.94 [[ 3.61572468e-01 -9.19419042e-01 -1.54706097e-01 7.16856839e+01] [ 8.63728632e-01 3.92797271e-01 -3.15726392e-01 4.02572532e+01] [ 3.51052989e-01 -1.94661150e-02 9.36153229e-01 1.69431746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:40.28, Z:16.95 [[ 3.65985514e-01 -9.17717957e-01 -1.54429128e-01 7.16974531e+01] [ 8.61990550e-01 3.96839124e-01 -3.15421942e-01 4.02792912e+01] [ 3.50751900e-01 -1.76765873e-02 9.36301577e-01 1.69525596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:40.30, Z:16.96 [[ 3.75679928e-01 -9.13941681e-01 -1.53542161e-01 7.17101244e+01] [ 8.58480819e-01 4.05607068e-01 -3.13836883e-01 4.03006607e+01] [ 3.49106394e-01 -1.39107826e-02 9.36979837e-01 1.69617973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:40.32, Z:16.97 [[ 3.80919341e-01 -9.11854699e-01 -1.53040721e-01 7.17222496e+01] [ 8.56492243e-01 4.10343257e-01 -3.13112520e-01 4.03234831e+01] [ 3.48312351e-01 -1.18075757e-02 9.37304159e-01 1.69715155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:40.35, Z:16.98 [[ 3.86089218e-01 -9.09744086e-01 -1.52646039e-01 7.17342423e+01] [ 8.54407962e-01 4.15055397e-01 -3.12595670e-01 4.03454459e+01] [ 3.47738624e-01 -9.73217345e-03 9.37541004e-01 1.69810695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:40.37, Z:16.99 [[ 3.91357355e-01 -9.07574560e-01 -1.52144139e-01 7.17460410e+01] [ 8.52341563e-01 4.19821708e-01 -3.11871117e-01 4.03676825e+01] [ 3.46919704e-01 -7.62571745e-03 9.37863832e-01 1.69908022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:40.39, Z:17.00 [[ 4.00983676e-01 -9.03461945e-01 -1.51553966e-01 7.17587963e+01] [ 8.48275644e-01 4.28650782e-01 -3.10945234e-01 4.03900754e+01] [ 3.45890912e-01 -3.87557543e-03 9.38266730e-01 1.70008555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:40.41, Z:17.01 [[ 4.04968462e-01 -9.01722224e-01 -1.51319449e-01 7.17705542e+01] [ 8.46487021e-01 4.32310066e-01 -3.10753487e-01 4.04134478e+01] [ 3.45630246e-01 -2.24458820e-03 9.38368102e-01 1.70102691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:40.44, Z:17.02 [[ 4.08071586e-01 -9.00346192e-01 -1.51176436e-01 7.17818141e+01] [ 8.45019914e-01 4.35173359e-01 -3.10749888e-01 4.04362618e+01] [ 3.45570436e-01 -9.38899004e-04 9.38392344e-01 1.70192447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:40.46, Z:17.03 [[ 4.10481559e-01 -8.99257778e-01 -1.51130203e-01 7.17931413e+01] [ 8.43787017e-01 4.37419061e-01 -3.10946997e-01 4.04585270e+01] [ 3.45728737e-01 1.16305105e-04 9.38334496e-01 1.70285269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:40.48, Z:17.04 [[ 4.11631322e-01 -8.98629839e-01 -1.51736837e-01 7.18032911e+01] [ 8.42542268e-01 4.38706948e-01 -3.12503983e-01 4.04829915e+01] [ 3.47393409e-01 7.91729102e-04 9.37719144e-01 1.70363395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:40.51, Z:17.04 [[ 4.10574294e-01 -8.99051702e-01 -1.52101240e-01 7.18135106e+01] [ 8.42604966e-01 4.37842106e-01 -3.13546107e-01 4.05058177e+01] [ 3.48490488e-01 5.72711196e-04 9.37312142e-01 1.70448637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:40.53, Z:17.05 [[ 4.08901812e-01 -8.99783550e-01 -1.52278928e-01 7.18245837e+01] [ 8.43135658e-01 4.36336516e-01 -3.14217610e-01 4.05301624e+01] [ 3.49172693e-01 9.23559186e-05 9.37058388e-01 1.70537520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:40.55, Z:17.06 [[ 4.04478623e-01 -9.01709247e-01 -1.52700613e-01 7.18354511e+01] [ 8.44764251e-01 4.32340568e-01 -3.15364858e-01 4.05535479e+01] [ 3.50386079e-01 -1.43767521e-03 9.36604254e-01 1.70629751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:40.58, Z:17.07 [[ 4.02299229e-01 -9.02717681e-01 -1.52499573e-01 7.18465554e+01] [ 8.45888858e-01 4.30227904e-01 -3.15239576e-01 4.05775386e+01] [ 3.50181910e-01 -2.17705104e-03 9.36679182e-01 1.70728362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:40.60, Z:17.08 [[ 3.97585608e-01 -9.06038030e-01 -1.44985423e-01 7.18524354e+01] [ 8.48833144e-01 4.23186287e-01 -3.16852742e-01 4.06032850e+01] [ 3.48436477e-01 2.90765760e-03 9.37327886e-01 1.70757005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:40.62, Z:17.09 [[ 3.93996687e-01 -9.05836266e-01 -1.55651118e-01 7.18694110e+01] [ 8.49868101e-01 4.23538035e-01 -3.13591684e-01 4.06243496e+01] [ 3.49986888e-01 -8.72883537e-03 9.36713929e-01 1.70945078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:40.65, Z:17.10 [[ 3.90294094e-01 -9.08053280e-01 -1.52018949e-01 7.18786651e+01] [ 8.51764571e-01 4.18802389e-01 -3.14804184e-01 4.06492328e+01] [ 3.49524871e-01 -6.61814097e-03 9.36903712e-01 1.71022152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:40.67, Z:17.11 [[ 3.86337936e-01 -9.09796340e-01 -1.51702404e-01 7.18890112e+01] [ 8.53774591e-01 4.14976978e-01 -3.14424960e-01 4.06725537e+01] [ 3.49015684e-01 -8.04536801e-03 9.37082347e-01 1.71122628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:40.70, Z:17.12 [[ 3.81989989e-01 -9.11693777e-01 -1.51321199e-01 7.18998127e+01] [ 8.55994765e-01 4.10757900e-01 -3.13928192e-01 4.06963550e+01] [ 3.48362757e-01 -9.61272743e-03 9.37310506e-01 1.71225876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:40.72, Z:17.13 [[ 3.77665529e-01 -9.13554057e-01 -1.50956067e-01 7.19108000e+01] [ 8.58175135e-01 4.06563825e-01 -3.13434673e-01 4.07206213e+01] [ 3.47712793e-01 -1.11732713e-02 9.37534518e-01 1.71326770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:40.74, Z:17.14 [[ 3.68242816e-01 -9.17461528e-01 -1.50537610e-01 7.19206518e+01] [ 8.62605634e-01 3.97554399e-01 -3.12829058e-01 4.07439522e+01] [ 3.46855515e-01 -1.46575374e-02 9.37804035e-01 1.71423347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:40.77, Z:17.15 [[ 3.63388640e-01 -9.19441637e-01 -1.50252361e-01 7.19315759e+01] [ 8.64856582e-01 3.92885062e-01 -3.12513073e-01 4.07682165e+01] [ 3.46369440e-01 -1.63830431e-02 9.37955120e-01 1.71519150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:40.79, Z:17.16 [[ 3.54795307e-01 -9.22830231e-01 -1.50015514e-01 7.19420194e+01] [ 8.68605954e-01 3.84712609e-01 -3.12281771e-01 4.07927339e+01] [ 3.45895919e-01 -1.95082622e-02 9.38070062e-01 1.71617552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:40.82, Z:17.17 [[ 3.51343671e-01 -9.24143506e-01 -1.50054677e-01 7.19525459e+01] [ 8.69905532e-01 3.81484604e-01 -3.12624155e-01 4.08168002e+01] [ 3.46153132e-01 -2.06948753e-02 9.37949749e-01 1.71711213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:40.84, Z:17.18 [[ 3.47738238e-01 -9.25494875e-01 -1.50124459e-01 7.19631233e+01] [ 8.71224438e-01 3.78124245e-01 -3.13033599e-01 4.08413906e+01] [ 3.46476689e-01 -2.19383456e-02 9.37802012e-01 1.71802304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:40.86, Z:17.19 [[ 3.44399989e-01 -9.26714270e-01 -1.50297403e-01 7.19731184e+01] [ 8.72324916e-01 3.75057032e-01 -3.13658195e-01 4.08645247e+01] [ 3.47041624e-01 -2.30842910e-02 9.37565585e-01 1.71890078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:40.89, Z:17.20 [[ 3.40430897e-01 -9.28233235e-01 -1.49966217e-01 7.19843212e+01] [ 8.74112288e-01 3.71195128e-01 -3.13276053e-01 4.08879686e+01] [ 3.46459973e-01 -2.44384650e-02 9.37746367e-01 1.71987290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:40.91, Z:17.21 [[ 3.39440401e-01 -9.28654955e-01 -1.49600099e-01 7.19951308e+01] [ 8.74736690e-01 3.70122573e-01 -3.12801861e-01 4.09101589e+01] [ 3.45855371e-01 -2.46831064e-02 9.37963116e-01 1.72083609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:40.93, Z:17.22 [[ 3.38618182e-01 -9.28982030e-01 -1.49432644e-01 7.20063658e+01] [ 8.75105440e-01 3.69288705e-01 -3.12756009e-01 4.09331399e+01] [ 3.45728500e-01 -2.48644483e-02 9.38005098e-01 1.72186187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73755201799999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:72.02, Y:40.96, Z:17.23 [[ 3.39061186e-01 -9.28895612e-01 -1.48964604e-01 7.20166080e+01] [ 8.75253414e-01 3.69525464e-01 -3.12061521e-01 4.09556241e+01] [ 3.44918793e-01 -2.45738288e-02 9.38310798e-01 1.72271720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.02, Y:40.98, Z:17.22 [[ 3.37421056e-01 -9.31729998e-01 -1.34261838e-01 7.20160974e+01] [ 8.77726730e-01 3.62943848e-01 -3.12837898e-01 4.09840330e+01] [ 3.40209962e-01 -1.22871104e-02 9.40269221e-01 1.72220877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:41.00, Z:17.25 [[ 3.44879084e-01 -9.25996061e-01 -1.53589429e-01 7.20417660e+01] [ 8.74023432e-01 3.76470647e-01 -3.07169158e-01 4.10013043e+01] [ 3.42259342e-01 -2.83045424e-02 9.39179107e-01 1.72485092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:41.03, Z:17.26 [[ 3.48194896e-01 -9.25759168e-01 -1.47411933e-01 7.20520505e+01] [ 8.72834338e-01 3.77530662e-01 -3.09242329e-01 4.10270779e+01] [ 3.41936445e-01 -2.09895961e-02 9.39488640e-01 1.72560551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:41.05, Z:17.27 [[ 3.55155567e-01 -9.23243794e-01 -1.46579056e-01 7.20639986e+01] [ 8.70633516e-01 3.83777805e-01 -3.07752948e-01 4.10494662e+01] [ 3.40384788e-01 -1.83164665e-02 9.40107815e-01 1.72659538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:41.07, Z:17.27 [[ 3.58380919e-01 -9.22058705e-01 -1.46187762e-01 7.20747747e+01] [ 8.69538369e-01 3.86675935e-01 -3.07221006e-01 4.10711825e+01] [ 3.39803093e-01 -1.70137217e-02 9.40342699e-01 1.72747874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:41.09, Z:17.28 [[ 3.58095971e-01 -9.22183147e-01 -1.46101057e-01 7.20858037e+01] [ 8.69656046e-01 3.86378416e-01 -3.07262236e-01 4.10948470e+01] [ 3.39802351e-01 -1.70282985e-02 9.40342703e-01 1.72843193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:41.12, Z:17.29 [[ 3.61713616e-01 -9.20845626e-01 -1.45624836e-01 7.20971210e+01] [ 8.68473384e-01 3.89615194e-01 -3.06519140e-01 4.11189976e+01] [ 3.38994458e-01 -1.55991477e-02 9.40659037e-01 1.72937410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:41.14, Z:17.30 [[ 3.64909160e-01 -9.19603931e-01 -1.45498850e-01 7.21080240e+01] [ 8.67136588e-01 3.92585801e-01 -3.06513502e-01 4.11428276e+01] [ 3.38991803e-01 -1.43177917e-02 9.40680370e-01 1.73030757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:41.17, Z:17.31 [[ 3.72249908e-01 -9.16665630e-01 -1.45444588e-01 7.21194058e+01] [ 8.63926309e-01 3.99489520e-01 -3.06658533e-01 4.11674521e+01] [ 3.39206926e-01 -1.14997953e-02 9.40641492e-01 1.73112571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:41.19, Z:17.32 [[ 3.75073374e-01 -9.15506971e-01 -1.45488657e-01 7.21311804e+01] [ 8.62555033e-01 4.02169243e-01 -3.07015822e-01 4.11914968e+01] [ 3.39586188e-01 -1.03385129e-02 9.40518121e-01 1.73206891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:41.21, Z:17.33 [[ 3.77728904e-01 -9.14409780e-01 -1.45518481e-01 7.21424321e+01] [ 8.61261139e-01 4.04684360e-01 -3.07343164e-01 4.12141025e+01] [ 3.39926648e-01 -9.23701606e-03 9.40406588e-01 1.73296681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:41.24, Z:17.34 [[ 3.80341172e-01 -9.13318499e-01 -1.45567555e-01 7.21530710e+01] [ 8.59954408e-01 4.07164649e-01 -3.07726120e-01 4.12372458e+01] [ 3.40321920e-01 -8.14054713e-03 9.40273748e-01 1.73391345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:41.26, Z:17.35 [[ 3.85422954e-01 -9.11152163e-01 -1.45776825e-01 7.21626139e+01] [ 8.57329358e-01 4.12025717e-01 -3.08579293e-01 4.12594665e+01] [ 3.41226491e-01 -6.04520943e-03 9.39961668e-01 1.73463420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:41.29, Z:17.35 [[ 3.85303831e-01 -9.11359846e-01 -1.44790151e-01 7.21730755e+01] [ 8.57038394e-01 4.11584190e-01 -3.09973620e-01 4.12852368e+01] [ 3.42090848e-01 -4.65669553e-03 9.39655345e-01 1.73549023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:41.31, Z:17.36 [[ 3.88069710e-01 -9.10046163e-01 -1.45663586e-01 7.21812918e+01] [ 8.56188946e-01 4.14476631e-01 -3.08463307e-01 4.13087816e+01] [ 3.41090002e-01 -5.01028577e-03 9.40017291e-01 1.73627636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.19, Y:41.33, Z:17.37 [[ 3.88247717e-01 -9.09990068e-01 -1.45539635e-01 7.21906468e+01] [ 8.56111055e-01 4.14602036e-01 -3.08510960e-01 4.13317813e+01] [ 3.41082939e-01 -4.81941447e-03 9.40020852e-01 1.73713656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.247552018 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:72.20, Y:41.36, Z:17.38 [[ 3.87851186e-01 -9.10168422e-01 -1.45481621e-01 7.22010174e+01] [ 8.56238366e-01 4.14210074e-01 -3.08684104e-01 4.13553357e+01] [ 3.41214476e-01 -4.84344991e-03 9.39972990e-01 1.73804936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:41.38, Z:17.39 [[ 3.85920637e-01 -9.10965147e-01 -1.45628852e-01 7.22127976e+01] [ 8.56869700e-01 4.12447684e-01 -3.09291490e-01 4.13783131e+01] [ 3.41818050e-01 -5.42298189e-03 9.39750505e-01 1.73903803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:41.40, Z:17.37 [[ 3.67401767e-01 -9.21599491e-01 -1.25181149e-01 7.21931184e+01] [ 8.67611274e-01 3.88101841e-01 -3.10849866e-01 4.14001109e+01] [ 3.35062112e-01 5.59821356e-03 9.42179410e-01 1.73748075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.337552018 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:72.23, Y:41.42, Z:17.41 [[ 3.78080568e-01 -9.14684957e-01 -1.42851371e-01 7.22339918e+01] [ 8.59779361e-01 4.04139135e-01 -3.12171443e-01 4.14233955e+01] [ 3.43270352e-01 -4.79470452e-03 9.39224401e-01 1.74082362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.367552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.25, Y:41.45, Z:17.42 [[ 3.74656191e-01 -9.15510289e-01 -1.46538898e-01 7.22456197e+01] [ 8.61150119e-01 4.02177540e-01 -3.10923944e-01 4.14468130e+01] [ 3.43588724e-01 -9.70240896e-03 9.39070100e-01 1.74195748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.397552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:72.26, Y:41.47, Z:17.43 [[ 3.70676922e-01 -9.17122084e-01 -1.46580020e-01 7.22556173e+01] [ 8.62752103e-01 3.98452447e-01 -3.11278744e-01 4.14720398e+01] [ 3.43885778e-01 -1.10783737e-02 9.38946133e-01 1.74287904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:41.49, Z:17.41 [[ 3.50988729e-01 -9.27450540e-01 -1.29005458e-01 7.22323957e+01] [ 8.73493020e-01 3.73931581e-01 -3.11745276e-01 4.14935077e+01] [ 3.37367540e-01 -3.26628940e-03 9.41367343e-01 1.74123629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:41.51, Z:17.43 [[ 3.50509973e-01 -9.26958665e-01 -1.33754971e-01 7.22457090e+01] [ 8.72317659e-01 3.75102773e-01 -3.13623680e-01 4.15145854e+01] [ 3.40888048e-01 -6.74859538e-03 9.40079675e-01 1.74285623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:72.28, Y:41.55, Z:17.45 [[ 3.61779173e-01 -9.22808735e-01 -1.32438171e-01 7.22821033e+01] [ 8.65431373e-01 3.85256313e-01 -3.20321887e-01 4.15461399e+01] [ 3.46618477e-01 1.26963915e-03 9.38005341e-01 1.74501753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51755201799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:72.30, Y:41.56, Z:17.47 [[ 3.59289769e-01 -9.21332176e-01 -1.48518965e-01 7.22951919e+01] [ 8.66323275e-01 3.88452968e-01 -3.13987700e-01 4.15638367e+01] [ 3.46979604e-01 -1.58528683e-02 9.37738685e-01 1.74673993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:72.30, Y:41.59, Z:17.48 [[ 3.59195842e-01 -9.21367270e-01 -1.48528450e-01 7.23037772e+01] [ 8.66239731e-01 3.88373496e-01 -3.14316331e-01 4.15880301e+01] [ 3.47285293e-01 -1.57601258e-02 9.37627081e-01 1.74767040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57755201799999 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:72.31, Y:41.61, Z:17.49 [[ 3.59446470e-01 -9.21261147e-01 -1.48580398e-01 7.23125560e+01] [ 8.65976995e-01 3.88633913e-01 -3.14718168e-01 4.16118252e+01] [ 3.47681002e-01 -1.55428722e-02 9.37484048e-01 1.74863839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799999 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:72.32, Y:41.64, Z:17.50 [[ 3.59457970e-01 -9.21199108e-01 -1.48936804e-01 7.23219693e+01] [ 8.65525511e-01 3.88786527e-01 -3.15769893e-01 4.16352710e+01] [ 3.48791566e-01 -1.54025985e-02 9.37073745e-01 1.74964390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:41.65, Z:17.50 [[ 3.46078371e-01 -9.25746167e-01 -1.52393553e-01 7.23075149e+01] [ 8.71600164e-01 3.77349038e-01 -3.12923087e-01 4.16490803e+01] [ 3.47192909e-01 -2.45303335e-02 9.37472851e-01 1.74959048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.667552018 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:72.34, Y:41.69, Z:17.50 [[ 3.59027764e-01 -9.24579911e-01 -1.27479620e-01 7.23364367e+01] [ 8.64567733e-01 3.80915131e-01 -3.27759511e-01 4.16859547e+01] [ 3.51598776e-01 7.45999817e-03 9.36121065e-01 1.75032618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:41.69, Z:17.51 [[ 3.46602278e-01 -9.26232324e-01 -1.48190898e-01 7.23278776e+01] [ 8.71977219e-01 3.76383255e-01 -3.13035741e-01 4.16930164e+01] [ 3.45720394e-01 -2.07201866e-02 9.38108780e-01 1.75094933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:41.72, Z:17.51 [[ 3.48065106e-01 -9.27852500e-01 -1.33941850e-01 7.23341379e+01] [ 8.70681762e-01 3.72913898e-01 -3.20700007e-01 4.17203012e+01] [ 3.47511081e-01 -4.99624428e-03 9.37662565e-01 1.75143343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:41.74, Z:17.53 [[ 3.48264106e-01 -9.28009352e-01 -1.32328211e-01 7.23464755e+01] [ 8.70349618e-01 3.72544650e-01 -3.22027991e-01 4.17437608e+01] [ 3.48143154e-01 -3.02101755e-03 9.37436514e-01 1.75250404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:41.77, Z:17.52 [[ 3.46505770e-01 -9.30348982e-01 -1.19935493e-01 7.23539054e+01] [ 8.71823679e-01 3.66587910e-01 -3.24864244e-01 4.17668777e+01] [ 3.46204021e-01 8.00473228e-03 9.38125098e-01 1.75236655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:41.79, Z:17.53 [[ 3.46062756e-01 -9.30104385e-01 -1.23070723e-01 7.23690818e+01] [ 8.72406341e-01 3.67270768e-01 -3.22520323e-01 4.17875516e+01] [ 3.45177846e-01 4.24459252e-03 9.38527697e-01 1.75342574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:41.80, Z:17.56 [[ 3.44077512e-01 -9.28331094e-01 -1.40755266e-01 7.23893311e+01] [ 8.72839364e-01 3.71491849e-01 -3.16457346e-01 4.18027764e+01] [ 3.46066628e-01 -1.39708805e-02 9.38105913e-01 1.75559777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:41.83, Z:17.55 [[ 3.44309718e-01 -9.31937798e-01 -1.13766248e-01 7.23908456e+01] [ 8.73055127e-01 3.62384579e-01 -3.26270075e-01 4.18310588e+01] [ 3.45290549e-01 1.30137509e-02 9.38405605e-01 1.75487318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:41.85, Z:17.57 [[ 3.43888165e-01 -9.29826981e-01 -1.31006545e-01 7.24095387e+01] [ 8.73188402e-01 3.67969613e-01 -3.19594084e-01 4.18465894e+01] [ 3.45373630e-01 -4.48877234e-03 9.38454531e-01 1.75680842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93755201799999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:72.42, Y:41.88, Z:17.57 [[ 3.41560554e-01 -9.32440587e-01 -1.17859829e-01 7.24195089e+01] [ 8.74142832e-01 3.61237989e-01 -3.24625053e-01 4.18755037e+01] [ 3.45269023e-01 7.85278835e-03 9.38470903e-01 1.75720619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:72.43, Y:41.89, Z:17.58 [[ 3.40408276e-01 -9.32960617e-01 -1.17075587e-01 7.24309908e+01] [ 8.76078701e-01 3.59916966e-01 -3.20851814e-01 4.18939286e+01] [ 3.41479597e-01 6.65318484e-03 9.39865639e-01 1.75776797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.997552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:72.45, Y:41.91, Z:17.59 [[ 3.41780954e-01 -9.30800137e-01 -1.29602796e-01 7.24487488e+01] [ 8.75391008e-01 3.65489895e-01 -3.16398039e-01 4.19095101e+01] [ 3.41871851e-01 -5.31429888e-03 9.39731555e-01 1.75944099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:41.94, Z:17.59 [[ 3.40001423e-01 -9.33390076e-01 -1.14812882e-01 7.24541379e+01] [ 8.76354200e-01 3.58758971e-01 -3.21395889e-01 4.19383479e+01] [ 3.41177885e-01 8.65830782e-03 9.39958874e-01 1.75944094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.057552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:72.47, Y:41.95, Z:17.61 [[ 3.40987258e-01 -9.31478971e-01 -1.26785711e-01 7.24707547e+01] [ 8.74947767e-01 3.63789878e-01 -3.19567410e-01 4.19540343e+01] [ 3.43793680e-01 -1.96246032e-03 9.39043159e-01 1.76113292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.087552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.48, Y:41.98, Z:17.61 [[ 3.40945585e-01 -9.32705683e-01 -1.17542405e-01 7.24804324e+01] [ 8.75444626e-01 3.60573807e-01 -3.21843496e-01 4.19801912e+01] [ 3.42567970e-01 6.82925201e-03 9.39468226e-01 1.76141409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:42.00, Z:17.63 [[ 3.41301649e-01 -9.31819058e-01 -1.23395416e-01 7.24940869e+01] [ 8.75466554e-01 3.62922097e-01 -3.19132989e-01 4.19997709e+01] [ 3.42157124e-01 8.92055562e-04 9.39642329e-01 1.76255356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:42.02, Z:17.64 [[ 3.41247170e-01 -9.31998309e-01 -1.22186418e-01 7.25065069e+01] [ 8.75039776e-01 3.62453547e-01 -3.20831445e-01 4.20232200e+01] [ 3.43301265e-01 2.56484726e-03 9.39221839e-01 1.76352079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:42.04, Z:17.65 [[ 3.41403873e-01 -9.31501882e-01 -1.25489598e-01 7.25204304e+01] [ 8.75155429e-01 3.63735403e-01 -3.19060388e-01 4.20437580e+01] [ 3.42850361e-01 -8.94450847e-04 9.39389605e-01 1.76460141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:42.07, Z:17.65 [[ 3.41909482e-01 -9.32260751e-01 -1.18270022e-01 7.25304802e+01] [ 8.75510058e-01 3.61737553e-01 -3.20356179e-01 4.20683717e+01] [ 3.41438200e-01 5.98622168e-03 9.39885164e-01 1.76509985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:42.09, Z:17.67 [[ 3.42965383e-01 -9.30525176e-01 -1.28443154e-01 7.25472186e+01] [ 8.75586098e-01 3.66201285e-01 -3.15032702e-01 4.20858564e+01] [ 3.40181908e-01 -4.41772929e-03 9.40349272e-01 1.76663814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:42.11, Z:17.68 [[ 3.44428145e-01 -9.30457912e-01 -1.24969305e-01 7.25583580e+01] [ 8.74919720e-01 3.66398688e-01 -3.16650415e-01 4.21083369e+01] [ 3.40418473e-01 -2.74794169e-04 9.40273996e-01 1.76751237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29755201799999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:72.57, Y:42.13, Z:17.68 [[ 3.46675823e-01 -9.30012451e-01 -1.22035711e-01 7.25706564e+01] [ 8.74323878e-01 3.67514095e-01 -3.17003386e-01 4.21315471e+01] [ 3.39666940e-01 3.19867385e-03 9.40540344e-01 1.76840469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:42.15, Z:17.69 [[ 3.47782163e-01 -9.29446359e-01 -1.23195101e-01 7.25824165e+01] [ 8.74119779e-01 3.68950854e-01 -3.15895362e-01 4.21533567e+01] [ 3.39060732e-01 2.17549827e-03 9.40761972e-01 1.76929997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:42.18, Z:17.70 [[ 3.49541837e-01 -9.28829723e-01 -1.22865171e-01 7.25921583e+01] [ 8.73414442e-01 3.70493425e-01 -3.16040875e-01 4.21754352e+01] [ 3.39068896e-01 3.15729351e-03 9.40756246e-01 1.77015320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:42.20, Z:17.71 [[ 3.50920100e-01 -9.28179498e-01 -1.23846286e-01 7.26052203e+01] [ 8.72520618e-01 3.72120363e-01 -3.16597863e-01 4.21975590e+01] [ 3.39945370e-01 3.04211563e-03 9.40440264e-01 1.77102150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:42.22, Z:17.72 [[ 3.49071205e-01 -9.29116580e-01 -1.22031450e-01 7.26184718e+01] [ 8.72943308e-01 3.69758992e-01 -3.18195331e-01 4.22196695e+01] [ 3.40762783e-01 4.54629011e-03 9.40138318e-01 1.77168062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:42.25, Z:17.73 [[ 3.40068453e-01 -9.32327234e-01 -1.22960871e-01 7.26354139e+01] [ 8.76871622e-01 3.61615705e-01 -3.16749491e-01 4.22529573e+01] [ 3.39778759e-01 -1.04389171e-04 9.40505387e-01 1.77286075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.65, Y:42.26, Z:17.74 [[ 3.50993621e-01 -9.26141158e-01 -1.38079809e-01 7.26465501e+01] [ 8.73036223e-01 3.76986980e-01 -3.09335691e-01 4.22577910e+01] [ 3.38542806e-01 -1.19738205e-02 9.40874804e-01 1.77414234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:42.30, Z:17.75 [[ 3.39451341e-01 -9.32290638e-01 -1.24927795e-01 7.26590206e+01] [ 8.77035606e-01 3.61703165e-01 -3.16195140e-01 4.22972697e+01] [ 3.39972548e-01 -2.23326036e-03 9.40432709e-01 1.77470998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:42.31, Z:17.76 [[ 3.39307897e-01 -9.30257255e-01 -1.39612288e-01 7.26766951e+01] [ 8.77638989e-01 3.66480543e-01 -3.08936591e-01 4.23141212e+01] [ 3.38555692e-01 -1.77045627e-02 9.40779779e-01 1.77635046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:42.34, Z:17.77 [[ 3.39557838e-01 -9.30057245e-01 -1.40335296e-01 7.26887006e+01] [ 8.77819228e-01 3.66941137e-01 -3.07875956e-01 4.23353872e+01] [ 3.37837057e-01 -1.86473270e-02 9.41019872e-01 1.77728276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.597552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:42.36, Z:17.79 [[ 3.45849948e-01 -9.27766725e-01 -1.40131074e-01 7.27167344e+01] [ 8.74561442e-01 3.72845918e-01 -3.10045488e-01 4.23622407e+01] [ 3.39897186e-01 -1.53240183e-02 9.40337746e-01 1.77893980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:42.38, Z:17.81 [[ 3.45705623e-01 -9.25721019e-01 -1.53389106e-01 7.27326664e+01] [ 8.75390573e-01 3.77040331e-01 -3.02542448e-01 4.23804985e+01] [ 3.37903783e-01 -2.96847515e-02 9.40712416e-01 1.78053517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:72.74, Y:42.40, Z:17.81 [[ 3.44709778e-01 -9.26065306e-01 -1.53552004e-01 7.27431427e+01] [ 8.75559138e-01 3.76172844e-01 -3.03133943e-01 4.24035311e+01] [ 3.38483921e-01 -2.99506261e-02 9.40495399e-01 1.78137479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:72.74, Y:42.42, Z:17.81 [[ 3.40265322e-01 -9.28327150e-01 -1.49760519e-01 7.27398124e+01] [ 8.78235522e-01 3.70654765e-01 -3.02187711e-01 4.24229253e+01] [ 3.36038506e-01 -2.87010086e-02 9.41410842e-01 1.78138203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:42.45, Z:17.83 [[ 3.43265910e-01 -9.27682562e-01 -1.46879470e-01 7.27627506e+01] [ 8.75600077e-01 3.72653937e-01 -3.07332960e-01 4.24499280e+01] [ 3.39842640e-01 -2.31107471e-02 9.40198316e-01 1.78276938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:42.47, Z:17.84 [[ 3.40416839e-01 -9.27592237e-01 -1.53912372e-01 7.27763097e+01] [ 8.76861664e-01 3.72271423e-01 -3.04183513e-01 4.24699113e+01] [ 3.39455443e-01 -3.14106692e-02 9.40097533e-01 1.78404598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.777552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:72.79, Y:42.49, Z:17.85 [[ 3.38335849e-01 -9.28420220e-01 -1.53508140e-01 7.27874103e+01] [ 8.77945802e-01 3.70147972e-01 -3.03647242e-01 4.24927616e+01] [ 3.38732966e-01 -3.20370802e-02 9.40336963e-01 1.78494555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:42.51, Z:17.86 [[ 3.35788893e-01 -9.29406379e-01 -1.53132630e-01 7.27979881e+01] [ 8.79182949e-01 3.67594777e-01 -3.03168965e-01 4.25145580e+01] [ 3.38057925e-01 -3.28308260e-02 9.40552485e-01 1.78584076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:42.54, Z:17.87 [[ 3.35574302e-01 -9.29502366e-01 -1.53020390e-01 7.28095666e+01] [ 8.79263382e-01 3.67355597e-01 -3.03225609e-01 4.25379460e+01] [ 3.38061818e-01 -3.27905037e-02 9.40552492e-01 1.78678744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.867552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:72.82, Y:42.56, Z:17.88 [[ 3.33821540e-01 -9.30175725e-01 -1.52762233e-01 7.28197809e+01] [ 8.80108858e-01 3.65598097e-01 -3.02896731e-01 4.25604261e+01] [ 3.37596768e-01 -3.33339417e-02 9.40700415e-01 1.78767738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:42.58, Z:17.88 [[ 3.29953638e-01 -9.31547443e-01 -1.52806932e-01 7.28297974e+01] [ 8.81510033e-01 3.61963839e-01 -3.03186809e-01 4.25843697e+01] [ 3.37743481e-01 -3.46632533e-02 9.40599702e-01 1.78846978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:42.61, Z:17.89 [[ 3.28203205e-01 -9.32135400e-01 -1.52991023e-01 7.28408270e+01] [ 8.81935239e-01 3.60393686e-01 -3.03820054e-01 4.26065036e+01] [ 3.38338426e-01 -3.52134585e-02 9.40365419e-01 1.78926091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.957552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:72.85, Y:42.63, Z:17.90 [[ 3.27412247e-01 -9.32396449e-01 -1.53095013e-01 7.28525584e+01] [ 8.82050693e-01 3.59699114e-01 -3.04307610e-01 4.26294294e+01] [ 3.38803476e-01 -3.54035241e-02 9.40190829e-01 1.79029675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.87, Y:42.65, Z:17.91 [[ 3.25955053e-01 -9.32894411e-01 -1.53170886e-01 7.28651871e+01] [ 8.82447786e-01 3.58362654e-01 -3.04732856e-01 4.26507338e+01] [ 3.39174303e-01 -3.58360955e-02 9.40040726e-01 1.79136328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:42.67, Z:17.92 [[ 3.23940002e-01 -9.33548320e-01 -1.53461428e-01 7.28765849e+01] [ 8.82871765e-01 3.56588833e-01 -3.05584441e-01 4.26723757e+01] [ 3.40000473e-01 -3.64957371e-02 9.39716840e-01 1.79232456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:42.69, Z:17.93 [[ 3.22373191e-01 -9.34090522e-01 -1.53461469e-01 7.28870589e+01] [ 8.83365106e-01 3.55118305e-01 -3.05871016e-01 4.26948825e+01] [ 3.40208194e-01 -3.69578916e-02 9.39623594e-01 1.79318136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:42.72, Z:17.94 [[ 3.21611774e-01 -9.34376417e-01 -1.53318553e-01 7.28985294e+01] [ 8.83675690e-01 3.54349093e-01 -3.05865975e-01 4.27182631e+01] [ 3.40122244e-01 -3.71137795e-02 9.39648565e-01 1.79409652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:72.91, Y:42.74, Z:17.95 [[ 3.23298310e-01 -9.33906828e-01 -1.52631056e-01 7.29084938e+01] [ 8.83529670e-01 3.55666156e-01 -3.04757130e-01 4.27419568e+01] [ 3.38900465e-01 -3.63266014e-02 9.40120659e-01 1.79496808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:42.76, Z:17.97 [[ 3.23251040e-01 -9.32138665e-01 -1.63175592e-01 7.29171682e+01] [ 8.83284184e-01 3.59079162e-01 -3.01448513e-01 4.27574071e+01] [ 3.39584769e-01 -4.66868737e-02 9.39416053e-01 1.79653525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:42.79, Z:17.96 [[ 3.28612520e-01 -9.34217562e-01 -1.38749264e-01 7.29277840e+01] [ 8.81396517e-01 3.56125089e-01 -3.10346744e-01 4.27916645e+01] [ 3.39343473e-01 -2.03092930e-02 9.40443268e-01 1.79621315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:42.81, Z:17.98 [[ 3.31476000e-01 -9.31130790e-01 -1.52049709e-01 7.29434641e+01] [ 8.80796934e-01 3.63169504e-01 -3.03816841e-01 4.28088341e+01] [ 3.38113032e-01 -3.32169265e-02 9.40519119e-01 1.79777736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:42.83, Z:17.99 [[ 3.34810160e-01 -9.29935147e-01 -1.52061760e-01 7.29542786e+01] [ 8.79378081e-01 3.66337620e-01 -3.04123230e-01 4.28317201e+01] [ 3.38520824e-01 -3.18962312e-02 9.40418142e-01 1.79869913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:42.85, Z:18.00 [[ 3.39951603e-01 -9.27999768e-01 -1.52477334e-01 7.29655525e+01] [ 8.76880768e-01 3.71375548e-01 -3.05221757e-01 4.28539342e+01] [ 3.39872073e-01 -2.99438164e-02 9.39994863e-01 1.79956729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:42.88, Z:18.00 [[ 3.38286642e-01 -9.28762090e-01 -1.51535898e-01 7.29709826e+01] [ 8.77829168e-01 3.69467748e-01 -3.04810655e-01 4.28762882e+01] [ 3.39084208e-01 -2.99092582e-02 9.40280456e-01 1.80018021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:42.90, Z:18.01 [[ 3.43191733e-01 -9.27510097e-01 -1.48136607e-01 7.29874948e+01] [ 8.76006790e-01 3.72972748e-01 -3.05783309e-01 4.29015462e+01] [ 3.38868024e-01 -2.48263698e-02 9.40506307e-01 1.80130375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.347552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:42.92, Z:18.02 [[ 3.43471639e-01 -9.26913496e-01 -1.51190622e-01 7.30009538e+01] [ 8.76460244e-01 3.74195218e-01 -3.02977523e-01 4.29224017e+01] [ 3.37408763e-01 -2.84483832e-02 9.40928274e-01 1.80240946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:42.94, Z:18.04 [[ 3.40897990e-01 -9.27462306e-01 -1.53630180e-01 7.30088951e+01] [ 8.78275629e-01 3.72482023e-01 -2.99815046e-01 4.29428887e+01] [ 3.35291635e-01 -3.27232966e-02 9.41545913e-01 1.80350063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:42.97, Z:18.04 [[ 3.41104872e-01 -9.28411432e-01 -1.47308108e-01 7.30176797e+01] [ 8.78222463e-01 3.70624226e-01 -3.02263113e-01 4.29683826e+01] [ 3.35220483e-01 -2.62658683e-02 9.41773503e-01 1.80410727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:42.99, Z:18.05 [[ 3.39987256e-01 -9.28676430e-01 -1.48218600e-01 7.30290134e+01] [ 8.78455023e-01 3.69880569e-01 -3.02498159e-01 4.29911318e+01] [ 3.35746091e-01 -2.73578545e-02 9.41555155e-01 1.80512396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:43.02, Z:18.06 [[ 3.40274782e-01 -9.29458847e-01 -1.42545868e-01 7.30422221e+01] [ 8.78278618e-01 3.68302506e-01 -3.04926110e-01 4.30183303e+01] [ 3.35916271e-01 -2.14363226e-02 9.41647887e-01 1.80582889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:43.04, Z:18.06 [[ 3.33206699e-01 -9.31540916e-01 -1.45618739e-01 7.30468854e+01] [ 8.81160357e-01 3.62616994e-01 -3.03422711e-01 4.30397952e+01] [ 3.35454500e-01 -2.72109795e-02 9.41663337e-01 1.80632869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.527552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.07, Y:43.06, Z:18.08 [[ 3.33374141e-01 -9.30636053e-01 -1.50924547e-01 7.30657040e+01] [ 8.80233823e-01 3.64580602e-01 -3.03758790e-01 4.30622352e+01] [ 3.37713043e-01 -3.15835655e-02 9.40719075e-01 1.80799490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.557552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.08, Y:43.09, Z:18.09 [[ 3.29667703e-01 -9.31932765e-01 -1.51064644e-01 7.30763456e+01] [ 8.81485821e-01 3.61138906e-01 -3.04239113e-01 4.30859816e+01] [ 3.38085718e-01 -3.28635317e-02 9.40541352e-01 1.80896539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:43.11, Z:18.10 [[ 3.23106372e-01 -9.33569618e-01 -1.55080758e-01 7.30826672e+01] [ 8.83795421e-01 3.56260691e-01 -3.03288598e-01 4.31069311e+01] [ 3.38390198e-01 -3.90651856e-02 9.40194653e-01 1.80990401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:43.14, Z:18.10 [[ 3.18955794e-01 -9.36716915e-01 -1.44321247e-01 7.30952833e+01] [ 8.84649232e-01 3.48883238e-01 -3.09315733e-01 4.31369497e+01] [ 3.40092544e-01 -2.90156350e-02 9.39944230e-01 1.81036705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:43.16, Z:18.12 [[ 3.15833317e-01 -9.36527806e-01 -1.52200474e-01 7.31087943e+01] [ 8.85668566e-01 3.48537818e-01 -3.06777738e-01 4.31564300e+01] [ 3.40353503e-01 -3.79085448e-02 9.39533094e-01 1.81157774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:43.18, Z:18.13 [[ 3.13506633e-01 -9.37290102e-01 -1.52318270e-01 7.31198648e+01] [ 8.86351625e-01 3.46396357e-01 -3.07230144e-01 4.31797802e+01] [ 3.40726267e-01 -3.86888583e-02 9.39366160e-01 1.81251618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:43.20, Z:18.14 [[ 3.11685821e-01 -9.37923945e-01 -1.52153289e-01 7.31313322e+01] [ 8.87064095e-01 3.44615588e-01 -3.07176478e-01 4.32024957e+01] [ 3.40542569e-01 -3.92271670e-02 9.39410447e-01 1.81351310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.14, Y:43.22, Z:18.14 [[ 3.12479391e-01 -9.37694154e-01 -1.51941777e-01 7.31418878e+01] [ 8.86854652e-01 3.45287416e-01 -3.07026753e-01 4.32248294e+01] [ 3.40360775e-01 -3.88107391e-02 9.39493624e-01 1.81441141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:73.15, Y:43.25, Z:18.15 [[ 3.13544283e-01 -9.37344464e-01 -1.51905690e-01 7.31540146e+01] [ 8.86415336e-01 3.46287964e-01 -3.07168517e-01 4.32474170e+01] [ 3.40525821e-01 -3.83406010e-02 9.39453119e-01 1.81543795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:43.27, Z:18.16 [[ 3.16176134e-01 -9.36520946e-01 -1.51529439e-01 7.31658879e+01] [ 8.85665936e-01 3.48628439e-01 -3.06682345e-01 4.32705029e+01] [ 3.40041911e-01 -3.72388240e-02 9.39672692e-01 1.81641483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:43.29, Z:18.17 [[ 3.20379968e-01 -9.35171574e-01 -1.51032458e-01 7.31766765e+01] [ 8.84423726e-01 3.52405797e-01 -3.05949060e-01 4.32924465e+01] [ 3.39339578e-01 -3.55567392e-02 9.39991686e-01 1.81736171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:43.32, Z:18.18 [[ 3.29737113e-01 -9.31970676e-01 -1.50678785e-01 7.31892361e+01] [ 8.81052094e-01 3.61117285e-01 -3.05518434e-01 4.33151580e+01] [ 3.39146935e-01 -3.20150926e-02 9.40188486e-01 1.81829882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:43.34, Z:18.19 [[ 3.34876743e-01 -9.30166586e-01 -1.50491493e-01 7.32006840e+01] [ 8.79110064e-01 3.65908101e-01 -3.05412437e-01 4.33384481e+01] [ 3.39150500e-01 -3.00230638e-02 9.40252920e-01 1.81923824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:43.36, Z:18.20 [[ 3.40571308e-01 -9.28154206e-01 -1.50136455e-01 7.32118764e+01] [ 8.77063562e-01 3.71154938e-01 -3.04964786e-01 4.33604983e+01] [ 3.38778235e-01 -2.78169579e-02 9.40454956e-01 1.82009360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:43.38, Z:18.21 [[ 3.46047004e-01 -9.26158062e-01 -1.49942375e-01 7.32240894e+01] [ 8.74923466e-01 3.76259356e-01 -3.04857058e-01 4.33830395e+01] [ 3.38763043e-01 -2.56932307e-02 9.40520844e-01 1.82103345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:43.41, Z:18.22 [[ 3.57746838e-01 -9.21819324e-01 -1.49219079e-01 7.32361757e+01] [ 8.70629546e-01 3.87035155e-01 -3.03657672e-01 4.34050146e+01] [ 3.37670539e-01 -2.12819670e-02 9.41023743e-01 1.82190490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:43.43, Z:18.23 [[ 3.63354070e-01 -9.19653427e-01 -1.49034872e-01 7.32480704e+01] [ 8.68316621e-01 3.92265865e-01 -3.03568341e-01 4.34282719e+01] [ 3.37638958e-01 -1.91066643e-02 9.41081755e-01 1.82282708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:43.45, Z:18.24 [[ 3.68438553e-01 -9.17610273e-01 -1.49145634e-01 7.32587388e+01] [ 8.65933487e-01 3.97112542e-01 -3.04073717e-01 4.34503115e+01] [ 3.38248768e-01 -1.71177184e-02 9.40901033e-01 1.82373197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:43.47, Z:18.25 [[ 3.73383771e-01 -9.15633419e-01 -1.48996649e-01 7.32702866e+01] [ 8.63805723e-01 4.01727837e-01 -3.04063181e-01 4.34733809e+01] [ 3.38266512e-01 -1.51719013e-02 9.40928042e-01 1.82457927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.097552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:43.50, Z:18.25 [[ 3.81803865e-01 -9.12151255e-01 -1.49016429e-01 7.32813342e+01] [ 8.59948981e-01 4.09680036e-01 -3.04384654e-01 4.34956644e+01] [ 3.38693900e-01 -1.19312893e-02 9.40820964e-01 1.82542750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:43.52, Z:18.26 [[ 3.84050483e-01 -9.13073700e-01 -1.37119088e-01 7.32880367e+01] [ 8.57153742e-01 4.07781162e-01 -3.14645811e-01 4.35240662e+01] [ 3.43209396e-01 3.30773655e-03 9.39253091e-01 1.82570540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:43.54, Z:18.28 [[ 3.86537843e-01 -9.07895175e-01 -1.62218518e-01 7.33084151e+01] [ 8.57985226e-01 4.18506721e-01 -2.97848076e-01 4.35368325e+01] [ 3.38304371e-01 -2.40515389e-02 9.40729332e-01 1.82787880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:43.57, Z:18.28 [[ 3.87747573e-01 -9.09696261e-01 -1.48675931e-01 7.33161353e+01] [ 8.57296353e-01 4.15167487e-01 -3.04432128e-01 4.35655494e+01] [ 3.38666182e-01 -9.41651461e-03 9.40859472e-01 1.82822239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:43.59, Z:18.29 [[ 3.86722417e-01 -9.10187464e-01 -1.48339314e-01 7.33274187e+01] [ 8.57976342e-01 4.14082705e-01 -3.03993602e-01 4.35884263e+01] [ 3.38115910e-01 -9.71048157e-03 9.41054376e-01 1.82912941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:43.61, Z:18.30 [[ 3.85706346e-01 -9.10678166e-01 -1.47972605e-01 7.33387964e+01] [ 8.58666571e-01 4.12995774e-01 -3.03522998e-01 4.36123100e+01] [ 3.37523828e-01 -9.98838311e-03 9.41263989e-01 1.83004922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:43.64, Z:18.31 [[ 3.84129403e-01 -9.11362664e-01 -1.47860398e-01 7.33500281e+01] [ 8.59389888e-01 4.11471146e-01 -3.03546564e-01 4.36361741e+01] [ 3.37481293e-01 -1.04685700e-02 9.41274023e-01 1.83106998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:43.66, Z:18.32 [[ 3.79194897e-01 -9.13486709e-01 -1.47489874e-01 7.33602296e+01] [ 8.61844369e-01 4.06685518e-01 -3.03036589e-01 4.36583587e+01] [ 3.36801892e-01 -1.22033893e-02 9.41496449e-01 1.83195838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:43.68, Z:18.33 [[ 3.75715764e-01 -9.14965542e-01 -1.47226770e-01 7.33709015e+01] [ 8.63514657e-01 4.03310471e-01 -3.02792176e-01 4.36818134e+01] [ 3.36422505e-01 -1.33686806e-02 9.41616258e-01 1.83287448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.367552018 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:73.38, Y:43.71, Z:18.34 [[ 3.71574585e-01 -9.16644382e-01 -1.47293603e-01 7.33815427e+01] [ 8.65169159e-01 3.99430821e-01 -3.03211718e-01 4.37061994e+01] [ 3.36770923e-01 -1.47681144e-02 9.41470790e-01 1.83355646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:43.73, Z:18.35 [[ 3.64886669e-01 -9.19314937e-01 -1.47369483e-01 7.33912608e+01] [ 8.67887044e-01 3.93150841e-01 -3.03651930e-01 4.37276295e+01] [ 3.37090192e-01 -1.71015236e-02 9.41317024e-01 1.83467633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:43.75, Z:18.36 [[ 3.62305466e-01 -9.20337107e-01 -1.47357928e-01 7.34007024e+01] [ 8.68919162e-01 3.90713645e-01 -3.03845912e-01 4.37516421e+01] [ 3.37215420e-01 -1.79570927e-02 9.41256237e-01 1.83558905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:43.77, Z:18.36 [[ 3.57764495e-01 -9.22030665e-01 -1.47864865e-01 7.34113302e+01] [ 8.70281901e-01 3.86625193e-01 -3.05172693e-01 4.37740715e+01] [ 3.38546863e-01 -1.95041616e-02 9.40747367e-01 1.83646446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:43.80, Z:18.37 [[ 3.50375989e-01 -9.24705911e-01 -1.48847723e-01 7.34206683e+01] [ 8.72361317e-01 3.80039708e-01 -3.07498865e-01 4.37980134e+01] [ 3.40914063e-01 -2.21087766e-02 9.39834455e-01 1.83736662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:43.82, Z:18.38 [[ 3.46023522e-01 -9.26252416e-01 -1.49412797e-01 7.34317431e+01] [ 8.73527394e-01 3.76163459e-01 -3.08951363e-01 4.38225456e+01] [ 3.42370581e-01 -2.36117327e-02 9.39268264e-01 1.83833171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:43.85, Z:18.39 [[ 3.42189804e-01 -9.27647909e-01 -1.49584408e-01 7.34420297e+01] [ 8.74826038e-01 3.72622951e-01 -3.09566697e-01 4.38455361e+01] [ 3.42907483e-01 -2.49297677e-02 9.39038319e-01 1.83921171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:43.87, Z:18.40 [[ 3.37902030e-01 -9.29216833e-01 -1.49593770e-01 7.34522369e+01] [ 8.76428926e-01 3.68590302e-01 -3.09860496e-01 4.38677677e+01] [ 3.43066402e-01 -2.64058171e-02 9.38939922e-01 1.84017013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:43.89, Z:18.41 [[ 3.30363018e-01 -9.32106559e-01 -1.48450796e-01 7.34637252e+01] [ 8.80302498e-01 3.61021194e-01 -3.07784356e-01 4.38919177e+01] [ 3.40481701e-01 -2.90010377e-02 9.39803783e-01 1.84117038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:43.92, Z:18.42 [[ 3.27335901e-01 -9.33273578e-01 -1.47822993e-01 7.34736777e+01] [ 8.81934914e-01 3.57914227e-01 -3.06738020e-01 4.39150836e+01] [ 3.39178441e-01 -2.99638925e-02 9.40244729e-01 1.84215596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:43.94, Z:18.43 [[ 3.22256837e-01 -9.34858712e-01 -1.48962143e-01 7.34825994e+01] [ 8.84640616e-01 3.53411048e-01 -3.04157215e-01 4.39384591e+01] [ 3.36988890e-01 -3.37612198e-02 9.40903113e-01 1.84293219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:43.96, Z:18.44 [[ 3.20737189e-01 -9.36475648e-01 -1.41919051e-01 7.34945735e+01] [ 8.85423026e-01 3.49657185e-01 -3.06212212e-01 4.39646362e+01] [ 3.36383295e-01 -2.74447511e-02 9.41325164e-01 1.84379064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:43.99, Z:18.45 [[ 3.20529363e-01 -9.35884310e-01 -1.46224093e-01 7.35072240e+01] [ 8.85663171e-01 3.50849612e-01 -3.04146836e-01 4.39867065e+01] [ 3.35948918e-01 -3.20173018e-02 9.41335868e-01 1.84494598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:44.01, Z:18.46 [[ 3.20550627e-01 -9.35936964e-01 -1.45839963e-01 7.35178779e+01] [ 8.85898346e-01 3.50721871e-01 -3.03608779e-01 4.40103678e+01] [ 3.35307943e-01 -3.18773974e-02 9.41569124e-01 1.84593445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:44.03, Z:18.47 [[ 3.20244855e-01 -9.36045886e-01 -1.45812661e-01 7.35289430e+01] [ 8.85946937e-01 3.50429865e-01 -3.03804106e-01 4.40325299e+01] [ 3.35471694e-01 -3.18905784e-02 9.41510347e-01 1.84679143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.817552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.54, Y:44.05, Z:18.48 [[ 3.20856424e-01 -9.35834452e-01 -1.45825356e-01 7.35392260e+01] [ 8.85599872e-01 3.51023920e-01 -3.04130029e-01 4.40547313e+01] [ 3.35803548e-01 -3.15608433e-02 9.41403150e-01 1.84766084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.847552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:44.08, Z:18.48 [[ 3.22137631e-01 -9.35354769e-01 -1.46078070e-01 7.35498873e+01] [ 8.84791831e-01 3.52348744e-01 -3.04948812e-01 4.40782244e+01] [ 3.36705750e-01 -3.10131953e-02 9.41099049e-01 1.84844478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:44.10, Z:18.49 [[ 3.23778491e-01 -9.34809580e-01 -1.45940185e-01 7.35606320e+01] [ 8.84193289e-01 3.53853946e-01 -3.04941982e-01 4.41016272e+01] [ 3.36704196e-01 -3.03056772e-02 9.41122654e-01 1.84938396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:44.13, Z:18.50 [[ 3.24108759e-01 -9.34895147e-01 -1.44653296e-01 7.35698646e+01] [ 8.84371967e-01 3.53719954e-01 -3.04579084e-01 4.41265576e+01] [ 3.35916265e-01 -2.92105709e-02 9.41438795e-01 1.85004397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:44.15, Z:18.51 [[ 3.27971453e-01 -9.33421964e-01 -1.45458459e-01 7.35829292e+01] [ 8.82357219e-01 3.57681923e-01 -3.05793035e-01 4.41491526e+01] [ 3.37461797e-01 -2.80549355e-02 9.40921068e-01 1.85123136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:44.17, Z:18.52 [[ 3.33731785e-01 -9.31306032e-01 -1.45918371e-01 7.35932134e+01] [ 8.80171289e-01 3.63273992e-01 -3.05500423e-01 4.41739713e+01] [ 3.37522736e-01 -2.64779590e-02 9.40944908e-01 1.85218610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:44.20, Z:18.53 [[ 3.35307762e-01 -9.30732316e-01 -1.45965958e-01 7.36040888e+01] [ 8.79420617e-01 3.64789294e-01 -3.05856419e-01 4.41968100e+01] [ 3.37917273e-01 -2.58094419e-02 9.40821869e-01 1.85305302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:44.22, Z:18.54 [[ 3.39709372e-01 -9.29182017e-01 -1.45665101e-01 7.36146683e+01] [ 8.77844863e-01 3.68837234e-01 -3.05528217e-01 4.42200512e+01] [ 3.37618038e-01 -2.40805619e-02 9.40975126e-01 1.85397733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:44.24, Z:18.55 [[ 3.40827264e-01 -9.28799304e-01 -1.45494432e-01 7.36254135e+01] [ 8.77451233e-01 3.69833635e-01 -3.05454443e-01 4.42434331e+01] [ 3.37514609e-01 -2.35570666e-02 9.41025480e-01 1.85495515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:44.27, Z:18.56 [[ 3.42261728e-01 -9.28331113e-01 -1.45114623e-01 7.36363545e+01] [ 8.77116297e-01 3.71047693e-01 -3.04943620e-01 4.42672653e+01] [ 3.36933096e-01 -2.29118706e-02 9.41249773e-01 1.85589839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:44.29, Z:18.57 [[ 3.42202489e-01 -9.28380255e-01 -1.44939847e-01 7.36475905e+01] [ 8.77204680e-01 3.70929928e-01 -3.04832640e-01 4.42903388e+01] [ 3.36763131e-01 -2.28274239e-02 9.41312649e-01 1.85685860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:44.31, Z:18.58 [[ 3.42101930e-01 -9.28478981e-01 -1.44544287e-01 7.36585506e+01] [ 8.77496418e-01 3.70688105e-01 -3.04286650e-01 4.43146860e+01] [ 3.36104607e-01 -2.27400433e-02 9.41550096e-01 1.85778964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:44.34, Z:18.59 [[ 3.42855991e-01 -9.28292815e-01 -1.43952142e-01 7.36690070e+01] [ 8.77632352e-01 3.71177747e-01 -3.03296118e-01 4.43383554e+01] [ 3.34979439e-01 -2.23501662e-02 9.41960321e-01 1.85865330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:44.36, Z:18.60 [[ 3.43947630e-01 -9.27935292e-01 -1.43652782e-01 7.36799597e+01] [ 8.77365815e-01 3.72100825e-01 -3.02935972e-01 4.43619962e+01] [ 3.34558298e-01 -2.18419302e-02 9.42121900e-01 1.85959434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:44.39, Z:18.61 [[ 3.44687291e-01 -9.27679895e-01 -1.43529383e-01 7.36906492e+01] [ 8.77087599e-01 3.72758662e-01 -3.02932870e-01 4.43854773e+01] [ 3.34526554e-01 -2.14707317e-02 9.42141705e-01 1.86050886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:44.41, Z:18.61 [[ 3.47624719e-01 -9.26552471e-01 -1.43727425e-01 7.37003409e+01] [ 8.75628100e-01 3.75617138e-01 -3.03623445e-01 4.44094651e+01] [ 3.35309537e-01 -2.03047575e-02 9.41889182e-01 1.86129851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:44.43, Z:18.62 [[ 3.48760792e-01 -9.26057557e-01 -1.44164180e-01 7.37106945e+01] [ 8.74671756e-01 3.76863443e-01 -3.04833174e-01 4.44333474e+01] [ 3.36623274e-01 -1.97824772e-02 9.41431583e-01 1.86213378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:44.46, Z:18.63 [[ 3.50495130e-01 -9.25286567e-01 -1.44906636e-01 7.37216440e+01] [ 8.73188293e-01 3.78790667e-01 -3.06691761e-01 4.44579377e+01] [ 3.38667048e-01 -1.90368094e-02 9.40713682e-01 1.86307201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:44.48, Z:18.64 [[ 3.52324660e-01 -9.24411347e-01 -1.46051345e-01 7.37332270e+01] [ 8.71294618e-01 3.80960005e-01 -3.09378674e-01 4.44801699e+01] [ 3.41632878e-01 -1.82520151e-02 9.39656235e-01 1.86398900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:44.50, Z:18.65 [[ 3.51729327e-01 -9.24647411e-01 -1.45991939e-01 7.37451622e+01] [ 8.71482069e-01 3.80382095e-01 -3.09561732e-01 4.45041212e+01] [ 3.41768174e-01 -1.83474176e-02 9.39605177e-01 1.86498204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:44.53, Z:18.66 [[ 3.51718621e-01 -9.24746579e-01 -1.45388363e-01 7.37549764e+01] [ 8.71945702e-01 3.80145645e-01 -3.08544942e-01 4.45278124e+01] [ 3.40594632e-01 -1.82497569e-02 9.40033107e-01 1.86592575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:44.55, Z:18.67 [[ 3.49198445e-01 -9.25773324e-01 -1.44928254e-01 7.37664414e+01] [ 8.73298896e-01 3.77597961e-01 -3.07845446e-01 4.45511147e+01] [ 3.39719715e-01 -1.90665330e-02 9.40333442e-01 1.86689497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:44.57, Z:18.68 [[ 3.47814301e-01 -9.26425102e-01 -1.44089353e-01 7.37766954e+01] [ 8.74532975e-01 3.75975487e-01 -3.06324187e-01 4.45741577e+01] [ 3.37960481e-01 -1.94669575e-02 9.40958953e-01 1.86779106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:44.60, Z:18.69 [[ 3.41469767e-01 -9.28833871e-01 -1.43756870e-01 7.37873681e+01] [ 8.77286264e-01 3.69862629e-01 -3.05892868e-01 4.45980966e+01] [ 3.37293951e-01 -2.16627608e-02 9.41150103e-01 1.86883261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:44.62, Z:18.70 [[ 3.42131680e-01 -9.28738436e-01 -1.42796465e-01 7.37991195e+01] [ 8.77794397e-01 3.70123335e-01 -3.04114639e-01 4.46207469e+01] [ 3.35295258e-01 -2.12986846e-02 9.41872314e-01 1.86978525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:44.64, Z:18.71 [[ 3.41530235e-01 -9.29005680e-01 -1.42497528e-01 7.38095636e+01] [ 8.78203489e-01 3.69446205e-01 -3.03756701e-01 4.46428356e+01] [ 3.34836872e-01 -2.13997288e-02 9.42033079e-01 1.87078004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:44.67, Z:18.72 [[ 3.41885567e-01 -9.28985158e-01 -1.41777414e-01 7.38198780e+01] [ 8.78600999e-01 3.69512908e-01 -3.02523545e-01 4.46658535e+01] [ 3.33428467e-01 -2.11373437e-02 9.42538418e-01 1.87169963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:44.69, Z:18.73 [[ 3.41513698e-01 -9.29105768e-01 -1.41883283e-01 7.38307763e+01] [ 8.78552308e-01 3.69208199e-01 -3.03036544e-01 4.46889755e+01] [ 3.33937472e-01 -2.11607551e-02 9.42357675e-01 1.87262328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:44.71, Z:18.74 [[ 3.42147247e-01 -9.28843042e-01 -1.42076967e-01 7.38412824e+01] [ 8.78023453e-01 3.69887817e-01 -3.03739721e-01 4.47121407e+01] [ 3.34679065e-01 -2.08232005e-02 9.42102074e-01 1.87356231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:44.74, Z:18.74 [[ 3.44627223e-01 -9.27938783e-01 -1.41991875e-01 7.38500353e+01] [ 8.77006471e-01 3.72205614e-01 -3.03846395e-01 4.47370957e+01] [ 3.34801027e-01 -1.98140540e-02 9.42080504e-01 1.87437308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:44.76, Z:18.75 [[ 3.48321111e-01 -9.26368438e-01 -1.43226816e-01 7.38620350e+01] [ 8.74287854e-01 3.76170638e-01 -3.06783962e-01 4.47589995e+01] [ 3.38072702e-01 -1.83621352e-02 9.40940848e-01 1.87517627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:44.78, Z:18.76 [[ 3.50840810e-01 -9.25398571e-01 -1.43346473e-01 7.38730599e+01] [ 8.73040551e-01 3.78599525e-01 -3.07347680e-01 4.47826931e+01] [ 3.38690011e-01 -1.73171747e-02 9.40738642e-01 1.87602461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:44.81, Z:18.77 [[ 3.54568699e-01 -9.23971891e-01 -1.43377065e-01 7.38839395e+01] [ 8.71376641e-01 3.82132409e-01 -3.07697208e-01 4.48056603e+01] [ 3.39092594e-01 -1.58356270e-02 9.40619714e-01 1.87697800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:44.83, Z:18.78 [[ 3.64016441e-01 -9.20272186e-01 -1.43496111e-01 7.38954802e+01] [ 8.67201387e-01 3.91087458e-01 -3.08240742e-01 4.48285357e+01] [ 3.39784911e-01 -1.22353282e-02 9.40423581e-01 1.87793135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:44.85, Z:18.79 [[ 3.67853520e-01 -9.18700643e-01 -1.43780794e-01 7.39066715e+01] [ 8.65191394e-01 3.94810194e-01 -3.09141979e-01 4.48518085e+01] [ 3.40775058e-01 -1.06789400e-02 9.40084209e-01 1.87880500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.867552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:73.92, Y:44.88, Z:18.79 [[ 3.74430071e-01 -9.16043828e-01 -1.43756134e-01 7.39172789e+01] [ 8.62254868e-01 4.00996142e-01 -3.09384288e-01 4.48759532e+01] [ 3.41055223e-01 -8.11164485e-03 9.40008264e-01 1.87947715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:44.90, Z:18.80 [[ 3.79309381e-01 -9.14030272e-01 -1.43781275e-01 7.39283312e+01] [ 8.59973772e-01 4.05599152e-01 -3.09732851e-01 4.48981276e+01] [ 3.41422765e-01 -6.16354912e-03 9.39889624e-01 1.88049988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:44.92, Z:18.81 [[ 3.90236821e-01 -9.09540326e-01 -1.43009158e-01 7.39406978e+01] [ 8.55670649e-01 4.15610729e-01 -3.08375522e-01 4.49203991e+01] [ 3.39916113e-01 -2.02925573e-03 9.40453570e-01 1.88146262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:44.94, Z:18.82 [[ 3.94436943e-01 -9.07785583e-01 -1.42635312e-01 7.39510616e+01] [ 8.53989329e-01 4.19434371e-01 -3.07858791e-01 4.49431814e+01] [ 3.39295925e-01 -3.78153486e-04 9.40679612e-01 1.88242499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:44.97, Z:18.83 [[ 3.93958963e-01 -9.07952081e-01 -1.42896301e-01 7.39605690e+01] [ 8.53858011e-01 4.19073816e-01 -3.08712866e-01 4.49665111e+01] [ 3.40180588e-01 -3.92951053e-04 9.40360045e-01 1.88314444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:44.99, Z:18.84 [[ 3.91592416e-01 -9.09139242e-01 -1.41849283e-01 7.39716704e+01] [ 8.55826892e-01 4.16490346e-01 -3.06750914e-01 4.49896721e+01] [ 3.37958150e-01 -1.27709936e-03 9.41160272e-01 1.88411887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:45.01, Z:18.85 [[ 3.89604108e-01 -9.10116076e-01 -1.41058028e-01 7.39828382e+01] [ 8.57371937e-01 4.14348655e-01 -3.05333512e-01 4.50117250e+01] [ 3.36336142e-01 -1.98000411e-03 9.41739921e-01 1.88508479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:45.03, Z:18.86 [[ 3.87556334e-01 -9.11108294e-01 -1.40291712e-01 7.39938832e+01] [ 8.58906737e-01 4.12158287e-01 -3.03981519e-01 4.50349246e+01] [ 3.34782475e-01 -2.68753385e-03 9.42291607e-01 1.88607980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:45.06, Z:18.87 [[ 3.85660354e-01 -9.12032372e-01 -1.39510013e-01 7.40047037e+01] [ 8.60383880e-01 4.10104620e-01 -3.02578550e-01 4.50575814e+01] [ 3.33175134e-01 -3.33961584e-03 9.42859044e-01 1.88710971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.137552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:45.08, Z:18.88 [[ 3.83523278e-01 -9.12973466e-01 -1.39245628e-01 7.40145131e+01] [ 8.61483434e-01 4.07999127e-01 -3.02296221e-01 4.50804996e+01] [ 3.32800524e-01 -4.02016407e-03 9.42988680e-01 1.88802295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:45.11, Z:18.89 [[ 3.83369302e-01 -9.13001470e-01 -1.39485819e-01 7.40245397e+01] [ 8.61221106e-01 4.07937442e-01 -3.03125799e-01 4.51053749e+01] [ 3.33655788e-01 -3.91900518e-03 9.42686828e-01 1.88886214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:45.13, Z:18.90 [[ 3.83517114e-01 -9.12873426e-01 -1.39916871e-01 7.40339067e+01] [ 8.60659709e-01 4.08225892e-01 -3.04329568e-01 4.51294247e+01] [ 3.34932065e-01 -3.70521597e-03 9.42234994e-01 1.88965804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:45.15, Z:18.90 [[ 3.85920304e-01 -9.11680089e-01 -1.41084845e-01 7.40426871e+01] [ 8.58383709e-01 4.10892715e-01 -3.07155635e-01 4.51546109e+01] [ 3.37998412e-01 -2.56733642e-03 9.41143178e-01 1.89035992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:45.18, Z:18.91 [[ 3.86608538e-01 -9.11270311e-01 -1.41845897e-01 7.40522376e+01] [ 8.57244072e-01 4.11803409e-01 -3.09112526e-01 4.51789008e+01] [ 3.40097692e-01 -2.09101226e-03 9.40387786e-01 1.89118346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:45.20, Z:18.92 [[ 3.86682131e-01 -9.11166074e-01 -1.42314146e-01 7.40621897e+01] [ 8.56655162e-01 4.12035036e-01 -3.10433667e-01 4.52018780e+01] [ 3.41495040e-01 -1.87499637e-03 9.39881706e-01 1.89205895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:45.23, Z:18.93 [[ 3.86931349e-01 -9.11068752e-01 -1.42259836e-01 7.40727440e+01] [ 8.56480197e-01 4.12251144e-01 -3.10629468e-01 4.52255754e+01] [ 3.41651581e-01 -1.65045307e-03 9.39825235e-01 1.89299056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.08, Y:45.25, Z:18.94 [[ 3.84691359e-01 -9.11978597e-01 -1.42504729e-01 7.40826224e+01] [ 8.57146965e-01 4.10231166e-01 -3.11463436e-01 4.52479676e+01] [ 3.42507868e-01 -2.33020325e-03 9.39512070e-01 1.89395594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:45.27, Z:18.95 [[ 3.84455135e-01 -9.12152138e-01 -1.42030722e-01 7.40925685e+01] [ 8.57594588e-01 4.09845096e-01 -3.10738667e-01 4.52712634e+01] [ 3.41651534e-01 -2.33970249e-03 9.39823789e-01 1.89492927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:45.29, Z:18.96 [[ 3.83310771e-01 -9.12661453e-01 -1.41851769e-01 7.41026154e+01] [ 8.58170544e-01 4.08707722e-01 -3.10646608e-01 4.52938278e+01] [ 3.41491098e-01 -2.65881885e-03 9.39881248e-01 1.89592642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.11, Y:45.32, Z:18.97 [[ 3.81206871e-01 -9.13630506e-01 -1.41282058e-01 7.41111693e+01] [ 8.59541174e-01 4.06531569e-01 -3.09711241e-01 4.53181242e+01] [ 3.40397254e-01 -3.37369286e-03 9.40275666e-01 1.89678610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.12, Y:45.34, Z:18.98 [[ 3.77575102e-01 -9.15114594e-01 -1.41429564e-01 7.41219926e+01] [ 8.60901334e-01 4.03167788e-01 -3.10329868e-01 4.53417370e+01] [ 3.41007236e-01 -4.58406842e-03 9.40049494e-01 1.89770705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.497552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:74.13, Y:45.37, Z:18.98 [[ 3.75272540e-01 -9.16087204e-01 -1.41261303e-01 7.41325579e+01] [ 8.61964961e-01 4.00943661e-01 -3.10258903e-01 4.53655220e+01] [ 3.40862035e-01 -5.33064682e-03 9.40098217e-01 1.89845132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:45.39, Z:19.00 [[ 3.72513477e-01 -9.17265724e-01 -1.40915939e-01 7.41426756e+01] [ 8.63389004e-01 3.98226556e-01 -3.09798383e-01 4.53897290e+01] [ 3.40283906e-01 -6.26119914e-03 9.40301899e-01 1.89957679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:45.41, Z:19.00 [[ 3.67870801e-01 -9.19165266e-01 -1.40734814e-01 7.41509456e+01] [ 8.65465644e-01 3.93793201e-01 -3.09671009e-01 4.54133434e+01] [ 3.40059248e-01 -7.88222449e-03 9.40370979e-01 1.90047784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:45.44, Z:19.01 [[ 3.65670368e-01 -9.20065189e-01 -1.40588872e-01 7.41605905e+01] [ 8.66459263e-01 3.91670701e-01 -3.09584249e-01 4.54375445e+01] [ 3.39902233e-01 -8.60874463e-03 9.40421375e-01 1.90143158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.617552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.17, Y:45.46, Z:19.02 [[ 3.64639077e-01 -9.20493563e-01 -1.40463317e-01 7.41683069e+01] [ 8.66908853e-01 3.90656943e-01 -3.09606515e-01 4.54618607e+01] [ 3.39863774e-01 -8.87425930e-03 9.40432806e-01 1.90241040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.647552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.18, Y:45.49, Z:19.03 [[ 3.64341268e-01 -9.20628657e-01 -1.40350692e-01 7.41789089e+01] [ 8.67033998e-01 3.90338620e-01 -3.09657564e-01 4.54857477e+01] [ 3.39863923e-01 -8.86779212e-03 9.40432813e-01 1.90335646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.677552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.19, Y:45.51, Z:19.04 [[ 3.63066018e-01 -9.21126352e-01 -1.40389852e-01 7.41876507e+01] [ 8.67434029e-01 3.89154548e-01 -3.10027325e-01 4.55100417e+01] [ 3.40207689e-01 -9.21854794e-03 9.40305135e-01 1.90430429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.707552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.20, Y:45.53, Z:19.05 [[ 3.58856793e-01 -9.22658056e-01 -1.41152094e-01 7.41957471e+01] [ 8.68365377e-01 3.85473309e-01 -3.12012661e-01 4.55347131e+01] [ 3.42291360e-01 -1.06037286e-02 9.39534026e-01 1.90515574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:45.55, Z:19.05 [[ 3.44667105e-01 -9.27468794e-01 -1.44935233e-01 7.41809540e+01] [ 8.73545987e-01 3.73417601e-01 -3.12212594e-01 4.55461735e+01] [ 3.43688806e-01 -1.89981802e-02 9.38891407e-01 1.90532647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:45.57, Z:19.06 [[ 3.41045834e-01 -9.29921821e-01 -1.37597766e-01 7.41911498e+01] [ 8.74479251e-01 3.67549037e-01 -3.16533954e-01 4.55716712e+01] [ 3.44925757e-01 -1.23738052e-02 9.38548406e-01 1.90625632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:45.60, Z:19.07 [[ 3.38981491e-01 -9.32093156e-01 -1.27647551e-01 7.41973716e+01] [ 8.74911131e-01 3.62208496e-01 -3.21458424e-01 4.55977625e+01] [ 3.45864225e-01 -2.71180727e-03 9.38280653e-01 1.90688246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:45.62, Z:19.08 [[ 3.36457836e-01 -9.32583280e-01 -1.30707880e-01 7.42094021e+01] [ 8.75579284e-01 3.60898063e-01 -3.21112917e-01 4.56196860e+01] [ 3.46636759e-01 -6.40415479e-03 9.37977582e-01 1.90811821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:45.65, Z:19.09 [[ 3.32661859e-01 -9.35000538e-01 -1.22923073e-01 7.42195999e+01] [ 8.76682431e-01 3.54646107e-01 -3.25044696e-01 4.56450621e+01] [ 3.47511155e-01 3.65474308e-04 9.37675777e-01 1.90867863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:45.69, Z:19.09 [[ 3.38424670e-01 -9.35599784e-01 -1.00607095e-01 7.42466446e+01] [ 8.75189092e-01 3.52233398e-01 -3.31625824e-01 4.56861121e+01] [ 3.45706228e-01 2.41801279e-02 9.38031196e-01 1.90870471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:45.67, Z:19.13 [[ 3.27753557e-01 -9.28259772e-01 -1.75816384e-01 7.42619434e+01] [ 8.80217075e-01 3.67632110e-01 -3.00107536e-01 4.56715228e+01] [ 3.43213501e-01 -5.63952708e-02 9.37562833e-01 1.91318730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:45.71, Z:19.12 [[ 3.28012820e-01 -9.36207727e-01 -1.26185113e-01 7.42584222e+01] [ 8.79261806e-01 3.51404609e-01 -3.21579660e-01 4.57118179e+01] [ 3.45407392e-01 -5.46749958e-03 9.38436913e-01 1.91195189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:45.73, Z:19.13 [[ 3.32407066e-01 -9.34758840e-01 -1.25425092e-01 7.42671704e+01] [ 8.78479831e-01 3.55260475e-01 -3.19473288e-01 4.57296458e+01] [ 3.43189058e-01 -3.98823486e-03 9.39257880e-01 1.91252058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:45.75, Z:19.13 [[ 3.33413474e-01 -9.35592550e-01 -1.16198259e-01 7.42747932e+01] [ 8.77998697e-01 3.53034710e-01 -3.23241057e-01 4.57549927e+01] [ 3.43443944e-01 5.75100349e-03 9.39155569e-01 1.91284798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:45.78, Z:19.14 [[ 3.35946981e-01 -9.35251331e-01 -1.11555245e-01 7.42867440e+01] [ 8.77153451e-01 3.53806298e-01 -3.24688971e-01 4.57815417e+01] [ 3.43134740e-01 1.12272115e-02 9.39219090e-01 1.91352814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:45.81, Z:19.14 [[ 3.32725057e-01 -9.36941584e-01 -1.06932246e-01 7.42974919e+01] [ 8.79091118e-01 3.49207814e-01 -3.24426738e-01 4.58086613e+01] [ 3.41310478e-01 1.39417172e-02 9.39847214e-01 1.91388645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:45.82, Z:19.15 [[ 3.40020179e-01 -9.32296246e-01 -1.23328780e-01 7.43134993e+01] [ 8.77211727e-01 3.61694639e-01 -3.15715972e-01 4.58199342e+01] [ 3.38948174e-01 -8.35650945e-04 9.40804675e-01 1.91534801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:45.84, Z:19.16 [[ 3.41999916e-01 -9.32617159e-01 -1.15157685e-01 7.43219525e+01] [ 8.76483611e-01 3.60776717e-01 -3.18773650e-01 4.58448486e+01] [ 3.38839988e-01 8.08673770e-03 9.40809262e-01 1.91578132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:45.86, Z:19.17 [[ 3.45101463e-01 -9.30537378e-01 -1.22495583e-01 7.43368018e+01] [ 8.74591884e-01 3.66188124e-01 -3.17797569e-01 4.58649062e+01] [ 3.40578945e-01 2.53876319e-03 9.40212496e-01 1.91726583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:45.89, Z:19.17 [[ 3.48217101e-01 -9.30150398e-01 -1.16469260e-01 7.43446240e+01] [ 8.74075896e-01 3.67068433e-01 -3.18201342e-01 4.58867342e+01] [ 3.38727294e-01 9.00017565e-03 9.40841547e-01 1.91746396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:45.91, Z:19.19 [[ 3.50770280e-01 -9.28604658e-01 -1.21052055e-01 7.43573721e+01] [ 8.72309585e-01 3.71020240e-01 -3.18465022e-01 4.59082483e+01] [ 3.40640866e-01 6.11319706e-03 9.40173617e-01 1.91871515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.247552018 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:74.38, Y:45.96, Z:19.19 [[ 3.50373983e-01 -9.31748374e-01 -9.53049861e-02 7.43816697e+01] [ 8.71350642e-01 3.61587000e-01 -3.31666850e-01 4.59585530e+01] [ 3.43491092e-01 3.31633744e-02 9.38570221e-01 1.91858422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:45.94, Z:19.22 [[ 3.53662255e-01 -9.21982423e-01 -1.57706756e-01 7.43921109e+01] [ 8.71744966e-01 3.86008128e-01 -3.01758910e-01 4.59382453e+01] [ 3.39092500e-01 -3.07593339e-02 9.40250041e-01 1.92155212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:45.97, Z:19.21 [[ 3.55894479e-01 -9.25486630e-01 -1.29667336e-01 7.43944207e+01] [ 8.69916691e-01 3.78780081e-01 -3.15864844e-01 4.59711971e+01] [ 3.41444094e-01 -3.85225125e-04 9.39902007e-01 1.92143953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:46.00, Z:19.22 [[ 3.54919500e-01 -9.27530280e-01 -1.17131245e-01 7.44027088e+01] [ 8.69735729e-01 3.73535503e-01 -3.22538355e-01 4.59989671e+01] [ 3.42916769e-01 1.26019234e-02 9.39281258e-01 1.92183484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:46.02, Z:19.23 [[ 3.52085642e-01 -9.28626628e-01 -1.16996948e-01 7.44140453e+01] [ 8.71819641e-01 3.70862367e-01 -3.19986904e-01 4.60185385e+01] [ 3.40538125e-01 1.06625578e-02 9.40170248e-01 1.92263903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.397552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.43, Y:46.04, Z:19.25 [[ 3.49876331e-01 -9.27830365e-01 -1.29295659e-01 7.44325655e+01] [ 8.72303122e-01 3.72996144e-01 -3.16166318e-01 4.60393003e+01] [ 3.41575492e-01 -2.16589537e-03 9.39851846e-01 1.92450314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.427552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.44, Y:46.07, Z:19.25 [[ 3.44654571e-01 -9.31895081e-01 -1.13069819e-01 7.44422193e+01] [ 8.74294415e-01 3.62516145e-01 -3.22786805e-01 4.60714851e+01] [ 3.41793071e-01 1.23936367e-02 9.39693511e-01 1.92472427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.457552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:74.47, Y:46.11, Z:19.26 [[ 3.37668180e-01 -9.34293744e-01 -1.14347719e-01 7.44703885e+01] [ 8.77860454e-01 3.56422428e-01 -3.19881348e-01 4.61056760e+01] [ 3.39619234e-01 7.63241169e-03 9.40532042e-01 1.92588658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:74.48, Y:46.09, Z:19.28 [[ 3.36778391e-01 -9.27820647e-01 -1.60403123e-01 7.44778436e+01] [ 8.79634629e-01 3.70792647e-01 -2.97919004e-01 4.60921434e+01] [ 3.35891701e-01 -4.07634588e-02 9.41018122e-01 1.92844304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.49, Y:46.13, Z:19.29 [[ 3.26656902e-01 -9.35265641e-01 -1.36284438e-01 7.44858433e+01] [ 8.80897710e-01 3.53525863e-01 -3.14704130e-01 4.61347965e+01] [ 3.42512034e-01 -1.72523728e-02 9.39355025e-01 1.92908064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:46.16, Z:19.30 [[ 3.19753118e-01 -9.38155548e-01 -1.32748304e-01 7.44968199e+01] [ 8.82959210e-01 3.45857427e-01 -3.17436094e-01 4.61609521e+01] [ 3.43716420e-01 -1.57101565e-02 9.38942072e-01 1.92973244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:74.51, Y:46.18, Z:19.31 [[ 3.16752428e-01 -9.38882861e-01 -1.34784544e-01 7.45078248e+01] [ 8.84542360e-01 3.43693772e-01 -3.15371852e-01 4.61833119e+01] [ 3.42421834e-01 -1.93278386e-02 9.39347498e-01 1.93059417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:46.20, Z:19.32 [[ 3.13310234e-01 -9.39407505e-01 -1.39105132e-01 7.45204916e+01] [ 8.85925106e-01 3.41887448e-01 -3.13448050e-01 4.62049650e+01] [ 3.42013749e-01 -2.50302466e-02 9.39361529e-01 1.93168979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.637552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:74.53, Y:46.23, Z:19.32 [[ 3.07971741e-01 -9.41929100e-01 -1.33876724e-01 7.45303472e+01] [ 8.88125139e-01 3.35088873e-01 -3.14561892e-01 4.62306490e+01] [ 3.41155601e-01 -2.20231110e-02 9.39748817e-01 1.93227300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.667552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:74.55, Y:46.26, Z:19.33 [[ 3.10460556e-01 -9.42681911e-01 -1.22331750e-01 7.45491656e+01] [ 8.87837271e-01 3.33537063e-01 -3.17014209e-01 4.62635298e+01] [ 3.39645733e-01 -1.01902798e-02 9.40498237e-01 1.93256571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.697552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:74.56, Y:46.27, Z:19.35 [[ 3.06839687e-01 -9.37896335e-01 -1.61863744e-01 7.45643353e+01] [ 8.89779570e-01 3.43047763e-01 -3.01015862e-01 4.62664001e+01] [ 3.37848669e-01 -5.16594398e-02 9.39781666e-01 1.93545918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.727552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.57, Y:46.31, Z:19.34 [[ 3.08435766e-01 -9.43222388e-01 -1.23283839e-01 7.45727061e+01] [ 8.88662748e-01 3.31945872e-01 -3.16370762e-01 4.63084689e+01] [ 3.39331547e-01 -1.19776969e-02 9.40590578e-01 1.93444086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:46.32, Z:19.36 [[ 3.10667095e-01 -9.39374144e-01 -1.45128128e-01 7.45919447e+01] [ 8.89143947e-01 3.41175287e-01 -3.04995844e-01 4.63240252e+01] [ 3.36019340e-01 -3.42876238e-02 9.41230770e-01 1.93646063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:46.35, Z:19.37 [[ 3.12510465e-01 -9.38803299e-01 -1.44863987e-01 7.46032353e+01] [ 8.88606654e-01 3.42820818e-01 -3.04716428e-01 4.63468890e+01] [ 3.35731178e-01 -3.35000302e-02 9.41361952e-01 1.93739099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:46.37, Z:19.38 [[ 3.14199620e-01 -9.38318359e-01 -1.44351157e-01 7.46142314e+01] [ 8.88342188e-01 3.44218606e-01 -3.03910692e-01 4.63696027e+01] [ 3.34853336e-01 -3.27445991e-02 9.41701139e-01 1.93829508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:46.38, Z:19.40 [[ 3.19329242e-01 -9.35023733e-01 -1.54141020e-01 7.46213695e+01] [ 8.86379959e-01 3.52242424e-01 -3.00426102e-01 4.63842068e+01] [ 3.35200542e-01 -4.06926718e-02 9.41267604e-01 1.93954327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:46.42, Z:19.39 [[ 3.27137606e-01 -9.36060282e-01 -1.29507281e-01 7.46326160e+01] [ 8.83023136e-01 3.51611782e-01 -3.10868616e-01 4.64195442e+01] [ 3.36528050e-01 -1.26611109e-02 9.41588322e-01 1.93928067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:46.44, Z:19.41 [[ 3.32666645e-01 -9.31965660e-01 -1.44128106e-01 7.46491799e+01] [ 8.81377567e-01 3.61619754e-01 -3.03981476e-01 4.64377228e+01] [ 3.35419867e-01 -2.59067821e-02 9.41712457e-01 1.94084234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:46.46, Z:19.42 [[ 3.37811226e-01 -9.30126968e-01 -1.44039574e-01 7.46603906e+01] [ 8.79346503e-01 3.66456816e-01 -3.04070930e-01 4.64600956e+01] [ 3.35608855e-01 -2.39421217e-02 9.41697123e-01 1.94169901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:46.48, Z:19.42 [[ 3.47405842e-01 -9.26623325e-01 -1.43799844e-01 7.46715315e+01] [ 8.75624270e-01 3.75439647e-01 -3.03853926e-01 4.64824197e+01] [ 3.35546298e-01 -2.03540045e-02 9.41803799e-01 1.94245436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:46.51, Z:19.43 [[ 3.52098151e-01 -9.24916393e-01 -1.43375582e-01 7.46831753e+01] [ 8.73990628e-01 3.79718292e-01 -3.03239841e-01 4.65056709e+01] [ 3.34913831e-01 -1.85387277e-02 9.42066368e-01 1.94334575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:46.53, Z:19.44 [[ 3.56066209e-01 -9.23458912e-01 -1.42970248e-01 7.46944275e+01] [ 8.72622424e-01 3.83320693e-01 -3.02647241e-01 4.65288845e+01] [ 3.34285747e-01 -1.69965883e-02 9.42318500e-01 1.94427043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:46.55, Z:19.45 [[ 3.59182507e-01 -9.22304089e-01 -1.42629220e-01 7.47054846e+01] [ 8.71534218e-01 3.86143348e-01 -3.02194342e-01 4.65517684e+01] [ 3.33790402e-01 -1.57633243e-02 9.42515509e-01 1.94510560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:46.58, Z:19.46 [[ 3.65124692e-01 -9.20041646e-01 -1.42152486e-01 7.47175330e+01] [ 8.69354770e-01 3.91587654e-01 -3.01465409e-01 4.65751511e+01] [ 3.33025889e-01 -1.35084770e-02 9.42820915e-01 1.94599664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:46.60, Z:19.47 [[ 3.67249392e-01 -9.19215144e-01 -1.42026063e-01 7.47287626e+01] [ 8.68468311e-01 3.93552930e-01 -3.01461249e-01 4.65979484e+01] [ 3.33002519e-01 -1.26336749e-02 9.42841298e-01 1.94694311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:46.62, Z:19.48 [[ 3.69451739e-01 -9.18377304e-01 -1.41734044e-01 7.47387177e+01] [ 8.67691310e-01 3.95531776e-01 -3.01108625e-01 4.66203257e+01] [ 3.32591646e-01 -1.17362936e-02 9.42997909e-01 1.94779033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:46.64, Z:19.50 [[ 3.71436152e-01 -9.15191586e-01 -1.56395481e-01 7.47507863e+01] [ 8.66294222e-01 4.02214659e-01 -2.96239243e-01 4.66350845e+01] [ 3.34020218e-01 -2.54505367e-02 9.42222248e-01 1.94967903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:46.67, Z:19.49 [[ 3.73517241e-01 -9.19081409e-01 -1.25595517e-01 7.47554064e+01] [ 8.66573466e-01 3.94028578e-01 -3.06254644e-01 4.66716686e+01] [ 3.30961173e-01 5.55364702e-03 9.43628030e-01 1.94883347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:46.69, Z:19.50 [[ 3.73482241e-01 -9.16938879e-01 -1.40478141e-01 7.47717651e+01] [ 8.66959064e-01 3.98897198e-01 -2.98769153e-01 4.66892967e+01] [ 3.29989390e-01 -1.02038250e-02 9.43929491e-01 1.95044658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:46.71, Z:19.51 [[ 3.72688647e-01 -9.17321884e-01 -1.40084739e-01 7.47819778e+01] [ 8.67561289e-01 3.98010678e-01 -2.98202800e-01 4.67127389e+01] [ 3.29303176e-01 -1.03952985e-02 9.44167017e-01 1.95129424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:46.74, Z:19.52 [[ 3.70730340e-01 -9.18125247e-01 -1.40018020e-01 7.47913790e+01] [ 8.68371102e-01 3.96138079e-01 -2.98339154e-01 4.67359324e+01] [ 3.29379179e-01 -1.09842264e-02 9.44133837e-01 1.95201538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:46.76, Z:19.53 [[ 3.68486581e-01 -9.18994075e-01 -1.40240968e-01 7.48013933e+01] [ 8.69034264e-01 3.94098977e-01 -2.99107747e-01 4.67598215e+01] [ 3.30147070e-01 -1.16570150e-02 9.43857524e-01 1.95290601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:46.78, Z:19.54 [[ 3.66491047e-01 -9.19743615e-01 -1.40556019e-01 7.48117129e+01] [ 8.69508867e-01 3.92328539e-01 -3.00054408e-01 4.67843005e+01] [ 3.31117263e-01 -1.22474506e-02 9.43510126e-01 1.95373664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:46.81, Z:19.55 [[ 3.63967660e-01 -9.20667414e-01 -1.41064010e-01 7.48216133e+01] [ 8.70025526e-01 3.90130657e-01 -3.01419399e-01 4.68071218e+01] [ 3.32540414e-01 -1.30223763e-02 9.42999094e-01 1.95459907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:46.83, Z:19.55 [[ 3.57338214e-01 -9.23172856e-01 -1.41637844e-01 7.48316502e+01] [ 8.72186066e-01 3.84081153e-01 -3.02940810e-01 4.68307802e+01] [ 3.34067159e-01 -1.52822259e-02 9.42425375e-01 1.95546845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:46.85, Z:19.56 [[ 3.52152253e-01 -9.25136738e-01 -1.41812575e-01 7.48427847e+01] [ 8.74073529e-01 3.79251153e-01 -3.03585291e-01 4.68536481e+01] [ 3.34640489e-01 -1.70463739e-02 9.42191681e-01 1.95646678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:46.88, Z:19.57 [[ 3.41082480e-01 -9.29246350e-01 -1.41999871e-01 7.48524545e+01] [ 8.78268271e-01 3.68867286e-01 -3.04272525e-01 4.68765980e+01] [ 3.35123240e-01 -2.09319544e-02 9.41941754e-01 1.95739705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:46.90, Z:19.58 [[ 3.34508474e-01 -9.31639763e-01 -1.41955742e-01 7.48619732e+01] [ 8.80785939e-01 3.62642970e-01 -3.04476938e-01 4.68997093e+01] [ 3.35142075e-01 -2.31825057e-02 9.41882350e-01 1.95824886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:46.92, Z:19.59 [[ 3.34230414e-01 -9.31756660e-01 -1.41843423e-01 7.48728410e+01] [ 8.80891056e-01 3.62343591e-01 -3.04529258e-01 4.69235732e+01] [ 3.35143219e-01 -2.31656625e-02 9.41882357e-01 1.95916735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:46.95, Z:19.60 [[ 3.27123638e-01 -9.34272095e-01 -1.41865355e-01 7.48823860e+01] [ 8.83516116e-01 3.55638963e-01 -3.04828148e-01 4.69473825e+01] [ 3.35245280e-01 -2.56238348e-02 9.41782364e-01 1.96003146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:74.89, Y:46.97, Z:19.61 [[ 3.19447982e-01 -9.36940191e-01 -1.41760589e-01 7.48923243e+01] [ 8.86398412e-01 3.48345128e-01 -3.04882810e-01 4.69707207e+01] [ 3.35038569e-01 -2.82621631e-02 9.41780446e-01 1.96091602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.90, Y:46.99, Z:19.62 [[ 3.05257322e-01 -9.41745776e-01 -1.41183781e-01 7.49035608e+01] [ 8.91974560e-01 3.34686958e-01 -3.03917793e-01 4.69940117e+01] [ 3.33465668e-01 -3.31592095e-02 9.42178919e-01 1.96192920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:47.02, Z:19.63 [[ 2.97429810e-01 -9.44342472e-01 -1.40544667e-01 7.49149274e+01] [ 8.95188797e-01 3.27015923e-01 -3.02816123e-01 4.70163955e+01] [ 3.31922470e-01 -3.57474697e-02 9.42629085e-01 1.96292581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.92, Y:47.04, Z:19.64 [[ 2.92062115e-01 -9.46145080e-01 -1.39675371e-01 7.49240963e+01] [ 8.97695502e-01 3.21574072e-01 -3.01219025e-01 4.70401222e+01] [ 3.29912876e-01 -3.74112869e-02 9.43269786e-01 1.96396348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:74.93, Y:47.06, Z:19.65 [[ 2.86324353e-01 -9.47983032e-01 -1.39091823e-01 7.49341231e+01] [ 9.00037738e-01 3.15895158e-01 -3.00237107e-01 4.70635121e+01] [ 3.28558116e-01 -3.92226941e-02 9.43668980e-01 1.96484968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:47.09, Z:19.66 [[ 2.77046261e-01 -9.50818965e-01 -1.38523157e-01 7.49432841e+01] [ 9.03474714e-01 3.06854167e-01 -2.99289093e-01 4.70861166e+01] [ 3.27076154e-01 -4.22352451e-02 9.44053692e-01 1.96572230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:47.11, Z:19.67 [[ 2.73508033e-01 -9.51845299e-01 -1.38505892e-01 7.49535997e+01] [ 9.04522742e-01 3.03497930e-01 -2.99545683e-01 4.71098059e+01] [ 3.27157402e-01 -4.33535785e-02 9.43974842e-01 1.96665662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:47.13, Z:19.68 [[ 2.71018237e-01 -9.52597853e-01 -1.38226070e-01 7.49643582e+01] [ 9.05459834e-01 3.01024028e-01 -2.99210668e-01 4.71335067e+01] [ 3.26636808e-01 -4.40666071e-02 9.44122095e-01 1.96760762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:47.16, Z:19.69 [[ 2.69948981e-01 -9.52940398e-01 -1.37957043e-01 7.49741730e+01] [ 9.05931317e-01 2.99904984e-01 -2.98907092e-01 4.71557899e+01] [ 3.26214647e-01 -4.42899406e-02 9.44257595e-01 1.96853318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:47.18, Z:19.69 [[ 2.70733615e-01 -9.52692683e-01 -1.38130233e-01 7.49841262e+01] [ 9.05433627e-01 3.00739025e-01 -2.99576343e-01 4.71794259e+01] [ 3.26945342e-01 -4.39623712e-02 9.44020155e-01 1.96941139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:47.20, Z:19.70 [[ 2.71602597e-01 -9.52357086e-01 -1.38737195e-01 7.49944915e+01] [ 9.04538119e-01 3.01839019e-01 -3.01171044e-01 4.72031126e+01] [ 3.28698677e-01 -4.36942439e-02 9.43423549e-01 1.97028225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:47.23, Z:19.71 [[ 2.72705899e-01 -9.51961404e-01 -1.39287397e-01 7.50052237e+01] [ 9.03611363e-01 3.03137153e-01 -3.02645620e-01 4.72270416e+01] [ 3.30330134e-01 -4.33284288e-02 9.42870431e-01 1.97112299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:47.25, Z:19.72 [[ 2.77996465e-01 -9.50372398e-01 -1.39679169e-01 7.50152922e+01] [ 9.01469301e-01 3.08338682e-01 -3.03776821e-01 4.72511957e+01] [ 3.31769597e-01 -4.14676000e-02 9.42448605e-01 1.97190800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:75.03, Y:47.27, Z:19.73 [[ 2.79973597e-01 -9.49793884e-01 -1.39665183e-01 7.50262604e+01] [ 9.00736927e-01 3.10220396e-01 -3.04033378e-01 4.72735795e+01] [ 3.32096032e-01 -4.06802692e-02 9.42367944e-01 1.97275028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.04, Y:47.30, Z:19.74 [[ 2.81304377e-01 -9.49420221e-01 -1.39531686e-01 7.50368436e+01] [ 9.00313115e-01 3.11438217e-01 -3.04043635e-01 4.72956832e+01] [ 3.32120675e-01 -4.00934011e-02 9.42384410e-01 1.97363895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:47.32, Z:19.75 [[ 2.83904491e-01 -9.48716311e-01 -1.39052513e-01 7.50475730e+01] [ 8.99775462e-01 3.13712708e-01 -3.03295987e-01 4.73191832e+01] [ 3.31364390e-01 -3.90089462e-02 9.42696103e-01 1.97456584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:47.34, Z:19.76 [[ 2.88294720e-01 -9.47452964e-01 -1.38632734e-01 7.50596799e+01] [ 8.98586620e-01 3.17710856e-01 -3.02658054e-01 4.73401501e+01] [ 3.30799395e-01 -3.73188013e-02 9.42962919e-01 1.97553103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:75.07, Y:47.36, Z:19.76 [[ 2.92071042e-01 -9.46386663e-01 -1.38010113e-01 7.50703760e+01] [ 8.97760995e-01 3.21044518e-01 -3.01588484e-01 4.73631526e+01] [ 3.29726709e-01 -3.58148340e-02 9.43396839e-01 1.97648457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.137552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.08, Y:47.39, Z:19.77 [[ 2.95267490e-01 -9.45466587e-01 -1.37513790e-01 7.50818617e+01] [ 8.97010124e-01 3.23882718e-01 -3.00787004e-01 4.73856116e+01] [ 3.28922402e-01 -3.45386381e-02 9.43725138e-01 1.97744535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.167552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.09, Y:47.41, Z:19.78 [[ 3.02083387e-01 -9.43402488e-01 -1.36884526e-01 7.50930065e+01] [ 8.95105440e-01 3.30103335e-01 -2.99696579e-01 4.74079662e+01] [ 3.27920536e-01 -3.19927258e-02 9.44163433e-01 1.97826346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.197552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.11, Y:47.42, Z:19.80 [[ 3.04743044e-01 -9.39773952e-01 -1.54779188e-01 7.51105028e+01] [ 8.93323864e-01 3.38389272e-01 -2.95745117e-01 4.74248324e+01] [ 3.30309174e-01 -4.81416750e-02 9.42644275e-01 1.98048241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:47.46, Z:19.79 [[ 3.07811538e-01 -9.43715609e-01 -1.21049188e-01 7.51098426e+01] [ 8.92549451e-01 3.30478309e-01 -3.06821715e-01 4.74608244e+01] [ 3.29556573e-01 -1.35991222e-02 9.44037885e-01 1.97922620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:47.48, Z:19.81 [[ 3.14013043e-01 -9.39557996e-01 -1.36479233e-01 7.51251437e+01] [ 8.90965611e-01 3.41279837e-01 -2.99513528e-01 4.74789436e+01] [ 3.27987940e-01 -2.75471489e-02 9.44280184e-01 1.98072476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:47.50, Z:19.82 [[ 3.17852369e-01 -9.38291395e-01 -1.36305277e-01 7.51351929e+01] [ 8.89614936e-01 3.44860545e-01 -2.99426902e-01 4.75029152e+01] [ 3.27955998e-01 -2.60856603e-02 9.44332781e-01 1.98164070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:47.53, Z:19.83 [[ 3.20218392e-01 -9.37462496e-01 -1.36470695e-01 7.51467164e+01] [ 8.88495847e-01 3.47175486e-01 -3.00073843e-01 4.75254448e+01] [ 3.28687253e-01 -2.51644821e-02 9.44103510e-01 1.98252841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:47.55, Z:19.83 [[ 3.23545161e-01 -9.36303037e-01 -1.36583860e-01 7.51569424e+01] [ 8.87052063e-01 3.50379461e-01 -3.00620810e-01 4.75488402e+01] [ 3.29328356e-01 -2.38925860e-02 9.43913120e-01 1.98342963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.17, Y:47.57, Z:19.84 [[ 3.27094054e-01 -9.34908114e-01 -1.37681876e-01 7.51666180e+01] [ 8.84623241e-01 3.54170718e-01 -3.03322971e-01 4.75713996e+01] [ 3.32341995e-01 -2.25814467e-02 9.42888581e-01 1.98424466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:47.60, Z:19.85 [[ 3.28423250e-01 -9.34413885e-01 -1.37872623e-01 7.51763149e+01] [ 8.83839597e-01 3.55508868e-01 -3.04041136e-01 4.75958364e+01] [ 3.33115199e-01 -2.20031056e-02 9.42629369e-01 1.98501471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:47.62, Z:19.86 [[ 3.28349836e-01 -9.34387110e-01 -1.38228483e-01 7.51869780e+01] [ 8.83440938e-01 3.55583523e-01 -3.05110582e-01 4.76196078e+01] [ 3.34243166e-01 -2.19336914e-02 9.42231616e-01 1.98591845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:47.64, Z:19.87 [[ 3.28741047e-01 -9.34268528e-01 -1.38100117e-01 7.51969324e+01] [ 8.83308828e-01 3.55910381e-01 -3.05111973e-01 4.76442228e+01] [ 3.34207779e-01 -2.16822229e-02 9.42249989e-01 1.98673038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:47.67, Z:19.88 [[ 3.27376758e-01 -9.34780715e-01 -1.37874844e-01 7.52067526e+01] [ 8.83934148e-01 3.54539894e-01 -3.04896516e-01 4.76673537e+01] [ 3.33893516e-01 -2.20562494e-02 9.42352716e-01 1.98761536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:47.69, Z:19.89 [[ 3.25985184e-01 -9.35266792e-01 -1.37875621e-01 7.52173838e+01] [ 8.84382405e-01 3.53229503e-01 -3.05117485e-01 4.76898075e+01] [ 3.34067988e-01 -2.24709939e-02 9.42281080e-01 1.98853627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:47.71, Z:19.89 [[ 3.24724632e-01 -9.35720389e-01 -1.37772520e-01 7.52280139e+01] [ 8.84848647e-01 3.52004480e-01 -3.05181452e-01 4.77128021e+01] [ 3.34061051e-01 -2.28078934e-02 9.42275445e-01 1.98947518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:47.74, Z:19.90 [[ 3.21476321e-01 -9.36897568e-01 -1.37389676e-01 7.52377356e+01] [ 8.86318514e-01 3.48789707e-01 -3.04606684e-01 4.77355854e+01] [ 3.33305367e-01 -2.38471774e-02 9.42517292e-01 1.99042282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:47.76, Z:19.91 [[ 3.18708008e-01 -9.37886316e-01 -1.37092902e-01 7.52483219e+01] [ 8.87514769e-01 3.46061671e-01 -3.04234867e-01 4.77590449e+01] [ 3.32780317e-01 -2.47098873e-02 9.42680583e-01 1.99130056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:47.78, Z:19.92 [[ 3.16549953e-01 -9.38679603e-01 -1.36662833e-01 7.52583793e+01] [ 8.88605773e-01 3.43857423e-01 -3.03548766e-01 4.77816969e+01] [ 3.31927565e-01 -2.53510352e-02 9.42964165e-01 1.99221715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:47.80, Z:19.93 [[ 3.11265910e-01 -9.40531375e-01 -1.36067136e-01 7.52693954e+01] [ 8.90967390e-01 3.38626409e-01 -3.02504985e-01 4.78047270e+01] [ 3.30591355e-01 -2.70718919e-02 9.43385641e-01 1.99320489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:47.83, Z:19.94 [[ 3.09096882e-01 -9.41276151e-01 -1.35861416e-01 7.52793940e+01] [ 8.91829878e-01 3.36498392e-01 -3.02338056e-01 4.78279965e+01] [ 3.30300750e-01 -2.77135199e-02 9.43468799e-01 1.99416880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:47.85, Z:19.95 [[ 3.07721582e-01 -9.41759516e-01 -1.35633484e-01 7.52895160e+01] [ 8.92423327e-01 3.35113375e-01 -3.02125191e-01 4.78519671e+01] [ 3.29981868e-01 -2.80720437e-02 9.43569779e-01 1.99508882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:75.30, Y:47.88, Z:19.96 [[ 3.06526528e-01 -9.42171013e-01 -1.35481621e-01 7.52998474e+01] [ 8.92881767e-01 3.33929267e-01 -3.02081769e-01 4.78752987e+01] [ 3.29853964e-01 -2.83729933e-02 9.43605498e-01 1.99601716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:75.31, Y:47.90, Z:19.97 [[ 3.05479816e-01 -9.42468068e-01 -1.35779319e-01 7.53099439e+01] [ 8.92879824e-01 3.33065202e-01 -3.03039916e-01 4.78990502e+01] [ 3.30828810e-01 -2.86620366e-02 9.43255419e-01 1.99694713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:47.92, Z:19.98 [[ 3.04329238e-01 -9.42770563e-01 -1.36262173e-01 7.53201209e+01] [ 8.92741960e-01 3.32178303e-01 -3.04416440e-01 4.79222381e+01] [ 3.32258196e-01 -2.90041360e-02 9.42742410e-01 1.99779478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:47.95, Z:19.99 [[ 3.03477637e-01 -9.43009295e-01 -1.36509315e-01 7.53304915e+01] [ 8.92705567e-01 3.31481323e-01 -3.05281679e-01 4.79458629e+01] [ 3.33133750e-01 -2.92164632e-02 9.42426816e-01 1.99866467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.34, Y:47.97, Z:20.00 [[ 3.04295933e-01 -9.42742890e-01 -1.36527758e-01 7.53414326e+01] [ 8.92297313e-01 3.32272343e-01 -3.05615110e-01 4.79703307e+01] [ 3.33480871e-01 -2.88259166e-02 9.42316070e-01 1.99953453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:47.99, Z:20.00 [[ 3.04447491e-01 -9.42674996e-01 -1.36658614e-01 7.53522459e+01] [ 8.92028594e-01 3.32476785e-01 -3.06176705e-01 4.79943159e+01] [ 3.34060941e-01 -2.86886620e-02 9.42114775e-01 2.00045348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:48.02, Z:20.01 [[ 3.05221756e-01 -9.42438536e-01 -1.36562387e-01 7.53625242e+01] [ 8.91748744e-01 3.33178717e-01 -3.06228867e-01 4.80170307e+01] [ 3.34101566e-01 -2.83116250e-02 9.42111774e-01 2.00133186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:48.04, Z:20.02 [[ 3.06052088e-01 -9.42209726e-01 -1.36282617e-01 7.53731474e+01] [ 8.91601080e-01 3.33861246e-01 -3.05915321e-01 4.80408352e+01] [ 3.33735875e-01 -2.78837059e-02 9.42254140e-01 2.00226799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.007552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.38, Y:48.06, Z:20.03 [[ 3.08314506e-01 -9.41517796e-01 -1.35964721e-01 7.53841081e+01] [ 8.90983336e-01 3.35883662e-01 -3.05501000e-01 4.80640984e+01] [ 3.33302956e-01 -2.69519106e-02 9.42434472e-01 2.00322422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:48.09, Z:20.04 [[ 3.09167611e-01 -9.41245377e-01 -1.35913680e-01 7.53946590e+01] [ 8.90619643e-01 3.36679090e-01 -3.05685856e-01 4.80867490e+01] [ 3.33484693e-01 -2.65392275e-02 9.42381891e-01 2.00413431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:48.11, Z:20.05 [[ 3.10537107e-01 -9.40817055e-01 -1.35757042e-01 7.54054741e+01] [ 8.90162273e-01 3.37921372e-01 -3.05647302e-01 4.81103711e+01] [ 3.33433401e-01 -2.59309686e-02 9.42416974e-01 2.00508841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:48.13, Z:20.06 [[ 3.12484617e-01 -9.40210114e-01 -1.35492826e-01 7.54158143e+01] [ 8.89598808e-01 3.39667641e-01 -3.05352017e-01 4.81333476e+01] [ 3.33117583e-01 -2.51164483e-02 9.42550710e-01 2.00603268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:48.16, Z:20.07 [[ 3.13624610e-01 -9.39865441e-01 -1.35249976e-01 7.54271260e+01] [ 8.89304577e-01 3.40658605e-01 -3.05105038e-01 4.81572771e+01] [ 3.32831749e-01 -2.45899741e-02 9.42665561e-01 2.00695459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:48.18, Z:20.08 [[ 3.16182191e-01 -9.39066944e-01 -1.34841007e-01 7.54371864e+01] [ 8.88657631e-01 3.42925538e-01 -3.04449815e-01 4.81802640e+01] [ 3.32139182e-01 -2.35658802e-02 9.42935954e-01 2.00781868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:48.20, Z:20.09 [[ 3.16432884e-01 -9.39021019e-01 -1.34572495e-01 7.54478567e+01] [ 8.88732256e-01 3.43064035e-01 -3.04075725e-01 4.82042646e+01] [ 3.31700480e-01 -2.33793584e-02 9.43095010e-01 2.00868873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:48.23, Z:20.10 [[ 3.16787536e-01 -9.38901364e-01 -1.34572974e-01 7.54585544e+01] [ 8.88498507e-01 3.43407125e-01 -3.04371400e-01 4.82273111e+01] [ 3.31988041e-01 -2.31468210e-02 9.42999557e-01 2.00960496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:48.25, Z:20.10 [[ 3.16933058e-01 -9.38861641e-01 -1.34507458e-01 7.54682259e+01] [ 8.88402042e-01 3.43526588e-01 -3.04518136e-01 4.82501365e+01] [ 3.32107285e-01 -2.29848363e-02 9.42961531e-01 2.01049089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.277552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.48, Y:48.27, Z:20.11 [[ 3.16561804e-01 -9.38994614e-01 -1.34453482e-01 7.54780644e+01] [ 8.88507432e-01 3.43159886e-01 -3.04624089e-01 4.82738780e+01] [ 3.32179420e-01 -2.30305669e-02 9.42935006e-01 2.01133233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.307552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.49, Y:48.30, Z:20.12 [[ 3.16480843e-01 -9.39033299e-01 -1.34373881e-01 7.54879794e+01] [ 8.88507646e-01 3.43059484e-01 -3.04736532e-01 4.82974850e+01] [ 3.32255985e-01 -2.29489456e-02 9.42910020e-01 2.01223000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:48.32, Z:20.13 [[ 3.16153453e-01 -9.39164731e-01 -1.34225933e-01 7.54975396e+01] [ 8.88660100e-01 3.42699425e-01 -3.04697111e-01 4.83204508e+01] [ 3.32159931e-01 -2.29501874e-02 9.42943831e-01 2.01311349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.367552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.51, Y:48.34, Z:20.14 [[ 3.15583037e-01 -9.39373455e-01 -1.34107639e-01 7.55069557e+01] [ 8.88868479e-01 3.42121273e-01 -3.04739006e-01 4.83449338e+01] [ 3.32144809e-01 -2.30335921e-02 9.42947124e-01 2.01398839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:48.37, Z:20.15 [[ 3.15434525e-01 -9.39455582e-01 -1.33881549e-01 7.55157129e+01] [ 8.89027172e-01 3.41900176e-01 -3.04524148e-01 4.83684209e+01] [ 3.31861035e-01 -2.29669047e-02 9.43048660e-01 2.01481163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:48.39, Z:20.16 [[ 3.14586733e-01 -9.39740501e-01 -1.33876726e-01 7.55256048e+01] [ 8.89258232e-01 3.41101703e-01 -3.04744852e-01 4.83920782e+01] [ 3.32046659e-01 -2.31822929e-02 9.42978047e-01 2.01566239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:48.42, Z:20.17 [[ 3.14279710e-01 -9.39859098e-01 -1.33765238e-01 7.55359720e+01] [ 8.89366625e-01 3.40775228e-01 -3.04793783e-01 4.84161785e+01] [ 3.32047090e-01 -2.31758362e-02 9.42978054e-01 2.01658103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:48.44, Z:20.17 [[ 3.13984756e-01 -9.39939680e-01 -1.33891639e-01 7.55445256e+01] [ 8.89254728e-01 3.40552438e-01 -3.05368737e-01 4.84412132e+01] [ 3.32625317e-01 -2.31826445e-02 9.42774079e-01 2.01746365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:48.46, Z:20.19 [[ 3.10736581e-01 -9.40594214e-01 -1.36840423e-01 7.55536852e+01] [ 8.89962137e-01 3.38472249e-01 -3.05620568e-01 4.84631723e+01] [ 3.33781624e-01 -2.68153048e-02 9.42268946e-01 2.01850249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:48.49, Z:20.19 [[ 3.11748682e-01 -9.41292041e-01 -1.29545565e-01 7.55641919e+01] [ 8.89473610e-01 3.37056938e-01 -3.08592478e-01 4.84906036e+01] [ 3.34139875e-01 -1.90240630e-02 9.42331486e-01 2.01908998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:48.51, Z:20.20 [[ 3.10277336e-01 -9.41108589e-01 -1.34322743e-01 7.55759977e+01] [ 8.89967078e-01 3.37230441e-01 -3.06975943e-01 4.85121572e+01] [ 3.34195415e-01 -2.42951413e-02 9.42190623e-01 2.02021523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:48.54, Z:20.21 [[ 3.09660167e-01 -9.41405522e-01 -1.33664599e-01 7.55859321e+01] [ 8.90698116e-01 3.36395217e-01 -3.05769724e-01 4.85359497e+01] [ 3.32817438e-01 -2.43701029e-02 9.42676324e-01 2.02114888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:48.56, Z:20.22 [[ 3.09716737e-01 -9.41447032e-01 -1.33240494e-01 7.55955499e+01] [ 8.90967782e-01 3.36289966e-01 -3.05099114e-01 4.85593635e+01] [ 3.32042096e-01 -2.42186855e-02 9.42953605e-01 2.02203505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:48.58, Z:20.23 [[ 3.09551373e-01 -9.41530314e-01 -1.33036140e-01 7.56055997e+01] [ 8.91111340e-01 3.36061100e-01 -3.04931987e-01 4.85821038e+01] [ 3.31810982e-01 -2.41578978e-02 9.43036515e-01 2.02289126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:48.61, Z:20.24 [[ 3.10527043e-01 -9.41242311e-01 -1.32800101e-01 7.56155797e+01] [ 8.90871846e-01 3.36900232e-01 -3.04705738e-01 4.86061583e+01] [ 3.31542318e-01 -2.36884995e-02 9.43142909e-01 2.02382061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:48.63, Z:20.25 [[ 3.11989400e-01 -9.40791614e-01 -1.32566031e-01 7.56258432e+01] [ 8.90458982e-01 3.38200701e-01 -3.04471816e-01 4.86297307e+01] [ 3.31278456e-01 -2.30526340e-02 9.43251377e-01 2.02475312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:48.65, Z:20.26 [[ 3.12960784e-01 -9.40022109e-01 -1.35698129e-01 7.56338518e+01] [ 8.90009415e-01 3.40140222e-01 -3.03624554e-01 4.86515725e+01] [ 3.31570186e-01 -2.57500341e-02 9.43079078e-01 2.02578767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:48.68, Z:20.26 [[ 3.18253906e-01 -9.39521518e-01 -1.26545516e-01 7.56452919e+01] [ 8.87809430e-01 3.42186622e-01 -3.07738089e-01 4.86796050e+01] [ 3.32428739e-01 -1.44094530e-02 9.43018293e-01 2.02631876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:48.70, Z:20.27 [[ 3.21526438e-01 -9.37546084e-01 -1.32770815e-01 7.56573667e+01] [ 8.86568595e-01 3.47316103e-01 -3.05561206e-01 4.87015845e+01] [ 3.32591154e-01 -1.94644290e-02 9.42870224e-01 2.02748564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:48.72, Z:20.28 [[ 3.26766852e-01 -9.35679610e-01 -1.33143126e-01 7.56682908e+01] [ 8.84153368e-01 3.52416835e-01 -3.06716801e-01 4.87234498e+01] [ 3.33910536e-01 -1.74940593e-02 9.42442418e-01 2.02843374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:48.75, Z:20.29 [[ 3.29547180e-01 -9.34698432e-01 -1.33182195e-01 7.56785349e+01] [ 8.82982437e-01 3.55062565e-01 -3.07038419e-01 4.87471787e+01] [ 3.34276341e-01 -1.64138939e-02 9.42332166e-01 2.02931691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:48.77, Z:20.30 [[ 3.32303003e-01 -9.33719077e-01 -1.33204353e-01 7.56880699e+01] [ 8.81801154e-01 3.57678987e-01 -3.07396271e-01 4.87704529e+01] [ 3.34666160e-01 -1.53110480e-02 9.42212361e-01 2.03017545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:48.79, Z:20.31 [[ 3.35024828e-01 -9.32760588e-01 -1.33101652e-01 7.56981496e+01] [ 8.80738522e-01 3.60216101e-01 -3.07480107e-01 4.87940713e+01] [ 3.34750683e-01 -1.42142828e-02 9.42199519e-01 2.03106896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:48.82, Z:20.32 [[ 3.38976969e-01 -9.31391854e-01 -1.32679420e-01 7.57081811e+01] [ 8.79501555e-01 3.63796816e-01 -3.06804322e-01 4.88164105e+01] [ 3.34023397e-01 -1.26921564e-02 9.42479326e-01 2.03189422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:48.84, Z:20.33 [[ 3.40949682e-01 -9.30719854e-01 -1.32339970e-01 7.57187639e+01] [ 8.78942884e-01 3.65540058e-01 -3.06332944e-01 4.88402097e+01] [ 3.33485713e-01 -1.18751551e-02 9.42680359e-01 2.03279552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:48.86, Z:20.34 [[ 3.43195604e-01 -9.29941552e-01 -1.32005636e-01 7.57280550e+01] [ 8.78271321e-01 3.67543800e-01 -3.05861149e-01 4.88630101e+01] [ 3.32950844e-01 -1.09665627e-02 9.42880411e-01 2.03372698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:48.89, Z:20.35 [[ 3.44199225e-01 -9.29594828e-01 -1.31834555e-01 7.57380864e+01] [ 8.77926039e-01 3.68433701e-01 -3.05781750e-01 4.88854852e+01] [ 3.32825426e-01 -1.04911473e-02 9.42930099e-01 2.03457049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:48.91, Z:20.35 [[ 3.47808425e-01 -9.28258133e-01 -1.31780646e-01 7.57475435e+01] [ 8.76429734e-01 3.71825801e-01 -3.05968128e-01 4.89089287e+01] [ 3.33016847e-01 -9.07818434e-03 9.42877174e-01 2.03547055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:48.93, Z:20.36 [[ 3.49097719e-01 -9.27804650e-01 -1.31564867e-01 7.57569061e+01] [ 8.76017376e-01 3.72969227e-01 -3.05757277e-01 4.89330716e+01] [ 3.32752671e-01 -8.51394192e-03 9.42975701e-01 2.03634152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:48.96, Z:20.37 [[ 3.48404360e-01 -9.28051274e-01 -1.31663339e-01 7.57678384e+01] [ 8.76096537e-01 3.72352235e-01 -3.06282012e-01 4.89575036e+01] [ 3.33270550e-01 -8.63980681e-03 9.42791650e-01 2.03723022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:48.98, Z:20.38 [[ 3.48285736e-01 -9.28110413e-01 -1.31560281e-01 7.57775358e+01] [ 8.76144402e-01 3.72206231e-01 -3.06322555e-01 4.89809482e+01] [ 3.33268709e-01 -8.57802738e-03 9.42792864e-01 2.03814949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:49.01, Z:20.39 [[ 3.46707234e-01 -9.28700942e-01 -1.31562361e-01 7.57876570e+01] [ 8.76669316e-01 3.70719642e-01 -3.06623314e-01 4.90053641e+01] [ 3.33534112e-01 -9.02816399e-03 9.42694801e-01 2.03900852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:49.03, Z:20.40 [[ 3.46141178e-01 -9.28919310e-01 -1.31511219e-01 7.57966803e+01] [ 8.76845349e-01 3.70169775e-01 -3.06784242e-01 4.90286015e+01] [ 3.33659285e-01 -9.12434190e-03 9.42649579e-01 2.03989032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:49.05, Z:20.41 [[ 3.42796471e-01 -9.30138154e-01 -1.31657110e-01 7.58052286e+01] [ 8.77943996e-01 3.67067454e-01 -3.07369197e-01 4.90529695e+01] [ 3.34222858e-01 -1.02224932e-02 9.42438636e-01 2.04072904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.81, Y:49.08, Z:20.42 [[ 3.41275134e-01 -9.30712819e-01 -1.31548208e-01 7.58147721e+01] [ 8.78539360e-01 3.65595577e-01 -3.07422295e-01 4.90782142e+01] [ 3.34215314e-01 -1.06546934e-02 9.42436524e-01 2.04163936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:49.10, Z:20.43 [[ 3.39638967e-01 -9.31321023e-01 -1.31478225e-01 7.58231834e+01] [ 8.79148714e-01 3.64029021e-01 -3.07539284e-01 4.91015813e+01] [ 3.34279690e-01 -1.11365881e-02 9.42408120e-01 2.04253623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:49.13, Z:20.43 [[ 3.38089583e-01 -9.31891845e-01 -1.31426870e-01 7.58323103e+01] [ 8.79685627e-01 3.62551761e-01 -3.07748955e-01 4.91260278e+01] [ 3.34437785e-01 -1.15676128e-02 9.42346836e-01 2.04346838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.387552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.84, Y:49.15, Z:20.44 [[ 3.37129069e-01 -9.32252958e-01 -1.31333213e-01 7.58415278e+01] [ 8.80039720e-01 3.61614786e-01 -3.07838979e-01 4.91498595e+01] [ 3.34475830e-01 -1.17969760e-02 9.42330489e-01 2.04438553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:49.17, Z:20.45 [[ 3.32621157e-01 -9.33796345e-01 -1.31861866e-01 7.58521219e+01] [ 8.81151725e-01 3.57558429e-01 -3.09392318e-01 4.91715137e+01] [ 3.36057737e-01 -1.32798803e-02 9.41747759e-01 2.04533604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:49.20, Z:20.46 [[ 3.30764293e-01 -9.34430867e-01 -1.32037636e-01 7.58613092e+01] [ 8.81572044e-01 3.55876345e-01 -3.10133451e-01 4.91960805e+01] [ 3.36787341e-01 -1.38196165e-02 9.41479317e-01 2.04621011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:49.22, Z:20.47 [[ 3.29539691e-01 -9.34852159e-01 -1.32117495e-01 7.58705372e+01] [ 8.81847253e-01 3.54755512e-01 -3.10634752e-01 4.92204061e+01] [ 3.37266979e-01 -1.41409698e-02 9.41302830e-01 2.04706979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:49.24, Z:20.48 [[ 3.28766812e-01 -9.35136175e-01 -1.32033014e-01 7.58792263e+01] [ 8.82111059e-01 3.53999612e-01 -3.10748057e-01 4.92441288e+01] [ 3.37331385e-01 -1.43041343e-02 9.41277286e-01 2.04782092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:49.27, Z:20.49 [[ 3.29262035e-01 -9.34941261e-01 -1.32179237e-01 7.58877195e+01] [ 8.81662623e-01 3.54526262e-01 -3.11419572e-01 4.92683983e+01] [ 3.38020018e-01 -1.39988507e-02 9.41034803e-01 2.04870521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:49.28, Z:20.50 [[ 3.20785301e-01 -9.36340914e-01 -1.42697173e-01 7.58788124e+01] [ 8.85058428e-01 3.49985852e-01 -3.06890018e-01 4.92767721e+01] [ 3.37295672e-01 -2.78495281e-02 9.40986734e-01 2.04958315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:49.30, Z:20.49 [[ 3.24739162e-01 -9.38043541e-01 -1.20908196e-01 7.58793281e+01] [ 8.83457422e-01 3.46489353e-01 -3.15353946e-01 4.93033288e+01] [ 3.37709135e-01 -4.40946735e-03 9.41240191e-01 2.04945696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:49.34, Z:20.50 [[ 3.40436751e-01 -9.34768032e-01 -1.01545778e-01 7.59061475e+01] [ 8.77150830e-01 3.54627829e-01 -3.23798587e-01 4.93426769e+01] [ 3.38687526e-01 2.11619757e-02 9.40660901e-01 2.05007755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:49.36, Z:20.52 [[ 3.46999759e-01 -9.28244368e-01 -1.33990897e-01 7.59267700e+01] [ 8.74232536e-01 3.71866237e-01 -3.12142556e-01 4.93557568e+01] [ 3.39571260e-01 -8.82580992e-03 9.40538922e-01 2.05242939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:49.37, Z:20.53 [[ 3.43707186e-01 -9.29286765e-01 -1.35245995e-01 7.59117596e+01] [ 8.76763191e-01 3.69143049e-01 -3.08252682e-01 4.93698998e+01] [ 3.36380256e-01 -1.26300482e-02 9.41641548e-01 2.05255997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:49.40, Z:20.53 [[ 3.49039267e-01 -9.29237420e-01 -1.21199867e-01 7.59158511e+01] [ 8.73985638e-01 3.69458672e-01 -3.15672924e-01 4.93981466e+01] [ 3.38113435e-01 4.25530303e-03 9.41095743e-01 2.05297041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:49.42, Z:20.54 [[ 3.56237317e-01 -9.26479875e-01 -1.21367272e-01 7.59249629e+01] [ 8.71027425e-01 3.76283211e-01 -3.15788174e-01 4.94168696e+01] [ 3.38239855e-01 6.78130961e-03 9.41035501e-01 2.05377511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:49.45, Z:20.53 [[ 3.61181211e-01 -9.27010149e-01 -1.00996622e-01 7.59281534e+01] [ 8.70159237e-01 3.73988974e-01 -3.20866250e-01 4.94459781e+01] [ 3.35217894e-01 2.80077172e-02 9.41724233e-01 2.05336782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:49.46, Z:20.55 [[ 3.63755357e-01 -9.23882353e-01 -1.18842076e-01 7.59473106e+01] [ 8.68612364e-01 3.82508546e-01 -3.14959957e-01 4.94645135e+01] [ 3.36444055e-01 1.13406751e-02 9.41635167e-01 2.05530132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:49.49, Z:20.55 [[ 3.66995681e-01 -9.24348172e-01 -1.04377329e-01 7.59522882e+01] [ 8.68510385e-01 3.80673277e-01 -3.17454828e-01 4.94928342e+01] [ 3.33172450e-01 2.58517565e-02 9.42511435e-01 2.05532210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:49.52, Z:20.58 [[ 3.78193114e-01 -9.18090487e-01 -1.18658447e-01 7.59920074e+01] [ 8.61651307e-01 3.95970571e-01 -3.17433981e-01 4.95204849e+01] [ 3.38418371e-01 1.78091402e-02 9.40827211e-01 2.05803298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:49.52, Z:20.59 [[ 3.73930226e-01 -9.16935104e-01 -1.39306144e-01 7.59883454e+01] [ 8.65113339e-01 3.98977505e-01 -3.03966877e-01 4.95249337e+01] [ 3.34297917e-01 -6.85320089e-03 9.42442537e-01 2.05899857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.927552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.01, Y:49.57, Z:20.59 [[ 3.82018874e-01 -9.17465276e-01 -1.10991205e-01 7.60139722e+01] [ 8.60099287e-01 3.96901232e-01 -3.20466268e-01 4.95671043e+01] [ 3.38069219e-01 2.69607064e-02 9.40734991e-01 2.05943200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:49.57, Z:20.61 [[ 3.74138339e-01 -9.16764766e-01 -1.39867319e-01 7.60143124e+01] [ 8.64808224e-01 3.99364471e-01 -3.04326724e-01 4.95681260e+01] [ 3.34854056e-01 -7.09811294e-03 9.42243269e-01 2.06079789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:49.60, Z:20.60 [[ 3.78896232e-01 -9.18886070e-01 -1.09936508e-01 7.60122043e+01] [ 8.63385011e-01 3.93754396e-01 -3.15473927e-01 4.95967428e+01] [ 3.33172580e-01 2.46143484e-02 9.42544517e-01 2.05996126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:49.62, Z:20.61 [[ 3.74700299e-01 -9.20007488e-01 -1.14829907e-01 7.60284368e+01] [ 8.64406746e-01 3.91440962e-01 -3.15554988e-01 4.96242442e+01] [ 3.35262081e-01 1.89788018e-02 9.41933725e-01 2.06149734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:49.64, Z:20.62 [[ 3.80884764e-01 -9.16827335e-01 -1.19809988e-01 7.60401312e+01] [ 8.61523222e-01 3.98947265e-01 -3.14036332e-01 4.96403493e+01] [ 3.35714961e-01 1.63925679e-02 9.41820975e-01 2.06237659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:49.67, Z:20.63 [[ 3.81103137e-01 -9.17870415e-01 -1.10789443e-01 7.60481928e+01] [ 8.61406935e-01 3.96043452e-01 -3.18005780e-01 4.96657574e+01] [ 3.35765531e-01 2.57582059e-02 9.41593343e-01 2.06278952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:49.69, Z:20.64 [[ 3.86449508e-01 -9.15298627e-01 -1.13512997e-01 7.60688775e+01] [ 8.58375276e-01 4.01951332e-01 -3.18789918e-01 4.96887935e+01] [ 3.37414675e-01 2.57594568e-02 9.41003606e-01 2.06423097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.137552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:76.07, Y:49.71, Z:20.64 [[ 3.80639958e-01 -9.18658805e-01 -1.05731844e-01 7.60695039e+01] [ 8.61389106e-01 3.93831449e-01 -3.20789024e-01 4.97103938e+01] [ 3.36336187e-01 3.10288619e-02 9.41230673e-01 2.06409840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.167552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:49.74, Z:20.65 [[ 3.80192979e-01 -9.19068769e-01 -1.03758837e-01 7.60800851e+01] [ 8.62950148e-01 3.92854008e-01 -3.17777863e-01 4.97362261e+01] [ 3.32821784e-01 3.12782091e-02 9.42470866e-01 2.06479069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:49.76, Z:20.66 [[ 3.80026205e-01 -9.18762418e-01 -1.07031318e-01 7.60920081e+01] [ 8.62723513e-01 3.93801497e-01 -3.17219987e-01 4.97575093e+01] [ 3.33598896e-01 2.82134732e-02 9.42292830e-01 2.06575781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.227552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:49.78, Z:20.67 [[ 3.77181775e-01 -9.19927836e-01 -1.07082611e-01 7.61027045e+01] [ 8.64387572e-01 3.91184345e-01 -3.15925520e-01 4.97818999e+01] [ 3.32517721e-01 2.66004697e-02 9.42721794e-01 2.06650047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:49.80, Z:20.69 [[ 3.79450111e-01 -9.16581055e-01 -1.26082449e-01 7.61275205e+01] [ 8.61541592e-01 3.99720262e-01 -3.13001275e-01 4.97951260e+01] [ 3.37288748e-01 1.01430949e-02 9.41346598e-01 2.06890797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.287552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:49.83, Z:20.68 [[ 3.72400861e-01 -9.23310491e-01 -9.38900248e-02 7.61202904e+01] [ 8.66535591e-01 3.82149540e-01 -3.21057313e-01 4.98283437e+01] [ 3.32315615e-01 3.82029714e-02 9.42394220e-01 2.06756102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:49.85, Z:20.69 [[ 3.70222021e-01 -9.23470540e-01 -1.00686724e-01 7.61343484e+01] [ 8.68250939e-01 3.82530271e-01 -3.15928628e-01 4.98477228e+01] [ 3.30266500e-01 2.95423922e-02 9.43425294e-01 2.06866913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:49.87, Z:20.70 [[ 3.71256249e-01 -9.22433357e-01 -1.06233229e-01 7.61472796e+01] [ 8.67765039e-01 3.85390521e-01 -3.13780152e-01 4.98681717e+01] [ 3.30382559e-01 2.43073602e-02 9.43534057e-01 2.06978355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:49.89, Z:20.71 [[ 3.68342734e-01 -9.23118512e-01 -1.10344208e-01 7.61607823e+01] [ 8.69096339e-01 3.84049559e-01 -3.11733044e-01 4.98887822e+01] [ 3.30144188e-01 1.89248547e-02 9.43740783e-01 2.07104099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:49.91, Z:20.72 [[ 3.60966985e-01 -9.26211806e-01 -1.08786608e-01 7.61709680e+01] [ 8.71752666e-01 3.76558670e-01 -3.13449928e-01 4.99121621e+01] [ 3.31285564e-01 1.83100595e-02 9.43352859e-01 2.07197718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:49.94, Z:20.72 [[ 3.54999955e-01 -9.29230864e-01 -1.02494063e-01 7.61791724e+01] [ 8.74496298e-01 3.68832717e-01 -3.14989924e-01 4.99382294e+01] [ 3.30501523e-01 2.21907299e-02 9.43544548e-01 2.07231623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:49.96, Z:20.74 [[ 3.50898583e-01 -9.29048755e-01 -1.17211754e-01 7.61975291e+01] [ 8.76384021e-01 3.69916485e-01 -3.08403698e-01 4.99566505e+01] [ 3.29880632e-01 5.49591263e-03 9.44006654e-01 2.07413627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:49.98, Z:20.75 [[ 3.41347427e-01 -9.34225222e-01 -1.03465788e-01 7.62029487e+01] [ 8.79726986e-01 3.56304124e-01 -3.14845678e-01 4.99840067e+01] [ 3.31002060e-01 1.64501167e-02 9.43486635e-01 2.07455964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:50.00, Z:20.76 [[ 3.36495541e-01 -9.34435115e-01 -1.16626613e-01 7.62182399e+01] [ 8.81318305e-01 3.56129279e-01 -3.10563975e-01 4.99993414e+01] [ 3.31736035e-01 1.71822358e-03 9.43370686e-01 2.07616136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.557552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:76.23, Y:50.03, Z:20.77 [[ 3.32755351e-01 -9.36786618e-01 -1.08188303e-01 7.62253807e+01] [ 8.82892339e-01 3.49792300e-01 -3.13283361e-01 5.00254557e+01] [ 3.31323095e-01 8.72809088e-03 9.43476988e-01 2.07654037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.587552018 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:76.25, Y:50.04, Z:20.79 [[ 3.29701888e-01 -9.35462836e-01 -1.27302582e-01 7.62471799e+01] [ 8.82852551e-01 3.53273263e-01 -3.09466275e-01 5.00426073e+01] [ 3.34466797e-01 -1.03577941e-02 9.42350613e-01 2.07892238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:50.07, Z:20.79 [[ 3.15590027e-01 -9.41851730e-01 -1.15404737e-01 7.62523239e+01] [ 8.87698895e-01 3.36014410e-01 -3.14777680e-01 5.00685722e+01] [ 3.35251557e-01 -3.10396116e-03 9.42123537e-01 2.07901933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:50.10, Z:20.80 [[ 3.07385041e-01 -9.44879488e-01 -1.12770518e-01 7.62653299e+01] [ 8.91258407e-01 3.27393273e-01 -3.13802639e-01 5.00986100e+01] [ 3.33425986e-01 -4.04943529e-03 9.42767582e-01 2.08008792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:50.11, Z:20.81 [[ 3.06980695e-01 -9.43871324e-01 -1.21941693e-01 7.62784452e+01] [ 8.91793590e-01 3.30027545e-01 -3.09493154e-01 5.01105278e+01] [ 3.32365830e-01 -1.37383966e-02 9.43050482e-01 2.08117127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.707552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.31, Y:50.15, Z:20.83 [[ 2.98687733e-01 -9.47323582e-01 -1.15601339e-01 7.63087078e+01] [ 8.94615599e-01 3.20112342e-01 -3.11754741e-01 5.01516265e+01] [ 3.32338033e-01 -1.03014444e-02 9.43104083e-01 2.08295205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:50.16, Z:20.84 [[ 2.93321209e-01 -9.45661883e-01 -1.40307772e-01 7.63148446e+01] [ 8.98151595e-01 3.22867621e-01 -2.98463083e-01 5.01619667e+01] [ 3.27545998e-01 -3.84720973e-02 9.44051650e-01 2.08444530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.34, Y:50.19, Z:20.86 [[ 2.96044446e-01 -9.45889893e-01 -1.32853289e-01 7.63363928e+01] [ 8.95922602e-01 3.23206044e-01 -3.04730281e-01 5.01923755e+01] [ 3.31180279e-01 -2.88125575e-02 9.43127488e-01 2.08551559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:50.20, Z:20.87 [[ 2.92902121e-01 -9.44110189e-01 -1.51209452e-01 7.63427410e+01] [ 8.97280466e-01 3.26042396e-01 -2.97630848e-01 5.02045029e+01] [ 3.30297008e-01 -4.85005806e-02 9.42630140e-01 2.08710464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.35, Y:50.24, Z:20.87 [[ 2.93862811e-01 -9.47522111e-01 -1.25882876e-01 7.63542714e+01] [ 8.95869515e-01 3.18941322e-01 -3.09344865e-01 5.02417913e+01] [ 3.33260350e-01 -2.18696795e-02 9.42581167e-01 2.08676067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:50.26, Z:20.88 [[ 2.92761502e-01 -9.45503447e-01 -1.42526965e-01 7.63710870e+01] [ 8.96865258e-01 3.23215555e-01 -3.01934455e-01 5.02598723e+01] [ 3.31547000e-01 -3.94326989e-02 9.42614263e-01 2.08835709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.887552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.38, Y:50.28, Z:20.89 [[ 2.91689938e-01 -9.45864348e-01 -1.42329250e-01 7.63819786e+01] [ 8.97306422e-01 3.22126932e-01 -3.01787051e-01 5.02835263e+01] [ 3.31297697e-01 -3.96847041e-02 9.42691339e-01 2.08925322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.917552018 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:76.39, Y:50.31, Z:20.90 [[ 2.91050664e-01 -9.46089341e-01 -1.42142428e-01 7.63932057e+01] [ 8.97590309e-01 3.21452894e-01 -3.01661523e-01 5.03069939e+01] [ 3.31090846e-01 -3.97868793e-02 9.42759702e-01 2.09017796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:50.33, Z:20.91 [[ 2.92339067e-01 -9.45742308e-01 -1.41807465e-01 7.64034546e+01] [ 8.97346892e-01 3.22545270e-01 -3.01219363e-01 5.03306523e+01] [ 3.30615223e-01 -3.91923002e-02 9.42951504e-01 2.09107600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.977552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.42, Y:50.35, Z:20.92 [[ 2.92881830e-01 -9.45563409e-01 -1.41880491e-01 7.64156098e+01] [ 8.97000984e-01 3.23102447e-01 -3.01652190e-01 5.03536119e+01] [ 3.31073207e-01 -3.89184948e-02 9.42802144e-01 2.09198581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.007552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.43, Y:50.38, Z:20.93 [[ 2.94561136e-01 -9.45017257e-01 -1.42042672e-01 7.64256792e+01] [ 8.96187481e-01 3.24774764e-01 -3.02273635e-01 5.03763131e+01] [ 3.31785677e-01 -3.82587987e-02 9.42578659e-01 2.09295945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:50.40, Z:20.94 [[ 2.98063643e-01 -9.43928843e-01 -1.41973249e-01 7.64374815e+01] [ 8.94935530e-01 3.28078354e-01 -3.02415263e-01 5.03994818e+01] [ 3.32036839e-01 -3.69179097e-02 9.42543689e-01 2.09376463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.067552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.45, Y:50.42, Z:20.95 [[ 2.98301670e-01 -9.43865373e-01 -1.41895284e-01 7.64499189e+01] [ 8.94824839e-01 3.28282134e-01 -3.02521648e-01 5.04224805e+01] [ 3.32121395e-01 -3.67287116e-02 9.42521289e-01 2.09469733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.46, Y:50.45, Z:20.96 [[ 3.00113255e-01 -9.43372183e-01 -1.41354017e-01 7.64601549e+01] [ 8.94570239e-01 3.29785220e-01 -3.01638518e-01 5.04463983e+01] [ 3.31173853e-01 -3.59253797e-02 9.42885595e-01 2.09562100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:50.47, Z:20.97 [[ 3.00495636e-01 -9.43336099e-01 -1.40781313e-01 7.64710526e+01] [ 8.94841004e-01 3.29921285e-01 -3.00685090e-01 5.04701176e+01] [ 3.30093851e-01 -3.56223340e-02 9.43275728e-01 2.09650269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:50.49, Z:20.97 [[ 2.99912849e-01 -9.43601386e-01 -1.40245166e-01 7.64831904e+01] [ 8.95416087e-01 3.29157559e-01 -2.99808827e-01 5.04918377e+01] [ 3.29062781e-01 -3.56612586e-02 9.43634442e-01 2.09738620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.49, Y:50.51, Z:20.98 [[ 3.00032616e-01 -9.43659920e-01 -1.39593644e-01 7.64943374e+01] [ 8.95840397e-01 3.29014170e-01 -2.98696602e-01 5.05144653e+01] [ 3.27796298e-01 -3.54349028e-02 9.44083659e-01 2.09836540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21755201799999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:76.51, Y:50.54, Z:20.99 [[ 3.00849155e-01 -9.43485112e-01 -1.39016653e-01 7.65052153e+01] [ 8.95961999e-01 3.29563360e-01 -2.97724853e-01 5.05373668e+01] [ 3.26713761e-01 -3.49833676e-02 9.44475665e-01 2.09936459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:50.56, Z:21.00 [[ 3.01927137e-01 -9.43195851e-01 -1.38641952e-01 7.65158327e+01] [ 8.95814900e-01 3.30444496e-01 -2.97190345e-01 5.05610937e+01] [ 3.26122170e-01 -3.44676968e-02 9.44699057e-01 2.10029762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:50.58, Z:21.01 [[ 3.02927752e-01 -9.42854029e-01 -1.38784209e-01 7.65264175e+01] [ 8.95246457e-01 3.31462392e-01 -2.97769145e-01 5.05832388e+01] [ 3.26754584e-01 -3.40435342e-02 9.44495886e-01 2.10118412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:50.61, Z:21.02 [[ 3.03578239e-01 -9.42631802e-01 -1.38872382e-01 7.65370336e+01] [ 8.94841805e-01 3.32126048e-01 -2.98245591e-01 5.06069206e+01] [ 3.27258915e-01 -3.37279410e-02 9.44332584e-01 2.10202393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:50.63, Z:21.03 [[ 3.04568560e-01 -9.42190608e-01 -1.39695567e-01 7.65463869e+01] [ 8.93678783e-01 3.33410290e-01 -3.00292877e-01 5.06308819e+01] [ 3.29509068e-01 -3.33831955e-02 9.43562047e-01 2.10276872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:50.65, Z:21.04 [[ 3.04903950e-01 -9.42064822e-01 -1.39812202e-01 7.65566942e+01] [ 8.93355985e-01 3.33786175e-01 -3.00835292e-01 5.06547272e+01] [ 3.30073726e-01 -3.31761982e-02 9.43371971e-01 2.10365710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.397552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.57, Y:50.68, Z:21.05 [[ 3.04210248e-01 -9.42278400e-01 -1.39884030e-01 7.65672900e+01] [ 8.93442063e-01 3.33167388e-01 -3.01265285e-01 5.06783920e+01] [ 3.30480567e-01 -3.33302894e-02 9.43224091e-01 2.10454443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.427552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.58, Y:50.70, Z:21.05 [[ 3.01463335e-01 -9.43134643e-01 -1.40060356e-01 7.65777106e+01] [ 8.94158011e-01 3.30645040e-01 -3.01919374e-01 5.07010794e+01] [ 3.31060883e-01 -3.42184674e-02 9.42988753e-01 2.10549405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.457552018 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:76.59, Y:50.72, Z:21.06 [[ 2.99996052e-01 -9.43591223e-01 -1.40135552e-01 7.65882861e+01] [ 8.94504046e-01 3.29295481e-01 -3.02368976e-01 5.07246398e+01] [ 3.31458716e-01 -3.46423194e-02 9.42833511e-01 2.10648130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.60, Y:50.75, Z:21.07 [[ 2.97875446e-01 -9.44281653e-01 -1.40008494e-01 7.65989554e+01] [ 8.95257084e-01 3.27242740e-01 -3.02368886e-01 5.07481038e+01] [ 3.31338155e-01 -3.52753295e-02 9.42852416e-01 2.10745686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:50.77, Z:21.08 [[ 2.96512263e-01 -9.44738116e-01 -1.39822641e-01 7.66087526e+01] [ 8.95794272e-01 3.25883718e-01 -3.02245637e-01 5.07710857e+01] [ 3.31108896e-01 -3.56327826e-02 9.42919511e-01 2.10834589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.62, Y:50.80, Z:21.09 [[ 2.92159647e-01 -9.46105571e-01 -1.39739002e-01 7.66198480e+01] [ 8.97256386e-01 3.21732619e-01 -3.02355916e-01 5.07951350e+01] [ 3.31019212e-01 -3.70455148e-02 9.42896554e-01 2.10929127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:50.82, Z:21.10 [[ 2.89953281e-01 -9.46769664e-01 -1.39836683e-01 7.66303099e+01] [ 8.97828160e-01 3.19691326e-01 -3.02823465e-01 5.08183669e+01] [ 3.31408645e-01 -3.77446543e-02 9.42732015e-01 2.11024084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.64, Y:50.84, Z:21.11 [[ 2.89376537e-01 -9.46988059e-01 -1.39552272e-01 7.66406189e+01] [ 8.98172805e-01 3.19036322e-01 -3.02492046e-01 5.08417110e+01] [ 3.30978599e-01 -3.78079547e-02 9.42880547e-01 2.11116375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:50.86, Z:21.12 [[ 2.87794669e-01 -9.47486742e-01 -1.39438527e-01 7.66522559e+01] [ 8.98704777e-01 3.17499567e-01 -3.02528922e-01 5.08641422e+01] [ 3.30913814e-01 -3.82478592e-02 9.42885544e-01 2.11207623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:50.89, Z:21.13 [[ 2.87469474e-01 -9.47555159e-01 -1.39644272e-01 7.66622704e+01] [ 8.98532442e-01 3.17289421e-01 -3.03260405e-01 5.08857707e+01] [ 3.31663611e-01 -3.82967999e-02 9.42620074e-01 2.11306819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:50.91, Z:21.14 [[ 2.87318551e-01 -9.47608971e-01 -1.39589715e-01 7.66721775e+01] [ 8.98553413e-01 3.17132255e-01 -3.03362648e-01 5.09098456e+01] [ 3.31737568e-01 -3.82670986e-02 9.42595255e-01 2.11391441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:50.93, Z:21.15 [[ 2.86671629e-01 -9.47746916e-01 -1.39982714e-01 7.66831307e+01] [ 8.98321966e-01 3.16696676e-01 -3.04501002e-01 5.09318779e+01] [ 3.32921946e-01 -3.84577490e-02 9.42169825e-01 2.11481100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:50.96, Z:21.16 [[ 2.86706600e-01 -9.47745011e-01 -1.39923977e-01 7.66939532e+01] [ 8.98257651e-01 3.16717014e-01 -3.04669535e-01 5.09556747e+01] [ 3.33065336e-01 -3.83370160e-02 9.42124066e-01 2.11569457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:50.98, Z:21.17 [[ 2.87312514e-01 -9.47613457e-01 -1.39571686e-01 7.67049071e+01] [ 8.98269275e-01 3.17153599e-01 -3.04180710e-01 5.09786696e+01] [ 3.32511396e-01 -3.79780328e-02 9.42334251e-01 2.11657142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:51.00, Z:21.17 [[ 2.89563481e-01 -9.47000173e-01 -1.39081494e-01 7.67167862e+01] [ 8.97850034e-01 3.19092333e-01 -3.03389847e-01 5.10005228e+01] [ 3.31690076e-01 -3.70237039e-02 9.42661625e-01 2.11749209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:51.02, Z:21.18 [[ 2.92177573e-01 -9.46270093e-01 -1.38582742e-01 7.67274531e+01] [ 8.97305320e-01 3.21373921e-01 -3.02592077e-01 5.10228633e+01] [ 3.30870712e-01 -3.59404133e-02 9.42991442e-01 2.11844933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:51.05, Z:21.19 [[ 2.94873092e-01 -9.45488219e-01 -1.38209575e-01 7.67380285e+01] [ 8.96615467e-01 3.23786198e-01 -3.02064896e-01 5.10465317e+01] [ 3.30349154e-01 -3.48500327e-02 9.43215199e-01 2.11935841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:76.75, Y:51.07, Z:21.20 [[ 2.97441230e-01 -9.44712953e-01 -1.38007793e-01 7.67491780e+01] [ 8.95815460e-01 3.26148392e-01 -3.01897147e-01 5.10700653e+01] [ 3.30217165e-01 -3.38328556e-02 9.43298448e-01 2.12026771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.76, Y:51.09, Z:21.21 [[ 3.03644915e-01 -9.42812051e-01 -1.37496190e-01 7.67588266e+01] [ 8.94010155e-01 3.31832159e-01 -3.01053585e-01 5.10922487e+01] [ 3.29462606e-01 -3.15096002e-02 9.43642695e-01 2.12119392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:76.77, Y:51.11, Z:21.22 [[ 3.05690440e-01 -9.42192968e-01 -1.37207016e-01 7.67690799e+01] [ 8.93470147e-01 3.33662346e-01 -3.00633556e-01 5.11149762e+01] [ 3.29035638e-01 -3.06895691e-02 9.43818679e-01 2.12203444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.997552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:76.78, Y:51.14, Z:21.23 [[ 3.05684455e-01 -9.42214347e-01 -1.37073476e-01 7.67808082e+01] [ 8.93492485e-01 3.33612179e-01 -3.00622843e-01 5.11373516e+01] [ 3.28980537e-01 -3.05783911e-02 9.43841495e-01 2.12295792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.027552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.79, Y:51.16, Z:21.24 [[ 3.07579086e-01 -9.41663884e-01 -1.36617114e-01 7.67898642e+01] [ 8.93127909e-01 3.35235230e-01 -2.99899781e-01 5.11614349e+01] [ 3.28203662e-01 -2.97736567e-02 9.44137641e-01 2.12385609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.057552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.80, Y:51.18, Z:21.25 [[ 3.06980582e-01 -9.41926622e-01 -1.36151245e-01 7.68002026e+01] [ 8.93657348e-01 3.34490527e-01 -2.99153191e-01 5.11841446e+01] [ 3.27321656e-01 -2.98383399e-02 9.44441744e-01 2.12462726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.087552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.81, Y:51.21, Z:21.26 [[ 3.05032733e-01 -9.42554872e-01 -1.36181297e-01 7.68105961e+01] [ 8.94219200e-01 3.32663830e-01 -2.99510932e-01 5.12066935e+01] [ 3.27608080e-01 -3.04152922e-02 9.44324021e-01 2.12551800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.117552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.82, Y:51.23, Z:21.27 [[ 3.03575217e-01 -9.42054632e-01 -1.42741577e-01 7.68218681e+01] [ 8.94431636e-01 3.33391862e-01 -2.98063608e-01 5.12285235e+01] [ 3.28381083e-01 -3.71878579e-02 9.43812973e-01 2.12678637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:51.26, Z:21.27 [[ 3.03238370e-01 -9.44056507e-01 -1.29629479e-01 7.68293007e+01] [ 8.94221261e-01 3.28920127e-01 -3.03611408e-01 5.12573815e+01] [ 3.29264070e-01 -2.38508078e-02 9.43936603e-01 2.12699137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.177552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:51.28, Z:21.28 [[ 3.01984644e-01 -9.43475474e-01 -1.36599069e-01 7.68423565e+01] [ 8.94726371e-01 3.29958660e-01 -3.00985057e-01 5.12789754e+01] [ 3.29044065e-01 -3.13259240e-02 9.43794835e-01 2.12813880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.207552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.85, Y:51.30, Z:21.29 [[ 2.99722411e-01 -9.44149516e-01 -1.36923950e-01 7.68517014e+01] [ 8.95131106e-01 3.27954278e-01 -3.01970686e-01 5.13016982e+01] [ 3.30010272e-01 -3.20575050e-02 9.43432847e-01 2.12898159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:51.32, Z:21.30 [[ 2.98031521e-01 -9.44662008e-01 -1.37079917e-01 7.68620461e+01] [ 8.95478634e-01 3.26424531e-01 -3.02597162e-01 5.13248711e+01] [ 3.30598290e-01 -3.25686449e-02 9.43209443e-01 2.12986664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:51.35, Z:21.31 [[ 2.97720863e-01 -9.44774364e-01 -1.36980614e-01 7.68723127e+01] [ 8.95582186e-01 3.26098606e-01 -3.02642110e-01 5.13481716e+01] [ 3.30597695e-01 -3.25745270e-02 9.43209449e-01 2.13075416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:51.37, Z:21.32 [[ 2.96309041e-01 -9.45207270e-01 -1.37055348e-01 7.68822946e+01] [ 8.95903137e-01 3.24800690e-01 -3.03087580e-01 5.13713024e+01] [ 3.30996256e-01 -3.29807260e-02 9.43055539e-01 2.13163671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:51.39, Z:21.33 [[ 2.93155600e-01 -9.46149278e-01 -1.37336585e-01 7.68931829e+01] [ 8.96624895e-01 3.21938334e-01 -3.04005767e-01 5.13944430e+01] [ 3.31848749e-01 -3.40184084e-02 9.42719023e-01 2.13253010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:51.42, Z:21.33 [[ 2.92800009e-01 -9.46311077e-01 -1.36979926e-01 7.69032292e+01] [ 8.96965635e-01 3.21464276e-01 -3.03501842e-01 5.14186194e+01] [ 3.31241308e-01 -3.40009444e-02 9.42933259e-01 2.13336427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.387552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:51.44, Z:21.34 [[ 2.93108035e-01 -9.46206514e-01 -1.37043468e-01 7.69132770e+01] [ 8.96702468e-01 3.21792817e-01 -3.03931024e-01 5.14423632e+01] [ 3.31681118e-01 -3.38025912e-02 9.42785777e-01 2.13429984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:51.47, Z:21.35 [[ 2.93274628e-01 -9.46174716e-01 -1.36906537e-01 7.69244681e+01] [ 8.96668199e-01 3.21904434e-01 -3.03913930e-01 5.14662397e+01] [ 3.31626498e-01 -3.36294928e-02 9.42811181e-01 2.13518984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.447552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:51.49, Z:21.36 [[ 2.95772250e-01 -9.45422102e-01 -1.36732676e-01 7.69345711e+01] [ 8.95879068e-01 3.24209023e-01 -3.03791382e-01 5.14887974e+01] [ 3.31541055e-01 -3.26428820e-02 9.42875904e-01 2.13611921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.477552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:51.51, Z:21.37 [[ 2.97565545e-01 -9.44891659e-01 -1.36508236e-01 7.69453346e+01] [ 8.95355997e-01 3.25827097e-01 -3.03602274e-01 5.15118774e+01] [ 3.31349339e-01 -3.18818912e-02 9.42969332e-01 2.13702054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.507552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.96, Y:51.53, Z:21.38 [[ 2.99777731e-01 -9.44212658e-01 -1.36366304e-01 7.69556055e+01] [ 8.94617438e-01 3.27875024e-01 -3.03574717e-01 5.15348610e+01] [ 3.31350196e-01 -3.09907331e-02 9.42998739e-01 2.13797125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.537552018 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:76.97, Y:51.56, Z:21.39 [[ 3.01512774e-01 -9.43678975e-01 -1.36235237e-01 7.69669949e+01] [ 8.94030952e-01 3.29475076e-01 -3.03570141e-01 5.15580390e+01] [ 3.31358875e-01 -3.02682433e-02 9.43019157e-01 2.13889723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:51.58, Z:21.40 [[ 3.06347095e-01 -9.42182630e-01 -1.35806295e-01 7.69771314e+01] [ 8.92616511e-01 3.33891763e-01 -3.02906016e-01 5.15803817e+01] [ 3.30737390e-01 -2.84285635e-02 9.43294543e-01 2.13980035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:51.61, Z:21.40 [[ 3.06435103e-01 -9.43090685e-01 -1.29141343e-01 7.69840476e+01] [ 8.92792996e-01 3.31811357e-01 -3.04666849e-01 5.16068548e+01] [ 3.30179032e-01 -2.19358694e-02 9.43663406e-01 2.14015459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:51.63, Z:21.42 [[ 3.11281137e-01 -9.39946784e-01 -1.40014632e-01 7.70007110e+01] [ 8.91174938e-01 3.39887801e-01 -3.00472149e-01 5.16267797e+01] [ 3.30017095e-01 -3.12462183e-02 9.43457678e-01 2.14189551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:51.65, Z:21.43 [[ 3.12266852e-01 -9.40323099e-01 -1.35210509e-01 7.70100700e+01] [ 8.90818740e-01 3.39282150e-01 -3.02207867e-01 5.16510479e+01] [ 3.30047550e-01 -2.60785558e-02 9.43604008e-01 2.14260146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:51.67, Z:21.43 [[ 3.14678889e-01 -9.39640123e-01 -1.34363816e-01 7.70206343e+01] [ 8.90611082e-01 3.41244572e-01 -3.00606125e-01 5.16733178e+01] [ 3.28312500e-01 -2.50715017e-02 9.44236370e-01 2.14347637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:51.70, Z:21.44 [[ 3.14495330e-01 -9.39747510e-01 -1.34042173e-01 7.70308018e+01] [ 8.90890277e-01 3.40951531e-01 -3.00110927e-01 5.16967368e+01] [ 3.27730381e-01 -2.50333833e-02 9.44439584e-01 2.14437505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.747552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:51.72, Z:21.45 [[ 3.13628289e-01 -9.41080437e-01 -1.26510502e-01 7.70390500e+01] [ 8.90546810e-01 3.37750389e-01 -3.04714709e-01 5.17241384e+01] [ 3.29490022e-01 -1.70963710e-02 9.44004258e-01 2.14499557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:51.74, Z:21.47 [[ 3.13351257e-01 -9.38932331e-01 -1.42186739e-01 7.70551704e+01] [ 8.91753427e-01 3.42409225e-01 -2.95857649e-01 5.17407805e+01] [ 3.26476362e-01 -3.40881457e-02 9.44590484e-01 2.14670521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.807552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:51.77, Z:21.47 [[ 3.13210803e-01 -9.40280949e-01 -1.33306899e-01 7.70620860e+01] [ 8.91715406e-01 3.39471520e-01 -2.99337137e-01 5.17681495e+01] [ 3.26714903e-01 -2.51161906e-02 9.44789156e-01 2.14722194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.837552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:51.79, Z:21.48 [[ 3.09799039e-01 -9.41349043e-01 -1.33740549e-01 7.70720512e+01] [ 8.92456525e-01 3.36412724e-01 -3.00579158e-01 5.17920454e+01] [ 3.27941925e-01 -2.62384914e-02 9.44333434e-01 2.14807015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.867552018 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:77.08, Y:51.82, Z:21.49 [[ 3.07576063e-01 -9.42061767e-01 -1.33852877e-01 7.70822654e+01] [ 8.93048396e-01 3.34357376e-01 -3.01114111e-01 5.18158715e+01] [ 3.28422788e-01 -2.69216045e-02 9.44147075e-01 2.14891423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.897552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:51.84, Z:21.50 [[ 3.05323486e-01 -9.42812590e-01 -1.33723553e-01 7.70925147e+01] [ 8.93862041e-01 3.32179135e-01 -3.01110734e-01 5.18401434e+01] [ 3.28311166e-01 -2.75942291e-02 9.44166477e-01 2.14973054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.927552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:51.86, Z:21.51 [[ 3.00334161e-01 -9.44413493e-01 -1.33725639e-01 7.71023113e+01] [ 8.95501004e-01 3.27458280e-01 -3.01411722e-01 5.18649055e+01] [ 3.28446865e-01 -2.92272073e-02 9.44070139e-01 2.15065614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.957552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:51.89, Z:21.52 [[ 2.97469168e-01 -9.45311475e-01 -1.33784561e-01 7.71126194e+01] [ 8.96344680e-01 3.24773602e-01 -3.01808420e-01 5.18881044e+01] [ 3.28752657e-01 -3.01383800e-02 9.43935045e-01 2.15151827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:51.91, Z:21.52 [[ 2.96643282e-01 -9.45596494e-01 -1.33604022e-01 7.71224782e+01] [ 8.96683389e-01 3.23927752e-01 -3.01711306e-01 5.19116141e+01] [ 3.28575203e-01 -3.02998753e-02 9.43991660e-01 2.15238871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:51.93, Z:21.53 [[ 2.96247939e-01 -9.45740743e-01 -1.33460126e-01 7.71322523e+01] [ 8.96847605e-01 3.23504282e-01 -3.01677565e-01 5.19348351e+01] [ 3.28483687e-01 -3.03220376e-02 9.44022797e-01 2.15326477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.14, Y:51.96, Z:21.54 [[ 2.97188102e-01 -9.45401215e-01 -1.33775089e-01 7.71428122e+01] [ 8.96160835e-01 3.24529701e-01 -3.02615649e-01 5.19577148e+01] [ 3.29507192e-01 -2.99502252e-02 9.43677908e-01 2.15425225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07755201799999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:77.15, Y:51.98, Z:21.55 [[ 2.99406563e-01 -9.44736302e-01 -1.33525391e-01 7.71524951e+01] [ 8.95522297e-01 3.26541434e-01 -3.02341706e-01 5.19815888e+01] [ 3.29234758e-01 -2.90518739e-02 9.43801072e-01 2.15517906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.16, Y:52.01, Z:21.56 [[ 3.01052485e-01 -9.44210550e-01 -1.33543396e-01 7.71630668e+01] [ 8.94834108e-01 3.28117482e-01 -3.02672823e-01 5.20061787e+01] [ 3.29604795e-01 -2.83787802e-02 9.43692388e-01 2.15610286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.137552018 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:77.17, Y:52.03, Z:21.57 [[ 3.02507535e-01 -9.43729428e-01 -1.33656117e-01 7.71730756e+01] [ 8.94129555e-01 3.29549252e-01 -3.03198992e-01 5.20298227e+01] [ 3.30184085e-01 -2.77859055e-02 9.43507506e-01 2.15696394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.167552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:77.18, Y:52.05, Z:21.58 [[ 3.04189304e-01 -9.43203167e-01 -1.33553931e-01 7.71833761e+01] [ 8.93534636e-01 3.31110211e-01 -3.03252177e-01 5.20544953e+01] [ 3.30249485e-01 -2.70889948e-02 9.43504883e-01 2.15779728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.197552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:52.08, Z:21.59 [[ 3.09651714e-01 -9.41525511e-01 -1.32836472e-01 7.71928212e+01] [ 8.92165754e-01 3.36010611e-01 -3.01889279e-01 5.20778096e+01] [ 3.28870922e-01 -2.50316184e-02 9.44043079e-01 2.15860305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.227552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.20, Y:52.10, Z:21.60 [[ 3.11708981e-01 -9.40869069e-01 -1.32675946e-01 7.72040108e+01] [ 8.91466508e-01 3.37905666e-01 -3.01839736e-01 5.21012314e+01] [ 3.28823625e-01 -2.41900057e-02 9.44081494e-01 2.15952716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.257552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:52.12, Z:21.60 [[ 3.14598430e-01 -9.39951436e-01 -1.32359833e-01 7.72148972e+01] [ 8.90610342e-01 3.40528650e-01 -3.01419073e-01 5.21235272e+01] [ 3.28391606e-01 -2.30550690e-02 9.44260248e-01 2.16043913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.287552018 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:77.22, Y:52.15, Z:21.61 [[ 3.18032278e-01 -9.38835184e-01 -1.32075610e-01 7.72249912e+01] [ 8.89540851e-01 3.43678729e-01 -3.01001671e-01 5.21469724e+01] [ 3.27982537e-01 -2.17584036e-02 9.44433178e-01 2.16135589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.317552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:52.17, Z:21.62 [[ 3.19952612e-01 -9.38213040e-01 -1.31858322e-01 7.72362713e+01] [ 8.88933287e-01 3.45422201e-01 -3.00800789e-01 5.21699588e+01] [ 3.27762014e-01 -2.09712532e-02 9.44527537e-01 2.16228337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:77.25, Y:52.19, Z:21.63 [[ 3.24910128e-01 -9.36536967e-01 -1.31650747e-01 7.72470929e+01] [ 8.87183861e-01 3.50046822e-01 -3.00619392e-01 5.21936771e+01] [ 3.27625099e-01 -1.91241326e-02 9.44614240e-01 2.16300522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:52.22, Z:21.64 [[ 3.27527959e-01 -9.35689675e-01 -1.31187915e-01 7.72573654e+01] [ 8.86526375e-01 3.52359999e-01 -2.99855661e-01 5.22162578e+01] [ 3.26797220e-01 -1.80904341e-02 9.44921327e-01 2.16408850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:52.24, Z:21.65 [[ 3.29220017e-01 -9.35116930e-01 -1.31036287e-01 7.72675700e+01] [ 8.85925562e-01 3.53912436e-01 -2.99803080e-01 5.22400565e+01] [ 3.26726307e-01 -1.73872206e-02 9.44959049e-01 2.16501971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:52.26, Z:21.66 [[ 3.31515992e-01 -9.34387776e-01 -1.30447814e-01 7.72770111e+01] [ 8.85495480e-01 3.55876622e-01 -2.98746691e-01 5.22630355e+01] [ 3.25568583e-01 -1.64716439e-02 9.45374943e-01 2.16585766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:52.29, Z:21.67 [[ 3.31651532e-01 -9.34394964e-01 -1.30051193e-01 7.72874947e+01] [ 8.85703743e-01 3.55865307e-01 -2.98142186e-01 5.22858839e+01] [ 3.24863265e-01 -1.63075152e-02 9.45620391e-01 2.16673074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.497552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:52.31, Z:21.68 [[ 3.31050149e-01 -9.34634671e-01 -1.29860816e-01 7.72981491e+01] [ 8.86003671e-01 3.55230933e-01 -2.98007514e-01 5.23090657e+01] [ 3.24658734e-01 -1.64017278e-02 9.45689003e-01 2.16756034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.527552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:52.33, Z:21.68 [[ 3.31375251e-01 -9.34539810e-01 -1.29714252e-01 7.73072179e+01] [ 8.85917631e-01 3.55490505e-01 -2.97953776e-01 5.23333011e+01] [ 3.24561850e-01 -1.61816359e-02 9.45726049e-01 2.16844208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.557552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:52.36, Z:21.69 [[ 3.30679022e-01 -9.34792217e-01 -1.29672261e-01 7.73168402e+01] [ 8.86123757e-01 3.54820045e-01 -2.98139937e-01 5.23568022e+01] [ 3.24709210e-01 -1.63170483e-02 9.45673137e-01 2.16921233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.587552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:52.38, Z:21.70 [[ 3.31043903e-01 -9.34661541e-01 -1.29683219e-01 7.73270925e+01] [ 8.85872762e-01 3.55175007e-01 -2.98463004e-01 5.23806705e+01] [ 3.25022129e-01 -1.60784739e-02 9.45569721e-01 2.17016285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.617552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:52.40, Z:21.71 [[ 3.30864139e-01 -9.34734246e-01 -1.29617940e-01 7.73369717e+01] [ 8.85906319e-01 3.54985497e-01 -2.98588832e-01 5.24038493e+01] [ 3.25113696e-01 -1.60370152e-02 9.45538946e-01 2.17109154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.647552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:52.43, Z:21.72 [[ 3.31457757e-01 -9.34532281e-01 -1.29557599e-01 7.73468923e+01] [ 8.85634499e-01 3.55531054e-01 -2.98746052e-01 5.24273475e+01] [ 3.25249579e-01 -1.57189830e-02 9.45497554e-01 2.17201447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.677552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:52.45, Z:21.73 [[ 3.31317801e-01 -9.34533914e-01 -1.29903342e-01 7.73569260e+01] [ 8.85264316e-01 3.55529562e-01 -2.99842996e-01 5.24513643e+01] [ 3.26397927e-01 -1.56554712e-02 9.45102798e-01 2.17291706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.707552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:52.48, Z:21.74 [[ 3.31424723e-01 -9.34492231e-01 -1.29930456e-01 7.73668076e+01] [ 8.85094907e-01 3.55645686e-01 -3.00205182e-01 5.24765344e+01] [ 3.26748616e-01 -1.55053655e-02 9.44984088e-01 2.17384230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:52.50, Z:21.75 [[ 3.30412701e-01 -9.34831144e-01 -1.30069901e-01 7.73772303e+01] [ 8.85256008e-01 3.54742761e-01 -3.00797895e-01 5.25006399e+01] [ 3.27336596e-01 -1.57577161e-02 9.44776401e-01 2.17471551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:52.52, Z:21.76 [[ 3.30142344e-01 -9.34926929e-01 -1.30067946e-01 7.73872877e+01] [ 8.85266493e-01 3.54490552e-01 -3.01064252e-01 5.25246176e+01] [ 3.27580934e-01 -1.57507363e-02 9.44691826e-01 2.17565020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:52.55, Z:21.77 [[ 3.29640638e-01 -9.35132282e-01 -1.29864025e-01 7.73971292e+01] [ 8.85552623e-01 3.53945202e-01 -3.00864333e-01 5.25469038e+01] [ 3.27312698e-01 -1.58243172e-02 9.44783567e-01 2.17653342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:52.57, Z:21.78 [[ 3.29046620e-01 -9.35387628e-01 -1.29531102e-01 7.74084884e+01] [ 8.86006484e-01 3.53264472e-01 -3.00327693e-01 5.25701777e+01] [ 3.26681545e-01 -1.59435840e-02 9.44999984e-01 2.17754489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:52.59, Z:21.78 [[ 3.28789066e-01 -9.35513704e-01 -1.29274359e-01 7.74177152e+01] [ 8.86237920e-01 3.52931562e-01 -3.00036101e-01 5.25928671e+01] [ 3.26312886e-01 -1.59192502e-02 9.45127758e-01 2.17838034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.887552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:52.62, Z:21.79 [[ 3.28693816e-01 -9.35562956e-01 -1.29160101e-01 7.74271037e+01] [ 8.86299719e-01 3.52803426e-01 -3.00004251e-01 5.26166332e+01] [ 3.26240990e-01 -1.58650191e-02 9.45153489e-01 2.17924204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.917552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:52.64, Z:21.80 [[ 3.29300644e-01 -9.35377960e-01 -1.28954089e-01 7.74365996e+01] [ 8.86160000e-01 3.53307965e-01 -2.99823174e-01 5.26413297e+01] [ 3.26008496e-01 -1.55419911e-02 9.45239074e-01 2.18001103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.947552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:52.66, Z:21.81 [[ 3.29708128e-01 -9.35255495e-01 -1.28801048e-01 7.74462462e+01] [ 8.86045624e-01 3.53643080e-01 -2.99766115e-01 5.26647815e+01] [ 3.25907505e-01 -1.52882803e-02 9.45278037e-01 2.18091213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.977552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:52.69, Z:21.82 [[ 3.30406873e-01 -9.35051506e-01 -1.28491167e-01 7.74557287e+01] [ 8.85967136e-01 3.54197211e-01 -2.99343565e-01 5.26872948e+01] [ 3.25412864e-01 -1.49337795e-02 9.45454097e-01 2.18174485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.007552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:52.71, Z:21.83 [[ 3.30029261e-01 -9.35194875e-01 -1.28418192e-01 7.74661819e+01] [ 8.86099176e-01 3.53816561e-01 -2.99402892e-01 5.27104282e+01] [ 3.25436533e-01 -1.49795388e-02 9.45445227e-01 2.18265019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.037552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:52.74, Z:21.83 [[ 3.27645974e-01 -9.37681055e-01 -1.15768538e-01 7.74726881e+01] [ 8.85518157e-01 3.47493989e-01 -3.08391831e-01 5.27401972e+01] [ 3.29402049e-01 -1.47180114e-03 9.44188606e-01 2.18315303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.067552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:52.75, Z:21.85 [[ 3.28900671e-01 -9.33594339e-01 -1.42217996e-01 7.74919180e+01] [ 8.87060122e-01 3.57080567e-01 -2.92605210e-01 5.27539069e+01] [ 3.23957850e-01 -2.99178635e-02 9.45598346e-01 2.18530897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:52.78, Z:21.85 [[ 3.27328242e-01 -9.36238120e-01 -1.27727855e-01 7.74962437e+01] [ 8.87405320e-01 3.51022647e-01 -2.98822521e-01 5.27817854e+01] [ 3.24604405e-01 -1.55333275e-02 9.45722315e-01 2.18548102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:52.81, Z:21.86 [[ 3.26417046e-01 -9.36588426e-01 -1.27491303e-01 7.75053708e+01] [ 8.87858620e-01 3.50078056e-01 -2.98584036e-01 5.28057922e+01] [ 3.24282260e-01 -1.57313332e-02 9.45829552e-01 2.18628642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:52.83, Z:21.87 [[ 3.26112430e-01 -9.36709298e-01 -1.27382787e-01 7.75154866e+01] [ 8.87970447e-01 3.49754790e-01 -2.98630326e-01 5.28300083e+01] [ 3.24282543e-01 -1.57250892e-02 9.45829559e-01 2.18720303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:52.86, Z:21.88 [[ 3.24562821e-01 -9.37315265e-01 -1.26882110e-01 7.75250023e+01] [ 8.88916427e-01 3.48108010e-01 -2.97738811e-01 5.28553397e+01] [ 3.23243811e-01 -1.61526431e-02 9.46177854e-01 2.18805832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:52.88, Z:21.89 [[ 3.23711661e-01 -9.37644041e-01 -1.26627061e-01 7.75350113e+01] [ 8.89374953e-01 3.47212589e-01 -2.97414879e-01 5.28791846e+01] [ 3.22835799e-01 -1.63422722e-02 9.46313889e-01 2.18892245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.247552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:52.90, Z:21.90 [[ 3.22746457e-01 -9.38014101e-01 -1.26349795e-01 7.75443820e+01] [ 8.89922021e-01 3.46199396e-01 -2.96959214e-01 5.29032662e+01] [ 3.22294153e-01 -1.65989310e-02 9.46494033e-01 2.18979127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.277552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:52.93, Z:21.91 [[ 3.22370656e-01 -9.38128405e-01 -1.26460491e-01 7.75536916e+01] [ 8.89854911e-01 3.45888566e-01 -2.97521996e-01 5.29271662e+01] [ 3.22855073e-01 -1.66191276e-02 9.46302492e-01 2.19072808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.307552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:52.95, Z:21.92 [[ 3.22276443e-01 -9.38167492e-01 -1.26410649e-01 7.75629492e+01] [ 8.89832790e-01 3.45786311e-01 -2.97706957e-01 5.29513992e+01] [ 3.23010061e-01 -1.65404010e-02 9.46250979e-01 2.19153699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.337552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:52.98, Z:21.92 [[ 3.23773903e-01 -9.37564084e-01 -1.27059230e-01 7.75711817e+01] [ 8.88569550e-01 3.47448139e-01 -2.99539557e-01 5.29750259e+01] [ 3.24984024e-01 -1.59178710e-02 9.45585536e-01 2.19243060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.367552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:53.00, Z:21.93 [[ 3.24421120e-01 -9.37273338e-01 -1.27552451e-01 7.75805868e+01] [ 8.87784822e-01 3.48245683e-01 -3.00936962e-01 5.30003827e+01] [ 3.26479781e-01 -1.56088237e-02 9.45075297e-01 2.19335777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.397552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:53.02, Z:21.94 [[ 3.24982464e-01 -9.37028207e-01 -1.27923950e-01 7.75895138e+01] [ 8.87129208e-01 3.48917904e-01 -3.02089498e-01 5.30244920e+01] [ 3.27701337e-01 -1.53112834e-02 9.44657291e-01 2.19415558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.427552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:53.05, Z:21.95 [[ 3.26511795e-01 -9.36393130e-01 -1.28677716e-01 7.75979638e+01] [ 8.85731528e-01 3.50646743e-01 -3.04181726e-01 5.30493602e+01] [ 3.29954100e-01 -1.46549890e-02 9.43883215e-01 2.19502075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.457552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:53.07, Z:21.96 [[ 3.29004430e-01 -9.35520683e-01 -1.28674540e-01 7.76056939e+01] [ 8.84688571e-01 3.53007741e-01 -3.04485907e-01 5.30732529e+01] [ 3.30275973e-01 -1.36596824e-02 9.43785566e-01 2.19589540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:53.10, Z:21.97 [[ 3.30463805e-01 -9.34976922e-01 -1.28886881e-01 7.76147042e+01] [ 8.83817367e-01 3.54469642e-01 -3.05316451e-01 5.30979069e+01] [ 3.31150322e-01 -1.30164274e-02 9.43488228e-01 2.19678963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:53.12, Z:21.98 [[ 3.32096106e-01 -9.34380662e-01 -1.29015326e-01 7.76235042e+01] [ 8.82964421e-01 3.56063261e-01 -3.05929381e-01 5.31214627e+01] [ 3.31792116e-01 -1.23179865e-02 9.43272102e-01 2.19764956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:53.15, Z:21.99 [[ 3.34053690e-01 -9.33654766e-01 -1.29216526e-01 7.76326917e+01] [ 8.81906657e-01 3.57989813e-01 -3.06731058e-01 5.31460602e+01] [ 3.32639114e-01 -1.14922726e-02 9.42984171e-01 2.19852552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:53.17, Z:21.99 [[ 3.34055424e-01 -9.33656471e-01 -1.29199724e-01 7.76422326e+01] [ 8.81813102e-01 3.57989120e-01 -3.07000721e-01 5.31700064e+01] [ 3.32885305e-01 -1.13747533e-02 9.42898716e-01 2.19934525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:53.19, Z:22.00 [[ 3.33665621e-01 -9.33855491e-01 -1.28767911e-01 7.76514734e+01] [ 8.82274019e-01 3.57468421e-01 -3.06282358e-01 5.31939557e+01] [ 3.32053924e-01 -1.14126894e-02 9.43191360e-01 2.20020119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.637552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:53.22, Z:22.01 [[ 3.32646366e-01 -9.34223016e-01 -1.28739082e-01 7.76609008e+01] [ 8.82582061e-01 3.56498860e-01 -3.06524826e-01 5.32172875e+01] [ 3.32257884e-01 -1.16584351e-02 9.43116525e-01 2.20109992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.667552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:53.24, Z:22.02 [[ 3.33588226e-01 -9.33979091e-01 -1.28070105e-01 7.76698405e+01] [ 8.82758351e-01 3.57151292e-01 -3.05255055e-01 5.32411936e+01] [ 3.30842242e-01 -1.12254625e-02 9.43619309e-01 2.20194745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.697552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:53.26, Z:22.03 [[ 3.32966437e-01 -9.34216362e-01 -1.27957575e-01 7.76786460e+01] [ 8.82997930e-01 3.56526752e-01 -3.05292205e-01 5.32640156e+01] [ 3.30829272e-01 -1.13342163e-02 9.43622556e-01 2.20283971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.727552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:53.29, Z:22.04 [[ 3.34104047e-01 -9.33852972e-01 -1.27644475e-01 7.76865627e+01] [ 8.82754927e-01 3.57493360e-01 -3.04864292e-01 5.32881308e+01] [ 3.30330477e-01 -1.08223953e-02 9.43803291e-01 2.20370381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.757552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:53.31, Z:22.05 [[ 3.34355604e-01 -9.33774446e-01 -1.27560239e-01 7.76947215e+01] [ 8.82630053e-01 3.57704565e-01 -3.04978088e-01 5.33122526e+01] [ 3.30409625e-01 -1.06173673e-02 9.43777914e-01 2.20462139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.787552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:53.34, Z:22.05 [[ 3.33084424e-01 -9.34204576e-01 -1.27736358e-01 7.77038168e+01] [ 8.82840899e-01 3.56569692e-01 -3.05695932e-01 5.33360588e+01] [ 3.31129452e-01 -1.09483274e-02 9.43521817e-01 2.20542790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.817552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:53.36, Z:22.06 [[ 3.30911776e-01 -9.34925846e-01 -1.28105654e-01 7.77144711e+01] [ 8.83226334e-01 3.54652870e-01 -3.06810340e-01 5.33609397e+01] [ 3.32277954e-01 -1.16191323e-02 9.43109939e-01 2.20631894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:53.39, Z:22.07 [[ 3.26324298e-01 -9.36481734e-01 -1.28508422e-01 7.77227209e+01] [ 8.84459521e-01 3.50470395e-01 -3.08061452e-01 5.33850356e+01] [ 3.33532320e-01 -1.31325604e-02 9.42647191e-01 2.20703779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:53.41, Z:22.08 [[ 3.23558793e-01 -9.37436899e-01 -1.28537030e-01 7.77313976e+01] [ 8.85342939e-01 3.47873938e-01 -3.08466538e-01 5.34096390e+01] [ 3.33882597e-01 -1.39922910e-02 9.42510810e-01 2.20788435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:53.43, Z:22.09 [[ 3.21463506e-01 -9.38151748e-01 -1.28578816e-01 7.77397100e+01] [ 8.85964044e-01 3.45915494e-01 -3.08885390e-01 5.34343709e+01] [ 3.34258773e-01 -1.46208270e-02 9.42367924e-01 2.20872987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:53.46, Z:22.10 [[ 3.18748634e-01 -9.38996939e-01 -1.29166782e-01 7.77466442e+01] [ 8.86267984e-01 3.43577518e-01 -3.10618013e-01 5.34592575e+01] [ 3.36048166e-01 -1.54673159e-02 9.41717788e-01 2.20957672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:53.48, Z:22.10 [[ 3.16411282e-01 -9.39736594e-01 -1.29533914e-01 7.77555870e+01] [ 8.86642302e-01 3.41515927e-01 -3.11820943e-01 5.34827906e+01] [ 3.37267445e-01 -1.61865832e-02 9.41269709e-01 2.21048559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.997552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:53.51, Z:22.11 [[ 3.14814568e-01 -9.40283226e-01 -1.29457491e-01 7.77642889e+01] [ 8.87177178e-01 3.39986191e-01 -3.11971224e-01 5.35063474e+01] [ 3.37355068e-01 -1.66386456e-02 9.41230425e-01 2.21142060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.027552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:53.53, Z:22.12 [[ 3.12709503e-01 -9.41005586e-01 -1.29310689e-01 7.77726244e+01] [ 8.87963241e-01 3.37949832e-01 -3.11947422e-01 5.35303656e+01] [ 3.37244792e-01 -1.72742156e-02 9.41258493e-01 2.21235610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.057552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:53.55, Z:22.13 [[ 3.00604509e-01 -9.44882428e-01 -1.29746391e-01 7.77834162e+01] [ 8.91685276e-01 3.26702445e-01 -3.13309562e-01 5.35549343e+01] [ 3.38429163e-01 -2.15106788e-02 9.40745977e-01 2.21309325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.087552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:53.58, Z:22.14 [[ 2.93051042e-01 -9.47251700e-01 -1.29750931e-01 7.77931985e+01] [ 8.94147973e-01 3.19582742e-01 -3.13633981e-01 5.35795127e+01] [ 3.38556480e-01 -2.41057674e-02 9.40637243e-01 2.21393676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.117552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:53.60, Z:22.15 [[ 2.85104700e-01 -9.49736500e-01 -1.29289947e-01 7.78021286e+01] [ 8.97134705e-01 3.11901238e-01 -3.12836921e-01 5.36034092e+01] [ 3.37438337e-01 -2.67992215e-02 9.40966084e-01 2.21474541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.147552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:53.63, Z:22.16 [[ 2.78111765e-01 -9.51904869e-01 -1.28572810e-01 7.78115254e+01] [ 8.99989321e-01 3.05008550e-01 -3.11430581e-01 5.36277667e+01] [ 3.35668092e-01 -2.91016481e-02 9.41530682e-01 2.21562890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.177552018 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:77.82, Y:53.65, Z:22.17 [[ 2.65903033e-01 -9.55527377e-01 -1.27526504e-01 7.78226437e+01] [ 9.04723009e-01 2.93032455e-01 -3.09205850e-01 5.36501249e+01] [ 3.32824060e-01 -3.31573891e-02 9.42405822e-01 2.21669576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.207552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:53.67, Z:22.18 [[ 2.61499607e-01 -9.56792725e-01 -1.27144161e-01 7.78321532e+01] [ 9.06319528e-01 2.88712550e-01 -3.08593546e-01 5.36733465e+01] [ 3.31968175e-01 -3.45361450e-02 9.42658149e-01 2.21769285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23755201799999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:77.84, Y:53.70, Z:22.19 [[ 2.59262621e-01 -9.57460822e-01 -1.26695175e-01 7.78403603e+01] [ 9.07312800e-01 2.86414813e-01 -3.07814940e-01 5.36976663e+01] [ 3.31008120e-01 -3.51472457e-02 9.42973115e-01 2.21858794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:77.85, Y:53.72, Z:22.19 [[ 2.57335656e-01 -9.58005678e-01 -1.26504864e-01 7.78489272e+01] [ 9.07960750e-01 2.84519614e-01 -3.07661935e-01 5.37225597e+01] [ 3.30734996e-01 -3.56890657e-02 9.43048595e-01 2.21931902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29755201799999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:77.86, Y:53.75, Z:22.20 [[ 2.57093786e-01 -9.58052414e-01 -1.26642635e-01 7.78581539e+01] [ 9.07791667e-01 2.84360670e-01 -3.08307151e-01 5.37465604e+01] [ 3.31386595e-01 -3.57012764e-02 9.42819359e-01 2.22031634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:77.87, Y:53.77, Z:22.21 [[ 2.55590051e-01 -9.58392185e-01 -1.27114698e-01 7.78679717e+01] [ 9.07673193e-01 2.83149441e-01 -3.09767280e-01 5.37710267e+01] [ 3.32870996e-01 -3.62051687e-02 9.42277075e-01 2.22119540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:77.88, Y:53.80, Z:22.22 [[ 2.53800370e-01 -9.58828732e-01 -1.27408141e-01 7.78757534e+01] [ 9.07806395e-01 2.81592842e-01 -3.10794178e-01 5.37964867e+01] [ 3.33875608e-01 -3.67822480e-02 9.41899222e-01 2.22196830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.387552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.88, Y:53.82, Z:22.23 [[ 2.56718145e-01 -9.58142777e-01 -1.26721004e-01 7.78812349e+01] [ 9.07500997e-01 2.84073240e-01 -3.09425816e-01 5.38220802e+01] [ 3.32472157e-01 -3.55642162e-02 9.42442280e-01 2.22277188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.417552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:53.85, Z:22.24 [[ 2.58847509e-01 -9.57579542e-01 -1.26646702e-01 7.78893693e+01] [ 9.06828137e-01 2.86070031e-01 -3.09558827e-01 5.38461887e+01] [ 3.32657026e-01 -3.47182612e-02 9.42408587e-01 2.22363039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.447552018 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:77.90, Y:53.87, Z:22.24 [[ 2.58101386e-01 -9.57727159e-01 -1.27052603e-01 7.79002112e+01] [ 9.06545601e-01 2.85547892e-01 -3.10865686e-01 5.38698619e+01] [ 3.34004113e-01 -3.49441139e-02 9.41923649e-01 2.22440581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.477552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.91, Y:53.89, Z:22.26 [[ 2.58842318e-01 -9.57555372e-01 -1.26839917e-01 7.79106887e+01] [ 9.06419303e-01 2.86170349e-01 -3.10661519e-01 5.38924935e+01] [ 3.33773429e-01 -3.45578010e-02 9.42019669e-01 2.22552723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.507552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:53.92, Z:22.26 [[ 2.57583687e-01 -9.57982853e-01 -1.26172492e-01 7.79214062e+01] [ 9.07331986e-01 2.84706591e-01 -3.09339334e-01 5.39161104e+01] [ 3.32263918e-01 -3.47995714e-02 9.42544258e-01 2.22648096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.537552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:53.94, Z:22.28 [[ 2.56697953e-01 -9.58373806e-01 -1.25003238e-01 7.79318764e+01] [ 9.08612319e-01 2.83384246e-01 -3.06784979e-01 5.39390729e+01] [ 3.29438636e-01 -3.48284058e-02 9.43534402e-01 2.22750017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.567552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:53.96, Z:22.28 [[ 2.55396193e-01 -9.58737570e-01 -1.24880166e-01 7.79403917e+01] [ 9.09004704e-01 2.82109762e-01 -3.06797214e-01 5.39634132e+01] [ 3.29367929e-01 -3.51618175e-02 9.43546721e-01 2.22834029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:53.99, Z:22.29 [[ 2.53949215e-01 -9.59143681e-01 -1.24712452e-01 7.79483587e+01] [ 9.09481470e-01 2.80678525e-01 -3.06696955e-01 5.39879021e+01] [ 3.29170553e-01 -3.55382131e-02 9.43601496e-01 2.22906040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:77.96, Y:54.01, Z:22.30 [[ 2.52586970e-01 -9.59511681e-01 -1.24648130e-01 7.79571178e+01] [ 9.09826704e-01 2.79371933e-01 -3.06865919e-01 5.40120223e+01] [ 3.29264623e-01 -3.58978650e-02 9.43555060e-01 2.22992059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:54.04, Z:22.31 [[ 2.53485196e-01 -9.59341072e-01 -1.24136875e-01 7.79648394e+01] [ 9.09947095e-01 2.80019054e-01 -3.05917659e-01 5.40350827e+01] [ 3.28240065e-01 -3.54123909e-02 9.43930306e-01 2.23083473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:54.06, Z:22.32 [[ 2.53261256e-01 -9.59419559e-01 -1.23987279e-01 7.79743822e+01] [ 9.10072392e-01 2.79752478e-01 -3.05788804e-01 5.40594738e+01] [ 3.28065508e-01 -3.53929434e-02 9.43991717e-01 2.23174000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71755201799999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:77.98, Y:54.08, Z:22.33 [[ 2.51877756e-01 -9.59812382e-01 -1.23765049e-01 7.79828891e+01] [ 9.10578042e-01 2.78358045e-01 -3.05555932e-01 5.40827885e+01] [ 3.27727364e-01 -3.57349936e-02 9.44096280e-01 2.23263061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.747552018 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:77.99, Y:54.11, Z:22.34 [[ 2.49673359e-01 -9.60394604e-01 -1.23715068e-01 7.79925996e+01] [ 9.11147543e-01 2.76258185e-01 -3.05763911e-01 5.41070159e+01] [ 3.27831311e-01 -3.63815776e-02 9.44035493e-01 2.23354032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.777552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:54.13, Z:22.34 [[ 2.46056719e-01 -9.61335509e-01 -1.23653265e-01 7.80033881e+01] [ 9.12129507e-01 2.72812949e-01 -3.05929496e-01 5.41307833e+01] [ 3.27835100e-01 -3.75117838e-02 9.43989943e-01 2.23444013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.807552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.01, Y:54.15, Z:22.35 [[ 2.37053430e-01 -9.63555318e-01 -1.23962979e-01 7.80148399e+01] [ 9.14234755e-01 2.64417582e-01 -3.07014910e-01 5.41530590e+01] [ 3.28603840e-01 -4.05523259e-02 9.43596855e-01 2.23521595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.837552018 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.03, Y:54.18, Z:22.36 [[ 2.32452838e-01 -9.64691346e-01 -1.23839753e-01 7.80253357e+01] [ 9.15487876e-01 2.60012579e-01 -3.07043005e-01 5.41769559e+01] [ 3.28401624e-01 -4.20007746e-02 9.43603894e-01 2.23609813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.867552018 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:54.20, Z:22.37 [[ 2.30709936e-01 -9.65168900e-01 -1.23377143e-01 7.80347036e+01] [ 9.16289604e-01 2.58168299e-01 -3.06206615e-01 5.42004990e+01] [ 3.27393169e-01 -4.24042852e-02 9.43936221e-01 2.23695699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.897552018 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:78.04, Y:54.23, Z:22.38 [[ 2.31485320e-01 -9.65147206e-01 -1.22087742e-01 7.80445242e+01] [ 9.17194832e-01 2.58353928e-01 -3.03326373e-01 5.42256202e+01] [ 3.24296449e-01 -4.17626436e-02 9.45033171e-01 2.23763522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.927552018 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:77.99, Y:54.30, Z:22.30 [[ 2.19768538e-01 -9.75226613e-01 2.51960863e-02 7.79865720e+01] [ 9.20151946e-01 1.98639360e-01 -3.37435626e-01 5.42998491e+01] [ 3.24071268e-01 9.73419620e-02 9.41011347e-01 2.22989877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.957552018 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:78.10, Y:54.24, Z:22.43 [[ 0.23172164 -0.94486854 -0.23136231 78.09816144] [ 0.92689007 0.28664319 -0.24230245 54.2436254 ] [ 0.29526239 -0.15830071 0.9422107 22.42907155] [ 0. 0. 0. 1. ]] SLAMing on 112.98755201799999 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:78.00, Y:54.34, Z:22.32 [[ 2.22541884e-01 -9.74706210e-01 2.05648549e-02 7.80041803e+01] [ 9.18404987e-01 2.02516370e-01 -3.39881451e-01 5.43427449e+01] [ 3.27119841e-01 9.45247236e-02 9.40243419e-01 2.23225047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01755201799999 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:78.12, Y:54.29, Z:22.46 [[ 0.23968372 -0.94210754 -0.23448903 78.12120183] [ 0.92017937 0.29745844 -0.25453567 54.28952414] [ 0.30955071 -0.15476391 0.93820386 22.45906518] [ 0. 0. 0. 1. ]] SLAMing on 113.04755201799999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:77.97, Y:54.43, Z:22.29 [[ 0.21628739 -0.97109426 0.10097379 77.9736463 ] [ 0.92197681 0.16912532 -0.348361 54.42790712] [ 0.32121414 0.16844159 0.93190606 22.28760253] [ 0. 0. 0. 1. ]] SLAMing on 113.07755201799999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:78.06, Y:54.41, Z:22.35 [[ 2.23670048e-01 -9.73322102e-01 -5.11448460e-02 7.80616448e+01] [ 9.26272420e-01 2.28601056e-01 -2.99601338e-01 5.44114951e+01] [ 3.03300370e-01 1.96377852e-02 9.52692628e-01 2.23535555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799999 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:78.18, Y:54.34, Z:22.52 [[ 0.25129949 -0.91687422 -0.31014549 78.18186082] [ 0.91440295 0.32995153 -0.23451916 54.34109553] [ 0.31735755 -0.2246634 0.92130915 22.52331153] [ 0. 0. 0. 1. ]] SLAMing on 113.137552018 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:77.98, Y:54.51, Z:22.31 [[ 0.20813341 -0.96941213 0.1300792 77.97839953] [ 0.92019372 0.14899153 -0.36200145 54.50667181] [ 0.3315479 0.19504266 0.92305707 22.30910943] [ 0. 0. 0. 1. ]] SLAMing on 113.167552018 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:78.07, Y:54.50, Z:22.37 [[ 2.14911010e-01 -9.76441261e-01 -1.93835136e-02 7.80685627e+01] [ 9.25610287e-01 2.09974267e-01 -3.14891098e-01 5.44957589e+01] [ 3.11542700e-01 4.97319845e-02 9.48929858e-01 2.23705311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.197552018 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:78.17, Y:54.43, Z:22.51 [[ 0.22798828 -0.93542372 -0.27019218 78.17499102] [ 0.92931338 0.29185529 -0.22626783 54.43299701] [ 0.29051331 -0.19950679 0.93584136 22.50529693] [ 0. 0. 0. 1. ]] SLAMing on 113.227552018 meters Centerline goodness : 0.988765 Centerline is valid? [True, True] Translation: X:78.14, Y:54.50, Z:22.45 [[ 2.24982553e-01 -9.65977093e-01 -1.27558251e-01 7.81372336e+01] [ 9.23505564e-01 2.53146611e-01 -2.88191370e-01 5.45011939e+01] [ 3.10677201e-01 -5.29627240e-02 9.49038791e-01 2.24497591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.257552018 meters Centerline goodness : 0.986322 Centerline is valid? [True, True] Translation: X:78.14, Y:54.53, Z:22.45 [[ 2.23602427e-01 -9.68146948e-01 -1.12665177e-01 7.81412693e+01] [ 9.22984939e-01 2.47468640e-01 -2.94716941e-01 5.45297416e+01] [ 3.13210405e-01 -3.80888387e-02 9.48919640e-01 2.24518125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.287552018 meters Centerline goodness : 0.982870 Centerline is valid? [True, True] Translation: X:78.15, Y:54.55, Z:22.46 [[ 2.26339158e-01 -9.66596249e-01 -1.20259205e-01 7.81541224e+01] [ 9.22489635e-01 2.52354413e-01 -2.92113205e-01 5.45501920e+01] [ 3.12703469e-01 -4.48212128e-02 9.48792706e-01 2.24638708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.317552018 meters Centerline goodness : 0.984545 Centerline is valid? [True, True] Translation: X:78.05, Y:54.64, Z:22.35 [[ 0.20466193 -0.97538992 0.08202433 78.05230617] [ 0.92775903 0.16658588 -0.33393462 54.64038763] [ 0.31205237 0.14444252 0.93902059 22.35358225] [ 0. 0. 0. 1. ]] SLAMing on 113.34755201799999 meters Centerline goodness : 0.973842 Centerline is valid? [True, True] Translation: X:78.22, Y:54.55, Z:22.55 [[ 0.22337469 -0.93156254 -0.28687101 78.22288044] [ 0.93195115 0.29034668 -0.21717702 54.55071429] [ 0.28560603 -0.21883792 0.93302688 22.55034325] [ 0. 0. 0. 1. ]] SLAMing on 113.37755201799999 meters Centerline goodness : 0.249512 Centerline is valid? [True, False] Translation: X:77.72, Y:52.91, Z:22.63 [[ 8.20727683e-01 5.71141219e-01 1.42751149e-02 7.77207614e+01] [-5.53906622e-01 7.89342927e-01 2.64811626e-01 5.29071434e+01] [ 1.39976874e-01 -2.25245313e-01 9.64194495e-01 2.26256310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799999 meters Centerline goodness : 0.362717 Centerline is valid? [False, False] Translation: X:77.73, Y:52.91, Z:22.62 [[ 8.22895174e-01 5.68159560e-01 6.18442745e-03 7.77298522e+01] [-5.50232533e-01 7.94121097e-01 2.58100453e-01 5.29067277e+01] [ 1.41731055e-01 -2.15792490e-01 9.66098292e-01 2.26225418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43755201799999 meters Centerline goodness : 0.918168 Centerline is valid? [False, False] Translation: X:77.74, Y:52.91, Z:22.62 [[ 8.25200539e-01 5.64839850e-01 1.16853947e-04 7.77371176e+01] [-5.46595428e-01 7.98494233e-01 2.52270487e-01 5.29065720e+01] [ 1.42399117e-01 -2.08237613e-01 9.67656751e-01 2.26196933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2597.64 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%| | 0/3782 [00:00